mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 06:10:35 +08:00
Matthias Grob
140 lines
4.6 KiB
C++
140 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightTask.h
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*
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* Abstract base class for different advanced flight tasks like orbit, follow me, ...
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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class FlightTask
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{
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public:
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FlightTask()
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{
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_vehicle_local_position = NULL;
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_manual_control_setpoint = NULL;
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_reset_time();
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};
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virtual ~FlightTask() {};
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/**
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* Call once on the event where you switch to the task
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* Note: Set the necessary input pointers first!
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int activate()
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{
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_reset_time();
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return 0;
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};
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/**
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* Call once on the event of switching away from the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int disable() = 0;
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/**
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* To be called regularly in the control loop cycle to execute the task
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* @return 0 on success, >0 on error otherwise
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*/
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virtual int update()
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{
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_time = hrt_elapsed_time(&_starting_time_stamp) / 1e6;
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return 0;
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};
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/**
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* Set vehicle local position data pointer
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* @param pointer to vehicle local position
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*/
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void set_vehicle_local_position_pointer(const vehicle_local_position_s *vehicle_local_position) { _vehicle_local_position = vehicle_local_position; };
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/**
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* Set manual control setpoint data pointer if it's needed for the task
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* @param pointer to manual control setpoint
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*/
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void set_manual_control_setpoint_pointer(const manual_control_setpoint_s *manual_control_setpoint) { _manual_control_setpoint = manual_control_setpoint; };
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/**
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* Get the resulting setpoints of the task execution via pointer
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* @return pointer to setpoint struct
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*/
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const vehicle_local_position_setpoint_s *get_position_setpoint() const { return &_vehicle_position_setpoint; };
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protected:
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float _get_time() { return _time; }
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void _reset_time() { _starting_time_stamp = hrt_absolute_time(); };
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void _set_position_setpoint(const matrix::Vector3f position_setpoint)
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{
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_vehicle_position_setpoint.x = position_setpoint(0);
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_vehicle_position_setpoint.y = position_setpoint(1);
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_vehicle_position_setpoint.z = position_setpoint(2);
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};
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void _set_velocity_setpoint(const matrix::Vector3f velocity_setpoint)
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{
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_vehicle_position_setpoint.vx = velocity_setpoint(0);
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_vehicle_position_setpoint.vy = velocity_setpoint(1);
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_vehicle_position_setpoint.vz = velocity_setpoint(2);
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};
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void _set_acceleration_setpoint(const matrix::Vector3f acceleration_setpoint)
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{
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_vehicle_position_setpoint.acc_x = acceleration_setpoint(0);
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_vehicle_position_setpoint.acc_y = acceleration_setpoint(1);
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_vehicle_position_setpoint.acc_z = acceleration_setpoint(2);
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};
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private:
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/* local time for a task */
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float _time = 0; /*< passed time in seconds since the task was activated */
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hrt_abstime _starting_time_stamp; /*< time stamp when task was activated */
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/* General Input */
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const vehicle_local_position_s *_vehicle_local_position;
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const manual_control_setpoint_s *_manual_control_setpoint;
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/* General Output */
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vehicle_local_position_setpoint_s _vehicle_position_setpoint;
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};
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