ObstacleAvoidance.hpp

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#pragma once

#include <px4_defines.h>
#include <px4_module_params.h>
#include <commander/px4_custom_mode.h>
#include <drivers/drv_hrt.h>

#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>

#include <matrix/matrix/math.hpp>

#include <SubscriptionArray.hpp>

class ObstacleAvoidance : public ModuleParams
{
public:
    ObstacleAvoidance(ModuleParams *parent);
    ~ObstacleAvoidance();

    bool initializeSubscriptions(SubscriptionArray &subscription_array);

    void injectAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);

    void updateAvoidanceDesiredWaypoints(const matrix::Vector3f &curr_wp, const float curr_yaw, const float curr_yawspeed,
                         const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed);
    void updateAvoidanceDesiredSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);

    void checkAvoidanceProgress(const matrix::Vector3f &pos, const matrix::Vector3f &prev_wp,
                    float target_acceptance_radius, const matrix::Vector2f &closest_pt);

private:

    uORB::Subscription<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; 
    uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; 
    DEFINE_PARAMETERS(
        (ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID,             
        (ParamFloat<px4::params::NAV_MC_ALT_RAD>) NAV_MC_ALT_RAD          
    );

    vehicle_trajectory_waypoint_s _desired_waypoint = {};  
    orb_advert_t _pub_traj_wp_avoidance_desired{nullptr}; 
    orb_advert_t _pub_pos_control_status{nullptr}; 
    orb_advert_t _pub_vehicle_command{nullptr}; 
    matrix::Vector3f _curr_wp = {}; 
    matrix::Vector3f _position = {}; 
    matrix::Vector3f _failsafe_position = {}; 
    void _publishAvoidanceDesiredWaypoint();

    void _publishVehicleCmdDoLoiter();

};