mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-19 02:49:07 +08:00
120 lines
4.3 KiB
C++
120 lines
4.3 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2023 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 FlightTaskPrecisionLanding.hpp
|
|
*
|
|
* Flight task for better precision landing
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "FlightTask.hpp"
|
|
#include <uORB/PublicationMulti.hpp>
|
|
#include <uORB/topics/landing_target_pose.h>
|
|
#include <uORB/topics/precision_landing_status.h>
|
|
// #include <uORB/topics/vehicle_local_position_setpoint.h>
|
|
#include <systemlib/mavlink_log.h>
|
|
#include <uORB/topics/follow_target_estimator.h>
|
|
// #include <lib/ecl/geo/geo.h>
|
|
#include <mathlib/mathlib.h>
|
|
#include <lib/matrix/matrix/math.hpp>
|
|
|
|
// TODO: Get the correct define from some header
|
|
#define SEC2USEC 1000000.0f
|
|
#define HOVER_SPEED_THRESHOLD 0.20f // If drone has speed under this value it is considered to be hovering in place
|
|
|
|
class FlightTaskPrecisionLanding : public FlightTask
|
|
{
|
|
public:
|
|
FlightTaskPrecisionLanding() = default;
|
|
virtual ~FlightTaskPrecisionLanding() = default;
|
|
|
|
bool activate(const trajectory_setpoint_s &last_setpoint) override;
|
|
|
|
bool update() override;
|
|
|
|
private:
|
|
// TODO: Use ModuleParams
|
|
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
|
|
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed, ///< velocity for controlled descend
|
|
(ParamFloat<px4::params::PLD_SRCH_ALT>) _param_pld_srch_alt,
|
|
(ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_pld_srch_tout,
|
|
(ParamInt<px4::params::PLD_MAX_SRCH>) _param_pld_max_srch,
|
|
(ParamFloat<px4::params::PLD_HACC_RAD>) _param_pld_hacc_rad,
|
|
(ParamFloat<px4::params::PLD_BTOUT>) _param_pld_btout,
|
|
(ParamFloat<px4::params::RTL_RETURN_ALT>) _param_rtl_return_alt,
|
|
(ParamFloat<px4::params::NAV_MC_ALT_RAD>) _param_nav_mc_alt_rad
|
|
)
|
|
|
|
enum PRECLAND_STATE {
|
|
AUTORTL_CLIMB,
|
|
AUTORTL_APPROACH,
|
|
MOVE_TO_SEARCH_ALTITUDE,
|
|
SEARCHING_TARGET,
|
|
MOVING_ABOVE_TARGET,
|
|
LANDING_ON_TARGET,
|
|
FALLBACK_LAND
|
|
};
|
|
|
|
void do_state_transition(PRECLAND_STATE new_state);
|
|
|
|
bool inside_acceptance_radius();
|
|
|
|
bool precision_target_available();
|
|
|
|
void generate_setpoints();
|
|
void generate_pos_xy_setpoints();
|
|
void generate_pos_z_setpoints();
|
|
void generate_vel_setpoints();
|
|
void generate_acc_setpoints();
|
|
void generate_yaw_setpoint();
|
|
|
|
void check_state_transitions();
|
|
|
|
PRECLAND_STATE _precland_state;
|
|
|
|
uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
|
|
landing_target_pose_s _landing_target_pose{}; /**< precision landing target position */
|
|
|
|
uORB::PublicationMulti<precision_landing_status_s> _precision_landing_status_pub{ORB_ID(precision_landing_status)};
|
|
|
|
uint64_t _state_start_time{0}; /**< time when entering search state */
|
|
int _search_count = 0;
|
|
float _initial_yaw;
|
|
float _target_yaw;
|
|
matrix::Vector3f _initial_position;
|
|
|
|
orb_advert_t _mavlink_log_pub{nullptr};
|
|
};
|