FlightTaskManualPosition.hpp
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/****************************************************************************
*
* Copyright (c) 2017 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 FlightTaskManualPosition.hpp
*
* Flight task for manual position controlled mode.
*
*/
#pragma once
#include <lib/collision_prevention/CollisionPrevention.hpp>
#include "FlightTaskManualAltitude.hpp"
class FlightTaskManualPosition : public FlightTaskManualAltitude
{
public:
FlightTaskManualPosition();
virtual ~FlightTaskManualPosition() = default;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool updateInitialize() override;
/**
* Sets an external yaw handler which can be used to implement a different yaw control strategy.
*/
void setYawHandler(WeatherVane *yaw_handler) override { _weathervane_yaw_handler = yaw_handler; }
protected:
void _updateXYlock(); /**< applies position lock based on stick and velocity */
void _updateSetpoints() override;
void _scaleSticks() override;
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
(ParamFloat<px4::params::MPC_LAND_VEL_XY>) _param_mpc_land_vel_xy,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy
)
private:
float _computeVelXYGroundDist();
float _velocity_scale{0.0f}; //scales the stick input to velocity
uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
WeatherVane *_weathervane_yaw_handler =
nullptr; /**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
CollisionPrevention _collision_prevention; /**< collision avoidance setpoint amendment */
};