FlightTaskAutoLineSmoothVel.hpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   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.
 *
 ****************************************************************************/

#pragma once

#include "FlightTaskAutoMapper2.hpp"
#include "VelocitySmoothing.hpp"

class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper2
{
public:
    FlightTaskAutoLineSmoothVel() = default;
    virtual ~FlightTaskAutoLineSmoothVel() = default;

    bool activate() override;
    void reActivate() override;

protected:

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
                    (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_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
                    (ParamFloat<px4::params::MPC_JERK_MIN>) _param_mpc_jerk_min,
                    (ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
                    (ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p
                       );

    void _generateSetpoints() override; 
    inline float _constrainOneSide(float val, float constrain);
    void _checkEkfResetCounters(); 
    void _generateHeading();
    bool _generateHeadingAlongTraj(); 
    void _updateTrajConstraints();
    void _prepareSetpoints(); 
    void _generateTrajectory();
    VelocitySmoothing _trajectory[3]; 
    float _yaw_sp_prev;

    /* counters for estimator local position resets */
    struct {
        uint8_t xy;
        uint8_t vxy;
        uint8_t z;
        uint8_t vz;
    } _reset_counters{0, 0, 0, 0};
};