FlightTaskTransition.cpp
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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 FlightTaskTranstion.cpp
*/
#include "FlightTaskTransition.hpp"
bool FlightTaskTransition::updateInitialize()
{
return FlightTask::updateInitialize();
}
bool FlightTaskTransition::activate(const vehicle_local_position_setpoint_s &last_setpoint)
{
return FlightTask::activate(last_setpoint);
}
bool FlightTaskTransition::update()
{
bool ret = FlightTask::update();
_acceleration_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
// demand zero vertical velocity and level attitude
// tailsitters will override attitude and thrust setpoint
// tiltrotors and standard vtol will overrride roll and pitch setpoint but keep vertical thrust setpoint
_position_setpoint.setAll(NAN);
_velocity_setpoint(2) = 0.0f;
_yaw_setpoint = NAN;
return ret;
}