fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 04:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 93ae260f44
commit c21c36dd8d
3 changed files with 39 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/FlightTasks.hpp
+2 -2
View File
@@ -55,13 +55,13 @@ public:
* @param TODO * @param TODO
* @return 0 on success, >0 on error otherwise * @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 * Call to get result of the task execution
* @return pointer to * @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: private:
src/lib/FlightTasks/tasks/FlightTask.hpp
+26 -8
View File
@@ -47,12 +47,7 @@
class FlightTask class FlightTask
{ {
public: public:
FlightTask() FlightTask() {};
{
vehicle_local_position_setpoint.x = 1;
vehicle_local_position_setpoint.y = 2;
vehicle_local_position_setpoint.z = -3;
};
virtual ~FlightTask() {}; virtual ~FlightTask() {};
/** /**
@@ -79,10 +74,33 @@ public:
* Call to get result of the task execution * Call to get result of the task execution
* @return pointer to * @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: private:
vehicle_local_position_setpoint_s vehicle_local_position_setpoint; vehicle_local_position_setpoint_s _vehicle_position_setpoint;
}; };
src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+11 -3
View File
@@ -53,7 +53,11 @@ public:
* Call once on the event where you switch to the task * Call once on the event where you switch to the task
* @return 0 on success, >0 on error otherwise * @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 * Call once on the event of switching away from the task
@@ -66,8 +70,12 @@ public:
* @param TODO * @param TODO
* @return 0 on success, >0 on error otherwise * @return 0 on success, >0 on error otherwise
*/ */
virtual int update(manual_control_setpoint_s *manual_control_setpoint, virtual int update(manual_control_setpoint_s *manual_control_setpoint, vehicle_local_position_s *vehicle_position)
vehicle_local_position_s *vehicle_local_position) { return 0; }; {
float time = hrt_absolute_time() / 1e6;
_set_position_setpoint(matrix::Vector3f(0.1f * time, 0.f, -2.f));
return 0;
};
private: private: