navigator: new class structure, loiter and mission working

2026-10-27 16:13:34 +08:00 · 2014-06-06 17:17:41 +02:00
parent 9bfae10b73
commit d78c3a2242
13 changed files with 565 additions and 243 deletions
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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 mission_block.h
+ *
+ * Helper class to use mission items
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#ifndef NAVIGATOR_MISSION_BLOCK_H
+#define NAVIGATOR_MISSION_BLOCK_H
+
+#include <drivers/drv_hrt.h>
+
+#include <uORB/topics/mission.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+
+class Navigator;
+
+class MissionBlock
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param pointer to parent class
+	 */
+	MissionBlock(Navigator *navigator);
+
+	/**
+	 * Destructor
+	 */
+	virtual ~MissionBlock();
+
+	/**
+	 * Check if mission item has been reached
+	 * @return true if successfully reached
+	 */
+	bool is_mission_item_reached();
+	/**
+	 * Reset all reached flags
+	 */
+	void reset_mission_item_reached();
+
+	/**
+	 * Convert a mission item to a position setpoint
+	 *
+	 * @param the mission item to convert
+	 * @param the position setpoint that needs to be set
+	 */
+	void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
+
+	/**
+	 * Set a loiter item, if possible reuse the position setpoint, otherwise take the current position
+	 *
+	 * @param true if the current position setpoint should be re-used
+	 * @param the position setpoint triplet to set
+	 * @return true if setpoint has changed
+	 */
+	bool set_loiter_item(const bool reuse_current_pos_sp, position_setpoint_triplet_s *pos_sp_triplet);
+
+	bool _waypoint_position_reached;
+	bool _waypoint_yaw_reached;
+	hrt_abstime _time_first_inside_orbit;
+
+	mission_item_s _mission_item;
+	bool _mission_item_valid;
+
+private:
+	Navigator *_navigator_priv;
+};
+
+#endif