From d20429a72ad30029439aec10f8d7173d123e29df Mon Sep 17 00:00:00 2001 From: Alessandro Simovic Date: Fri, 31 Mar 2023 16:56:42 +0200 Subject: [PATCH] rename to just FightTaskl --- .../flight_mode_manager/CMakeLists.txt | 2 +- .../flight_mode_manager/FlightModeManager.cpp | 2 +- .../CMakeLists.txt | 8 +++---- .../FlightTaskPrecisionLanding.cpp} | 21 ++++++++++--------- .../FlightTaskPrecisionLanding.hpp} | 13 ++++++------ .../precland_params.c | 0 6 files changed, 24 insertions(+), 22 deletions(-) rename src/modules/flight_mode_manager/tasks/{AutoPrecisionLanding => PrecisionLanding}/CMakeLists.txt (87%) rename src/modules/flight_mode_manager/tasks/{AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp => PrecisionLanding/FlightTaskPrecisionLanding.cpp} (92%) rename src/modules/flight_mode_manager/tasks/{AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.hpp => PrecisionLanding/FlightTaskPrecisionLanding.hpp} (93%) rename src/modules/flight_mode_manager/tasks/{AutoPrecisionLanding => PrecisionLanding}/precland_params.c (100%) diff --git a/src/modules/flight_mode_manager/CMakeLists.txt b/src/modules/flight_mode_manager/CMakeLists.txt index 59805b49d9..7ce91c4249 100644 --- a/src/modules/flight_mode_manager/CMakeLists.txt +++ b/src/modules/flight_mode_manager/CMakeLists.txt @@ -40,7 +40,7 @@ set(flight_tasks_all) list(APPEND flight_tasks_all Auto - AutoPrecisionLanding + PrecisionLanding Descend Failsafe ManualAcceleration diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp index 565964b6b1..dd381cbb17 100644 --- a/src/modules/flight_mode_manager/FlightModeManager.cpp +++ b/src/modules/flight_mode_manager/FlightModeManager.cpp @@ -179,7 +179,7 @@ void FlightModeManager::start_flight_task() // Take-over landing from navigator if precision landing is enabled should_disable_task = false; - if (switchTask(FlightTaskIndex::AutoPrecisionLanding) != FlightTaskError::NoError) { + if (switchTask(FlightTaskIndex::PrecisionLanding) != FlightTaskError::NoError) { PX4_INFO("Switching to precland flight task"); task_failure = true; } diff --git a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/PrecisionLanding/CMakeLists.txt similarity index 87% rename from src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/CMakeLists.txt rename to src/modules/flight_mode_manager/tasks/PrecisionLanding/CMakeLists.txt index f1b6d0d41b..f4e3113b96 100644 --- a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/CMakeLists.txt +++ b/src/modules/flight_mode_manager/tasks/PrecisionLanding/CMakeLists.txt @@ -31,9 +31,9 @@ # ############################################################################ -px4_add_library(FlightTaskAutoPrecisionLanding -FlightTaskAutoPrecisionLanding.cpp +px4_add_library(FlightTaskPrecisionLanding +FlightTaskPrecisionLanding.cpp ) -target_link_libraries(FlightTaskAutoPrecisionLanding PUBLIC FlightTaskAuto) -target_include_directories(FlightTaskAutoPrecisionLanding PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) +target_link_libraries(FlightTaskPrecisionLanding PUBLIC FlightTask) +target_include_directories(FlightTaskPrecisionLanding PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp b/src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.cpp similarity index 92% rename from src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp rename to src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.cpp index 675745aa8f..a8134d00e5 100644 --- a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp +++ b/src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.cpp @@ -32,15 +32,16 @@ ****************************************************************************/ /** - * @file FlightTaskAutoPrecisionLanding.cpp + * @file FlightTaskPrecisionLanding.cpp + * */ -#include "FlightTaskAutoPrecisionLanding.hpp" +#include "FlightTaskPrecisionLanding.hpp" #include using namespace matrix; -bool FlightTaskAutoPrecisionLanding::activate(const trajectory_setpoint_s &last_setpoint) +bool FlightTaskPrecisionLanding::activate(const trajectory_setpoint_s &last_setpoint) { bool ret = FlightTask::activate(last_setpoint); PX4_INFO("precland activated"); @@ -57,19 +58,19 @@ bool FlightTaskAutoPrecisionLanding::activate(const trajectory_setpoint_s &last_ return ret; } -void FlightTaskAutoPrecisionLanding::do_state_transition(PRECLAND_STATE new_state) +void FlightTaskPrecisionLanding::do_state_transition(PRECLAND_STATE new_state) { _precland_state = new_state; _state_start_time = hrt_absolute_time(); } -bool FlightTaskAutoPrecisionLanding::inside_acceptance_radius() +bool FlightTaskPrecisionLanding::inside_acceptance_radius() { - // TODO: Reuse what FlightTaskAuto has... - return Vector3f(_position_setpoint - _position).norm() <= _param_pld_hacc_rad.get(); + // TODO: Reuse what FlightTask has... + return matrix::Vector3f(_position_setpoint - _position).norm() <= _param_pld_hacc_rad.get(); } -bool FlightTaskAutoPrecisionLanding::precision_target_available() +bool FlightTaskPrecisionLanding::precision_target_available() { // TODO: Add timeout const bool ever_received = _landing_target_pose.timestamp != 0; @@ -77,9 +78,9 @@ bool FlightTaskAutoPrecisionLanding::precision_target_available() return ever_received && !timed_out; } -bool FlightTaskAutoPrecisionLanding::update() +bool FlightTaskPrecisionLanding::update() { - // Get setpoints from FlightTaskAuto and later override if necessary + // Get setpoints from FlightTask and later override if necessary bool ret = FlightTask::update(); // Fetch uorb diff --git a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.hpp b/src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.hpp similarity index 93% rename from src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.hpp rename to src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.hpp index eb1f775e67..e5b3a6d5d0 100644 --- a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.hpp +++ b/src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.hpp @@ -32,14 +32,14 @@ ****************************************************************************/ /** - * @file FlightTaskAutoPrecisionLanding.hpp + * @file FlightTaskPrecisionLanding.hpp * * Flight task for better precision landing */ #pragma once -#include "FlightTaskAuto.hpp" +#include "FlightTask.hpp" #include #include #include @@ -48,16 +48,17 @@ #include // #include #include +#include // TODO: Get the correct define from some header #define SEC2USEC 1000000.0f #define HOVER_SPEED_THRESHOLD 0.20f // If drone has speed under this value it is considered to be hovering in place -class FlightTaskAutoPrecisionLanding : public FlightTask +class FlightTaskPrecisionLanding : public FlightTask { public: - FlightTaskAutoPrecisionLanding() = default; - virtual ~FlightTaskAutoPrecisionLanding() = default; + FlightTaskPrecisionLanding() = default; + virtual ~FlightTaskPrecisionLanding() = default; bool activate(const trajectory_setpoint_s &last_setpoint) override; @@ -102,7 +103,7 @@ private: int _search_count = 0; float _initial_yaw; float _target_yaw; - Vector3f _initial_position; + matrix::Vector3f _initial_position; orb_advert_t _mavlink_log_pub{nullptr}; matrix::Vector3f _precision_target_ned = {NAN, NAN, NAN}; diff --git a/src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/precland_params.c b/src/modules/flight_mode_manager/tasks/PrecisionLanding/precland_params.c similarity index 100% rename from src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/precland_params.c rename to src/modules/flight_mode_manager/tasks/PrecisionLanding/precland_params.c