FlightTask.hpp

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#pragma once

#include <px4_module_params.h>
#include <drivers/drv_hrt.h>
#include <matrix/matrix/math.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_constraints.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
#include <lib/WeatherVane/WeatherVane.hpp>
#include "SubscriptionArray.hpp"

class FlightTask : public ModuleParams
{
public:
    FlightTask() :
        ModuleParams(nullptr)
    {
        _resetSetpoints();
        _constraints = empty_constraints;
    }

    virtual ~FlightTask() = default;

    virtual bool initializeSubscriptions(SubscriptionArray &subscription_array);

    virtual bool activate();

    virtual void reActivate();

    virtual bool applyCommandParameters(const vehicle_command_s &command) { return false; }

    virtual bool updateInitialize();

    virtual bool update() = 0;

    virtual bool updateFinalize() { return true; };

    const vehicle_local_position_setpoint_s getPositionSetpoint();

    const vehicle_constraints_s &getConstraints() { return _constraints; }

    const landing_gear_s &getGear() { return _gear; }

    const vehicle_trajectory_waypoint_s &getAvoidanceWaypoint() { return _desired_waypoint; }

    static const vehicle_local_position_setpoint_s empty_setpoint;

    static const vehicle_constraints_s empty_constraints;

    static const landing_gear_s empty_landing_gear_default_keep;

    static const vehicle_trajectory_waypoint_s empty_trajectory_waypoint;

    void handleParameterUpdate()
    {
        updateParams();
    }

    virtual void setYawHandler(WeatherVane *ext_yaw_handler) {}

    void updateVelocityControllerIO(const matrix::Vector3f &vel_sp,
                    const matrix::Vector3f &thrust_sp) {_velocity_setpoint_feedback = vel_sp; _thrust_setpoint_feedback = thrust_sp; }

protected:

    uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
    uORB::Subscription<vehicle_attitude_s> *_sub_attitude{nullptr};
    uint8_t _heading_reset_counter{0}; 
    void _resetSetpoints();

    void _evaluateVehicleLocalPosition();

    virtual void  _setDefaultConstraints();

    /* Time abstraction */
    static constexpr uint64_t _timeout = 500000; 
    float _time = 0; 
    float _deltatime = 0; 
    hrt_abstime _time_stamp_activate = 0; 
    hrt_abstime _time_stamp_current = 0; 
    hrt_abstime _time_stamp_last = 0; 
    /* Current vehicle state */
    matrix::Vector3f _position; 
    matrix::Vector3f _velocity; 
    float _yaw = 0.f; 
    float _dist_to_bottom = 0.0f; 
    matrix::Vector3f _position_setpoint;
    matrix::Vector3f _velocity_setpoint;
    matrix::Vector3f _acceleration_setpoint;
    matrix::Vector3f _jerk_setpoint;
    matrix::Vector3f _thrust_setpoint;
    float _yaw_setpoint;
    float _yawspeed_setpoint;

    matrix::Vector3f _velocity_setpoint_feedback;
    matrix::Vector3f _thrust_setpoint_feedback;

    vehicle_constraints_s _constraints{};

    landing_gear_s _gear{};

    vehicle_trajectory_waypoint_s _desired_waypoint{};

    DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
                    (ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max,
                    (ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
                    (ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
                    (ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air
                       )
};