mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 16:03:33 +08:00
Roman Bapst
6de5d24e00
* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF * navigator: added support for vtol_takeoff navigation mode
82 lines
2.8 KiB
C++
82 lines
2.8 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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/**
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* @file vtol_takeoff.h
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*
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* Helper class to do a VTOL takeoff and transition into a loiter.
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*
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*/
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#pragma once
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#include "navigator_mode.h"
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#include "mission_block.h"
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#include <lib/mathlib/mathlib.h>
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#include <px4_platform_common/module_params.h>
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class VtolTakeoff : public MissionBlock, public ModuleParams
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{
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public:
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VtolTakeoff(Navigator *navigator);
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~VtolTakeoff() = default;
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void on_activation() override;
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void on_active() override;
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void setTransitionAltitudeAbsolute(const float alt_amsl) {_transition_alt_amsl = alt_amsl; }
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void setLoiterLocation(matrix::Vector2d loiter_location) { _loiter_location = loiter_location; }
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void setLoiterHeight(const float height_m) { _loiter_height = height_m; }
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private:
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enum class vtol_takeoff_state {
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TAKEOFF_HOVER = 0,
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ALIGN_HEADING,
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TRANSITION,
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CLIMB,
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ABORT_TAKEOFF_AND_LAND
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} _takeoff_state;
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float _transition_alt_amsl{0.f}; // absolute altitude at which vehicle will transition to forward flight
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matrix::Vector2d _loiter_location;
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float _loiter_height{0};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::VTO_LOITER_ALT>) _param_loiter_alt
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)
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void set_takeoff_position();
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};
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