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79 lines
3.3 KiB
C++
79 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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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#pragma once
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/sensor_gps.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/failsafe_flags.h>
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class HomePosition
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{
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public:
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HomePosition(const failsafe_flags_s &failsafe_flags);
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~HomePosition() = default;
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bool setHomePosition(bool force = false);
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void setInAirHomePosition();
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bool setManually(double lat, double lon, float alt, float yaw);
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void update(bool set_automatically, bool check_if_changed);
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bool valid() const { return _valid; }
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private:
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bool hasMovedFromCurrentHomeLocation();
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void setHomePosValid();
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void updateHomePositionYaw(float yaw);
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static void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos);
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static void fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading);
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static void fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos);
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static void fillGlobalHomePos(home_position_s &home, double lat, double lon, float alt);
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uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
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uORB::SubscriptionData<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
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uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
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uORB::PublicationData<home_position_s> _home_position_pub{ORB_ID(home_position)};
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uint8_t _heading_reset_counter{0};
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bool _valid{false};
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const failsafe_flags_s &_failsafe_flags;
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};
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