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71 lines
3.0 KiB
C++
71 lines
3.0 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 FlightTaskAutoLine.hpp
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*
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* Flight task for autonomous, gps driven mode. The vehicle flies
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* along a straight line in between waypoints.
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*/
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#pragma once
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#include "FlightTaskAutoMapper.hpp"
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class FlightTaskAutoLine : public FlightTaskAutoMapper
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{
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public:
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FlightTaskAutoLine() = default;
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virtual ~FlightTaskAutoLine() = default;
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bool activate() override;
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protected:
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
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(ParamFloat<px4::params::MIS_YAW_ERR>) MIS_YAW_ERR, // yaw-error threshold
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(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
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(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX,
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(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR // acceleration in flight
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)
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void _generateSetpoints() override;
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void _updateInternalWaypoints(); /**< Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). */
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void _generateAltitudeSetpoints(); /**< Generate velocity and position setpoints for following line along z. */
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void _generateXYsetpoints(); /**< Generate velocity and position setpoints for following line along xy. */
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private:
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float _getVelocityFromAngle(const float angle); /**< Computes the speed at target depending on angle. */
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bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
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};
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