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103 lines
3.2 KiB
C++
103 lines
3.2 KiB
C++
/***************************************************************************
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*
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* Copyright (c) 2016 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 followme.cpp
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*
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* Helper class to track and follow a given position
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*
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* @author Jimmy Johnson <catch22@fastmail.net>
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*/
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#pragma once
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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#include "navigator_mode.h"
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#include "mission_block.h"
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#include <lib/mathlib/math/Vector.hpp>
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#include <lib/matrix/matrix/Matrix.hpp>
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class FollowTarget : public MissionBlock
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{
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public:
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FollowTarget(Navigator *navigator, const char *name);
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~FollowTarget();
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virtual void on_inactive();
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virtual void on_activation();
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virtual void on_active();
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enum {
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ACSEND,
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TRACK_POSITION,
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TRACK_VELOCITY,
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TARGET_TIMEOUT
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};
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private:
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static constexpr int TARGET_TIMEOUT_INT_S = 10;
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static constexpr int TARGET_ACCEPTANCE_RADIUS_M = 10;
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Navigator *_navigator;
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control::BlockParamFloat _param_min_alt;
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int _current_target_state;
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int _target_motion_position_sub;
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bool _previous_target_gps_pos_valid;
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bool _radius_entered;
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bool _radius_exited;
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uint64_t _last_publish_time;
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math::Vector<3> _current_vel;
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math::Vector<3> _step_vel;
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math::Vector<3> _target_vel;
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math::Vector<3> _target_distance;
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follow_target_s _current_target_motion;
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follow_target_s _previous_target_motion;
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float _dt;
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void track_position();
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void track_velocity();
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void loiter();
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void update_position_sp(math::Vector<3> & vel);
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void update_target_motion();
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void update_target_velocity();
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};
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