FlightTaskOrbit: add acceleration limit & unify checks

src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp

@@ -47,19 +47,47 @@ class FlightTaskOrbit : public FlightTaskManual
 {
 public:
 	FlightTaskOrbit();
-
 	virtual ~FlightTaskOrbit() = default;
 
 	bool applyCommandParameters(const vehicle_command_s &command) override;
-
 	bool activate() override;
-
 	bool update() override;
 
+	/**
+	 * Check the feasibility of orbit parameters with respect to
+	 * centripetal acceleration a = v^2 / r
+	 * @param r desired radius
+	 * @param v desired velocity
+	 * @param a maximal allowed acceleration
+	 * @return true on success, false if value not accepted
+	 */
+	bool checkAcceleration(float r, float v, float a);
+
+protected:
+
+	/**
+	 * Change the radius of the circle.
+	 * @param r desired new radius
+	 * @return true on success, false if value not accepted
+	 */
+	bool setRadius(const float r);
+
+	/**
+	 * Change the velocity of the vehicle on the circle.
+	 * @param v desired new velocity
+	 * @return true on success, false if value not accepted
+	 */
+	bool setVelocity(const float v);
+
 private:
 	float _r = 0.f; /**< radius with which to orbit the target */
 	float _v = 0.f; /**< linear velocity for orbiting in m/s */
 	float _z = 0.f; /**< local z coordinate in meters */
 	matrix::Vector2f _center;
 
+	// TODO: create/use parameters for limits
+	const float radius_min = 1.f;
+	const float radius_max = 20.f;
+	const float velocity_max = 10.f;
+	const float acceleration_max = 2.f;
 };