Adding new follow target navigation and main states. New follow target

topic added. New follow fsm added to the navigator
2026-10-18 19:03:33 +08:00 · 2016-03-27 12:10:57 +02:00
parent fc061ea94d
commit bbc8eaefd7
14 changed files with 266 additions and 8 deletions
@@ -0,0 +1,106 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 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 followme.cpp
+ *
+ * Helper class to track and follow a given position
+ *
+ * @author Jimmy Johnson <catch22@fastmail.net>
+ */
+
+#include "follow_target.h"
+
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/follow_target.h>
+#include "navigator.h"
+
+FollowTarget::FollowTarget(Navigator *navigator, const char *name) :
+    MissionBlock(navigator, name),
+	_navigator(navigator),
+	_tracker_motion_position_sub(-1)
+{
+    /* load initial params */
+    updateParams();
+}
+
+FollowTarget::~FollowTarget()
+{
+}
+
+void
+FollowTarget::on_inactive()
+{
+}
+
+void
+FollowTarget::on_activation()
+{
+	if(_tracker_motion_position_sub < 0) {
+		_tracker_motion_position_sub = orb_subscribe(ORB_ID(follow_target));
+	}
+}
+
+void
+FollowTarget::on_active() {
+  follow_target_s target;
+  bool updated;
+
+  orb_check(_tracker_motion_position_sub, &updated);
+
+  if (updated) {
+    if (orb_copy(ORB_ID(follow_target), _tracker_motion_position_sub, &target) == OK) {
+
+      /* predict  target location*/
+
+      if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) {
+        _navigator->get_mission_result()->finished = true;
+        _navigator->set_mission_result_updated();
+        set_idle_item(&_mission_item);
+
+        struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+        mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+        _navigator->set_position_setpoint_triplet_updated();
+      }
+    }
+  }
+}