FlightTaskAuto: abstract class for mapping triplets to quadruple

FlightTaskAuto: add type that corresponds to triplet type

FligthTaskAuto: set all setpoints if invalid in xy

FlightTaskAuto: cast triplet type to WaypointType

FlightTaskAutoLine: class for px4 legacy auto

FlightTaskAutoLine: methods prototype

FlightTaskAuto: change sp to wp (=Waypoint)
add params

FlightTaskAutoLine: follow waypoints along line based on flight state

src/lib/FlightTasks/tasks/FlightTaskAuto.hpp

@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file FlightTaskAuto.hpp
+ *
+ * Map from global triplet to local quadruple.
+ *
+ */
+
+#pragma once
+
+#include "FlightTask.hpp"
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/position_setpoint.h>
+
+/* This enum has to agree with position_setpoint_s type definition */
+enum class WaypointType : int {
+	position = 0,
+	velocity,
+	loiter,
+	takeoff,
+	land,
+	idle
+};
+
+class FlightTaskAuto : public FlightTask
+{
+public:
+	FlightTaskAuto(control::SuperBlock *parent, const char *name);
+
+	virtual ~FlightTaskAuto() = default;
+
+	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
+
+	bool activate() override;
+
+	bool updateInitialize() override;
+
+protected:
+
+	matrix::Vector3f _prev_prev_wp{}; /**< Triplet previous-previous triplet. This will be used for smoothing trajectories -> not used yet. */
+	matrix::Vector3f _prev_wp{}; /**< Triplet previous setpoint in local frame. If not previous triplet is available, the prev_wp is set to current position. */
+	matrix::Vector3f _target{}; /**< Triplet target setpoint in local frame. */
+	matrix::Vector3f _next_wp{}; /**< Triplet setpoint in local frame. If no next setpoint is available, next is set to target. */
+	float _yaw_wp =
+		0.0f; /**< Triplet yaw waypoint. Unfortunately navigator sends yaw setpoint continuously. It would be better if a yaw setpoint is attached
+	to triplet waypoint. This way it would be easy for multicopter to implement features where yaw does not matter. */
+	float _mc_cruise_speed =
+		0.0f; /**< Cruise speed with which multicopter flies and gets set by triplet. If no valid, default cruise speed is used. */
+	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
+
+private:
+	control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed*/
+
+	matrix::Vector3f _position_lock{}; /**< Position lock is NAN except when target lat/lon are not finite. */
+	map_projection_reference_s _reference; /**< Reference frame from global to local */
+
+	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+
+	bool _evaluateTriplets(); /**< Checks and sets triplets */
+	bool _isFinite(const position_setpoint_s sp);
+	void _updateReference();
+};