mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 14:03:34 +08:00
111 lines
3.4 KiB
C++
111 lines
3.4 KiB
C++
/***************************************************************************
|
|
*
|
|
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
/**
|
|
* @file safe_point_land.hpp
|
|
* This file defines helper structs that are used to define land approaches which consists of a land location and a number of
|
|
* loiter circles. Each loiter circle defines a possible approach for landing at the land location.
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <lib/mathlib/mathlib.h>
|
|
#include <geo/geo.h>
|
|
|
|
struct loiter_point_s {
|
|
loiter_point_s() { reset(); }
|
|
double lat;
|
|
double lon;
|
|
float height_m;
|
|
float loiter_radius_m;
|
|
|
|
void reset()
|
|
{
|
|
lat = lon = static_cast<double>(NAN);
|
|
height_m = NAN;
|
|
loiter_radius_m = NAN;
|
|
}
|
|
|
|
bool isValid() const { return PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(height_m); }
|
|
};
|
|
|
|
// defines one land location and a maximum of num_approaches_max loiter points
|
|
struct land_approaches_s {
|
|
|
|
static constexpr uint8_t num_approaches_max = 8;
|
|
loiter_point_s approaches[num_approaches_max];
|
|
matrix::Vector2d land_location_lat_lon;
|
|
|
|
land_approaches_s()
|
|
{
|
|
resetAllApproaches();
|
|
}
|
|
|
|
void resetAllApproaches()
|
|
{
|
|
for (uint8_t i = 0; i < num_approaches_max; i++) {
|
|
approaches[i].reset();
|
|
}
|
|
}
|
|
|
|
bool isAnyApproachValid() const
|
|
{
|
|
for (uint8_t i = 0; i < num_approaches_max; i++) {
|
|
if (approaches[i].isValid()) {
|
|
return true;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
float getMaxDistLandToLoiterCircle() const
|
|
{
|
|
// returns negative infinity if there is no valid approach
|
|
float dist_max = -INFINITY;
|
|
|
|
for (uint8_t i = 0; i < num_approaches_max; i++) {
|
|
if (approaches[i].isValid()) {
|
|
float dist = get_distance_to_next_waypoint(land_location_lat_lon(0), land_location_lat_lon(1), approaches[i].lat,
|
|
approaches[i].lon) + approaches[i].loiter_radius_m;
|
|
|
|
if (dist > dist_max) {
|
|
dist_max = dist;
|
|
}
|
|
}
|
|
}
|
|
|
|
return dist_max;
|
|
}
|
|
};
|