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FlightTasks: added wrappers for filling setpoint vectors, made time dependent example

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This commit is contained in:
Matthias Grob 2017-05-19 18:44:46 +02:00 committed by Beat Küng
parent 93ae260f44
commit c21c36dd8d
3 changed files with 39 additions and 13 deletions
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4
src/lib/FlightTasks/FlightTasks.hpp
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@ -55,13 +55,13 @@ public:
* @param TODO
* @return 0 on success, >0 on error otherwise
*/
int update(manual_control_setpoint_s *manual_control_setpoint, vehicle_local_position_s *vehicle_local_position) { return 0; };
int update(manual_control_setpoint_s *manual_control_setpoint, vehicle_local_position_s *vehicle_local_position) { return Orbit.update(NULL, NULL); };
/**
* Call to get result of the task execution
* @return pointer to
*/
const vehicle_local_position_setpoint_s *get_local_position_setpoint() const { return Orbit.get_local_position_setpoint(); };
const vehicle_local_position_setpoint_s *get_position_setpoint() const { return Orbit.get_position_setpoint(); };
private:

34
src/lib/FlightTasks/tasks/FlightTask.hpp
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@ -47,12 +47,7 @@
class FlightTask
{
public:
FlightTask()
{
vehicle_local_position_setpoint.x = 1;
vehicle_local_position_setpoint.y = 2;
vehicle_local_position_setpoint.z = -3;
};
FlightTask() {};
virtual ~FlightTask() {};
/**
@ -79,10 +74,33 @@ public:
* Call to get result of the task execution
* @return pointer to
*/
const vehicle_local_position_setpoint_s *get_local_position_setpoint() const { return &vehicle_local_position_setpoint; };
const vehicle_local_position_setpoint_s *get_position_setpoint() const { return &_vehicle_position_setpoint; };
protected:
void _set_position_setpoint(const matrix::Vector3f position_setpoint)
{
_vehicle_position_setpoint.x = position_setpoint(0);
_vehicle_position_setpoint.y = position_setpoint(1);
_vehicle_position_setpoint.z = position_setpoint(2);
};
void _set_velocity_setpoint(const matrix::Vector3f velocity_setpoint)
{
_vehicle_position_setpoint.vx = velocity_setpoint(0);
_vehicle_position_setpoint.vy = velocity_setpoint(1);
_vehicle_position_setpoint.vz = velocity_setpoint(2);
};
void _set_acceleration_setpoint(const matrix::Vector3f acceleration_setpoint)
{
_vehicle_position_setpoint.acc_x = acceleration_setpoint(0);
_vehicle_position_setpoint.acc_y = acceleration_setpoint(1);
_vehicle_position_setpoint.acc_z = acceleration_setpoint(2);
};
private:
vehicle_local_position_setpoint_s vehicle_local_position_setpoint;
vehicle_local_position_setpoint_s _vehicle_position_setpoint;
};

14
src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
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@ -53,7 +53,11 @@ public:
* Call once on the event where you switch to the task
* @return 0 on success, >0 on error otherwise
*/
virtual int activate() { return 0; };
virtual int activate()
{
_set_position_setpoint(matrix::Vector3f());
return 0;
};
/**
* Call once on the event of switching away from the task
@ -66,8 +70,12 @@ public:
* @param TODO
* @return 0 on success, >0 on error otherwise
*/
virtual int update(manual_control_setpoint_s *manual_control_setpoint,
vehicle_local_position_s *vehicle_local_position) { return 0; };
virtual int update(manual_control_setpoint_s *manual_control_setpoint, vehicle_local_position_s *vehicle_position)
{
float time = hrt_absolute_time() / 1e6;
_set_position_setpoint(matrix::Vector3f(0.1f * time, 0.f, -2.f));
return 0;
};
private: