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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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66 lines
2.5 KiB
C++
66 lines
2.5 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 FlightTaskOffboard.hpp
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*/
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#pragma once
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#include "FlightTask.hpp"
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/position_setpoint.h>
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class FlightTaskOffboard : public FlightTask
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{
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public:
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FlightTaskOffboard() = default;
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virtual ~FlightTaskOffboard() = default;
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bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
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bool update() override;
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bool activate() override;
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bool updateInitialize() override;
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protected:
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uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
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private:
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matrix::Vector3f _position_lock{};
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
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(ParamFloat<px4::params::MPC_LAND_SPEED>) MPC_LAND_SPEED,
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(ParamFloat<px4::params::MPC_TKO_SPEED>) MPC_TKO_SPEED,
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(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) MIS_TAKEOFF_ALT
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)
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};
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