move injection of avoidance setpoints to flight task library

2026-10-23 19:13:34 +08:00 · 2019-04-04 16:41:26 +02:00
parent d2a0c857ed
commit 8c24ba9255
7 changed files with 151 additions and 57 deletions
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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
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+ *    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
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+ * 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,
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+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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+ *
+ ****************************************************************************/
+
+/**
+ * @file ObstacleAvoidance.cpp
+ */
+
+#include "ObstacleAvoidance.hpp"
+#include <drivers/drv_hrt.h>
+#include <uORB/Subscription.hpp>
+
+
+using namespace matrix;
+using namespace time_literals;
+
+/** Timeout in us for trajectory data to get considered invalid */
+static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500_ms;
+
+ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
+	ModuleParams(parent)
+{
+
+}
+
+void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp) {
+
+	if (!COM_OBS_AVOID.get()) {
+		return;
+	}
+
+	_sub_vehicle_trajectory_waypoint.update();
+	const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint.get().timestamp) > TRAJECTORY_STREAM_TIMEOUT_US;
+	const bool avoidance_point_valid = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
+
+	if (!avoidance_data_timeout && avoidance_point_valid) {
+		pos_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position;
+		vel_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity;
+		yaw_sp =  _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw;
+		yaw_speed_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed;
+	}
+}