FlightTaskAuto.hpp

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#pragma once

#include "FlightTask.hpp"
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/position_setpoint.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <lib/ecl/geo/geo.h>
#include <ObstacleAvoidance.hpp>

enum class WaypointType : int {
    position = position_setpoint_s::SETPOINT_TYPE_POSITION,
    velocity = position_setpoint_s::SETPOINT_TYPE_VELOCITY,
    loiter = position_setpoint_s::SETPOINT_TYPE_LOITER,
    takeoff = position_setpoint_s::SETPOINT_TYPE_TAKEOFF,
    land = position_setpoint_s::SETPOINT_TYPE_LAND,
    idle = position_setpoint_s::SETPOINT_TYPE_IDLE,
    offboard = position_setpoint_s::SETPOINT_TYPE_OFFBOARD, // only part of this structure due to legacy reason. It is not used within the Auto flighttasks
    follow_target = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET,
};

enum class State {
    offtrack, 
    target_behind, 
    previous_infront, 
    none 
};

class FlightTaskAuto : public FlightTask
{
public:
    FlightTaskAuto();

    virtual ~FlightTaskAuto() = default;
    bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
    bool activate() override;
    bool updateInitialize() override;
    bool updateFinalize() override;

    void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}

protected:
    void _setDefaultConstraints() override;
    matrix::Vector2f _getTargetVelocityXY(); 
    void _updateInternalWaypoints(); 
    bool _compute_heading_from_2D_vector(float &heading, matrix::Vector2f v); 
    matrix::Vector3f _prev_prev_wp{}; 
    matrix::Vector3f _prev_wp{}; 
    matrix::Vector3f _target{}; 
    matrix::Vector3f _next_wp{}; 
    float _mc_cruise_speed{0.0f}; 
    WaypointType _type{WaypointType::idle}; 
    uORB::Subscription<home_position_s> *_sub_home_position{nullptr};

    State _current_state{State::none};
    float _target_acceptance_radius = 0.0f; 
    int _mission_gear = landing_gear_s::GEAR_KEEP;

    ObstacleAvoidance _obstacle_avoidance; 
    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
                    (ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
                    (ParamFloat<px4::params::MPC_CRUISE_90>) _param_mpc_cruise_90, // speed at corner when angle is 90 degrees move to line
                    (ParamFloat<px4::params::NAV_MC_ALT_RAD>)
                    _param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated
                    (ParamInt<px4::params::MPC_YAW_MODE>) _param_mpc_yaw_mode, // defines how heading is executed,
                    (ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
                    (ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max
                       );

private:
    matrix::Vector2f _lock_position_xy{NAN, NAN}; 
    bool _yaw_lock = false; 
    float _yaw_sp_prev = NAN;
    uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
    uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr};

    matrix::Vector3f
    _triplet_target; 
    matrix::Vector3f
    _triplet_prev_wp; 
    matrix::Vector3f
    _triplet_next_wp; 
    matrix::Vector2f _closest_pt; 
    map_projection_reference_s _reference_position{}; 
    float _reference_altitude = NAN;  
    hrt_abstime _time_stamp_reference = 0; 
    WeatherVane *_ext_yaw_handler =
        nullptr;    
    void _limitYawRate(); 
    bool _evaluateTriplets(); 
    bool _isFinite(const position_setpoint_s &sp); 
    bool _evaluateGlobalReference(); 
    State _getCurrentState(); 
    void _set_heading_from_mode(); 
};