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FlightTasks: introduce new library to handle advanced features like orbit follow me and so on
it's only a draft setup yet and not functional for real use the object is for now managed by the mc_pos_control module but it stays as encapsulated as possible to enable the instance to reside in any trajectory module in the future
This commit is contained in:
Matthias Grob
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############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE lib__flight_tasks
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SRCS
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FlightTask.h
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tasks/FlightTaskOrbit.cpp
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DEPENDS
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platforms__common
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modules__uORB
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,70 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file flight_taks.h
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*
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* Library class to hold and manage all implemented flight task instances
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include "tasks/FlightTask.hpp"
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#include "tasks/FlightTaskOrbit.hpp"
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class FlightTasks
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{
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public:
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FlightTasks() {};
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~FlightTasks() {};
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/**
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* Call regularly in the control loop cycle to execute the task
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* @param TODO
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* @return 0 on success, >0 on error otherwise
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*/
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int update(manual_control_setpoint_s *manual_control_setpoint, vehicle_local_position_s *vehicle_local_position) { return 0; };
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/**
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* Call to get result of the task execution
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* @return pointer to
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*/
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const vehicle_local_position_setpoint_s *get_local_position_setpoint() const { return Orbit.get_local_position_setpoint(); };
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private:
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FlightTaskOrbit Orbit;
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};
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@@ -0,0 +1,88 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightTask.h
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*
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* Abstract base class for different advanced flight tasks like orbit, follow me, ...
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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class FlightTask
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{
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public:
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FlightTask()
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{
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vehicle_local_position_setpoint.x = 1;
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vehicle_local_position_setpoint.y = 2;
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vehicle_local_position_setpoint.z = -3;
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};
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virtual ~FlightTask() {};
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/**
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* Call once on the event where you switch to the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int activate() = 0;
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/**
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* Call once on the event of switching away from the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int disable() = 0;
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/**
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* Call regularly in the control loop cycle to execute the task
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* @param TODO
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int update(manual_control_setpoint_s *manual_control_setpoint,
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vehicle_local_position_s *vehicle_local_position) = 0;
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/**
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* Call to get result of the task execution
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* @return pointer to
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*/
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const vehicle_local_position_setpoint_s *get_local_position_setpoint() const { return &vehicle_local_position_setpoint; };
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private:
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vehicle_local_position_setpoint_s vehicle_local_position_setpoint;
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};
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@@ -0,0 +1,75 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
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* 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.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
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* 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
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightTaskOrbit.h
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*
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* Flight task for orbiting in a circle around a target position
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include "FlightTask.hpp"
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class FlightTaskOrbit : public FlightTask
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{
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public:
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FlightTaskOrbit() {};
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virtual ~FlightTaskOrbit() {};
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/**
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* Call once on the event where you switch to the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int activate() { return 0; };
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/**
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* Call once on the event of switching away from the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int disable() { return 0; };
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/**
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* Call regularly in the control loop cycle to execute the task
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* @param TODO
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int update(manual_control_setpoint_s *manual_control_setpoint,
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vehicle_local_position_s *vehicle_local_position) { return 0; };
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private:
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};
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