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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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54145cedc7
Remove the entire external yaw handler, dynamic memory allocation, pointer passing logic. Directly instanciate the weather vane instance in the flight tasks that support it.
71 lines
3.0 KiB
C++
71 lines
3.0 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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* 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 FlightTaskManualPosition.hpp
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*
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* Flight task for manual position controlled mode.
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*
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*/
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#pragma once
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#include <lib/collision_prevention/CollisionPrevention.hpp>
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#include <lib/weather_vane/WeatherVane.hpp>
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#include "FlightTaskManualAltitude.hpp"
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class FlightTaskManualPosition : public FlightTaskManualAltitude
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{
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public:
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FlightTaskManualPosition() = default;
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virtual ~FlightTaskManualPosition() = default;
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bool activate(const trajectory_setpoint_s &last_setpoint) override;
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bool updateInitialize() override;
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protected:
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void _updateXYlock(); /**< applies position lock based on stick and velocity */
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void _updateSetpoints() override;
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void _scaleSticks() override;
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
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(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
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(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
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(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy
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)
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private:
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uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
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WeatherVane _weathervane{this}; /**< weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
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CollisionPrevention _collision_prevention{this}; /**< collision avoidance setpoint amendment */
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};
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