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FlightTask: add methods to get the desired trajectory waypoints

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Martina
2018-07-09 11:53:35 +02:00
committed by Daniel Agar
parent 17a08a9de7
commit b856c1048d
4 changed files with 43 additions and 0 deletions
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src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
+11
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@@ -5,7 +5,17 @@
constexpr uint64_t FlightTask::_timeout;
// First index of empty_setpoint corresponds to time-stamp and requires a finite number.
const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, vehicle_constraints_s::GEAR_KEEP, {}};
const vehicle_trajectory_waypoint_s FlightTask::empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
{ {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false}
}
};
bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
{
if (!subscription_array.get(ORB_ID(vehicle_local_position), _sub_vehicle_local_position)) {
@@ -69,6 +79,7 @@ void FlightTask::_resetSetpoints()
_acceleration_setpoint *= NAN;
_thrust_setpoint *= NAN;
_yaw_setpoint = _yawspeed_setpoint = NAN;
_desired_waypoint = FlightTask::empty_trajectory_waypoint;
}
bool FlightTask::_evaluateVehicleLocalPosition()