mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 03:27:34 +08:00
Dennis Mannhart
95 lines
4.1 KiB
C++
95 lines
4.1 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 FlightTaskAuto.hpp
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*
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* Map from global triplet to local quadruple.
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*
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*/
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#pragma once
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#include "FlightTask.hpp"
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/position_setpoint.h>
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#include <lib/geo/geo.h>
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/* This enum has to agree with position_setpoint_s type definition
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* The only reason for not using the struct position_setpoint is because
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* of the size */
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enum class WaypointType : int {
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position = 0,
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velocity,
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loiter,
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takeoff,
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land,
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idle
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};
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class FlightTaskAuto : public FlightTask
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{
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public:
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FlightTaskAuto(control::SuperBlock *parent, const char *name);
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virtual ~FlightTaskAuto() = default;
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bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
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bool activate() override;
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bool updateInitialize() override;
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protected:
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matrix::Vector3f _prev_prev_wp{}; /**< Pre-previous waypoint (local frame). This will be used for smoothing trajectories -> not used yet. */
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matrix::Vector3f _prev_wp{}; /**< Previous waypoint (local frame). If no previous triplet is available, the prev_wp is set to current position. */
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matrix::Vector3f _target{}; /**< Target waypoint (local frame).*/
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matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
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float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Currently it is not a yaw-waypoint, but rather a yaw setpoint at each time stamp. */
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float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
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WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
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private:
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control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed.*/
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map_projection_reference_s _reference; /**< Reference frame from global to local. */
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uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
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map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
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float _reference_altitude = 0.0f; /**< Altitude relative to ground. */
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hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */
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bool _evaluateTriplets(); /**< Checks and sets triplets. */
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bool _isFinite(const position_setpoint_s sp); /**< Checks if all waypoint triplets are finite. */
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void _updateReference(); /**< Updates the local reference. */
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void _evaluateVehicleGlobalPosition(); /**< Checks if global position is valid. */
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};
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