mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-05 18:30:35 +08:00
Matthias Grob
94 lines
3.2 KiB
C++
94 lines
3.2 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 FlightTaskOrbit.hpp
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*
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* Flight task for orbiting in a circle around a target position
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include "FlightTaskManual.hpp"
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class FlightTaskOrbit : public FlightTaskManual
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{
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public:
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FlightTaskOrbit();
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virtual ~FlightTaskOrbit() = default;
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bool applyCommandParameters(const vehicle_command_s &command) override;
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bool activate() override;
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bool update() override;
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/**
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* Check the feasibility of orbit parameters with respect to
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* centripetal acceleration a = v^2 / r
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* @param r desired radius
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* @param v desired velocity
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* @param a maximal allowed acceleration
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* @return true on success, false if value not accepted
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*/
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bool checkAcceleration(float r, float v, float a);
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protected:
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/**
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* Change the radius of the circle.
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* @param r desired new radius
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* @return true on success, false if value not accepted
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*/
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bool setRadius(const float r);
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/**
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* Change the velocity of the vehicle on the circle.
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* @param v desired new velocity
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* @return true on success, false if value not accepted
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*/
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bool setVelocity(const float v);
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private:
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float _r = 0.f; /**< radius with which to orbit the target */
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float _v = 0.f; /**< linear velocity for orbiting in m/s */
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float _z = 0.f; /**< local z coordinate in meters */
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matrix::Vector2f _center;
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// TODO: create/use parameters for limits
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const float radius_min = 1.f;
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const float radius_max = 20.f;
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const float velocity_max = 10.f;
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const float acceleration_max = 2.f;
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};
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