Flight Tasks: CMake/folder restructure (no code change)

put flight tasks in separate folder and create a lib for each goal is to select tasks for targets (e.g. because of flash issue)
2026-07-16 07:50:34 +08:00 · 2018-07-26 09:24:26 +02:00
parent 9551dcb497
commit b68fd5e0a7
41 changed files with 550 additions and 30 deletions
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   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
+ *    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 FlightTaskAutoLine.hpp
+ *
+ * Flight task for autonomous, gps driven mode. The vehicle flies
+ * along a straight line in between waypoints.
+ */
+
+#pragma once
+
+#include "FlightTaskAutoMapper.hpp"
+
+class FlightTaskAutoLine : public FlightTaskAutoMapper
+{
+public:
+	FlightTaskAutoLine() = default;
+	virtual ~FlightTaskAutoLine() = default;
+
+protected:
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
+					(ParamFloat<px4::params::MIS_YAW_ERR>) MIS_YAW_ERR, // yaw-error threshold
+					(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR, // acceleration in flight
+					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
+					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX
+				       );
+
+	void _generateSetpoints() override; /**< Generate setpoints along line. */
+
+	void _generateHeadingAlongTrack(); /**< Generates heading along track. */
+	void _generateAltitudeSetpoints(); /**< Generate velocity and position setpoints for following line along z. */
+	void _generateXYsetpoints(); /**< Generate velocity and position setpoints for following line along xy. */
+};