FlightTaskAutoMapper.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 FlightTaskAutoMapper.hpp
*
* Abstract Flight task which generates local setpoints
* based on the triplet type.
*/
#pragma once
#include "FlightTaskAuto.hpp"
#include "Sticks.hpp"
class FlightTaskAutoMapper : public FlightTaskAuto
{
public:
FlightTaskAutoMapper();
virtual ~FlightTaskAutoMapper() = default;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool update() override;
protected:
virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
void _prepareIdleSetpoints();
void _prepareLandSetpoints();
void _prepareVelocitySetpoints();
void _prepareTakeoffSetpoints();
void _preparePositionSetpoints();
void updateParams() override; /**< See ModuleParam class */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
(ParamFloat<px4::params::MPC_LAND_ALT1>)
_param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
(ParamFloat<px4::params::MPC_LAND_ALT2>)
_param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
_param_mpc_tko_ramp_t // time constant for smooth takeoff ramp
);
private:
Sticks _sticks;
void _reset(); /**< Resets member variables to current vehicle state */
WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
float _getLandSpeed(); /**< Returns landing descent speed. */
};