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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Konrad
102 lines
3.6 KiB
C++
102 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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 precland_mode.cpp
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*
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* Helper class to do precision landing with a landing target
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*
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* @author Nicolas de Palezieux (Sunflower Labs) <ndepal@gmail.com>
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*/
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#include "precland_mode.h"
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#include "navigator.h"
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#include <uORB/topics/position_setpoint_triplet.h>
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PrecLandMode::PrecLandMode(Navigator *navigator) :
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MissionBlock(navigator)
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{
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}
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void
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PrecLandMode::on_activation()
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{
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_global_pos_sub.update();
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// Get the landing position from current position_setpoint, else use the current vehicle position.
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position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
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PrecLand::LandingPosition2D approximate_landing_pos{ .lat = pos_sp_triplet->current.lat,
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.lon = pos_sp_triplet->current.lon};
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if (!pos_sp_triplet->current.valid) {
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PX4_WARN("No valid landing position for precision landing. Using current position");
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approximate_landing_pos.lat = _global_pos_sub.get().lat;
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approximate_landing_pos.lon = _global_pos_sub.get().lon;
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}
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_prec_land.initialize(approximate_landing_pos);
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}
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void
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PrecLandMode::on_active()
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{
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_local_pos_sub.update();
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_prec_land.setAcceptanceRadius(_navigator->get_acceptance_radius());
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_prec_land.update();
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PrecLand::Output prec_land_output{_prec_land.getOutput()};
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_mission_item.nav_cmd = prec_land_output.nav_cmd;
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_mission_item.lat = prec_land_output.pos_hor.lat;
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_mission_item.lon = prec_land_output.pos_hor.lon;
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_mission_item.altitude = prec_land_output.alt;
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_mission_item.altitude_is_relative = false;
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_mission_item.yaw = _local_pos_sub.get().heading;
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mission_apply_limitation(_mission_item);
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position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
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pos_sp_triplet->previous.valid = false;
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pos_sp_triplet->next.valid = false;
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if (mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current)) {
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_navigator->set_position_setpoint_triplet_updated();
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}
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}
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