FlightTaskAutoLineSmoothVel.hpp
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/****************************************************************************
*
* Copyright (c) 2018 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 FlightTaskAutoLineSmoothVel.hpp
*
* Flight task for autonomous, gps driven mode. The vehicle flies
* along a straight line in between waypoints.
*/
#pragma once
#include "FlightTaskAutoMapper.hpp"
#include <motion_planning/VelocitySmoothing.hpp>
class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper
{
public:
FlightTaskAutoLineSmoothVel() = default;
virtual ~FlightTaskAutoLineSmoothVel() = default;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
void reActivate() override;
protected:
/** Reset position or velocity setpoints in case of EKF reset event */
void _ekfResetHandlerPositionXY() override;
void _ekfResetHandlerVelocityXY() override;
void _ekfResetHandlerPositionZ() override;
void _ekfResetHandlerVelocityZ() override;
void _ekfResetHandlerHeading(float delta_psi) override;
void _generateSetpoints() override; /**< Generate setpoints along line. */
void _generateHeading();
void _updateTurningCheck();
bool _generateHeadingAlongTraj(); /**< Generates heading along trajectory. */
static float _constrainOneSide(float val, float constraint); /**< Constrain val between INF and constraint */
static float _constrainAbs(float val, float max); /** Constrain the value -max <= val <= max */
float _getMaxXYSpeed() const;
float _getMaxZSpeed() const;
matrix::Vector3f getCrossingPoint() const;
bool isTargetModified() const;
matrix::Vector2f getL1Point() const;
float _max_speed_prev{};
bool _is_turning{false};
void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
void _updateTrajConstraints();
void _generateTrajectory();
/** determines when to trigger a takeoff (ignored in flight) */
bool _checkTakeoff() override { return _want_takeoff; };
bool _want_takeoff{false};
VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max
);
};