mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 08:40:35 +08:00
Daniel Agar
85 lines
3.4 KiB
C++
85 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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 FlightTaskAutoMapper.hpp
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*
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* Abstract Flight task which generates local setpoints
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* based on the triplet type.
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*/
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#pragma once
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#include "FlightTaskAuto.hpp"
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#include "Sticks.hpp"
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class FlightTaskAutoMapper : public FlightTaskAuto
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{
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public:
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FlightTaskAutoMapper();
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virtual ~FlightTaskAutoMapper() = default;
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bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
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bool update() override;
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protected:
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virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
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void _prepareIdleSetpoints();
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void _prepareLandSetpoints();
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void _prepareVelocitySetpoints();
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void _prepareTakeoffSetpoints();
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void _preparePositionSetpoints();
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void updateParams() override; /**< See ModuleParam class */
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
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(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
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(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
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(ParamFloat<px4::params::MPC_LAND_ALT1>)
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_param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
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(ParamFloat<px4::params::MPC_LAND_ALT2>)
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_param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
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(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
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(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
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_param_mpc_tko_ramp_t // time constant for smooth takeoff ramp
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);
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private:
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Sticks _sticks;
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void _reset(); /**< Resets member variables to current vehicle state */
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WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
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bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
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float _getLandSpeed(); /**< Returns landing descent speed. */
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};
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