FlightTaskFailsafe.cpp

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/**
 * @file FlightTaskFailsafe.cpp
 */

#include "FlightTaskFailsafe.hpp"

bool FlightTaskFailsafe::activate(vehicle_local_position_setpoint_s last_setpoint)
{
    bool ret = FlightTask::activate(last_setpoint);
    _position_setpoint = _position;
    _velocity_setpoint.zero();
    _thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -_param_mpc_thr_hover.get() * 0.6f);
    _yaw_setpoint = _yaw;
    _yawspeed_setpoint = 0.0f;
    return ret;
}

bool FlightTaskFailsafe::update()
{
    if (PX4_ISFINITE(_position(0)) && PX4_ISFINITE(_position(1))) {
        // stay at current position setpoint
        _velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
        _thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;

    } else if (PX4_ISFINITE(_velocity(0)) && PX4_ISFINITE(_velocity(1))) {
        // don't move along xy
        _position_setpoint(0) = _position_setpoint(1) = NAN;
        _thrust_setpoint(0) = _thrust_setpoint(1) = NAN;
    }

    if (PX4_ISFINITE(_position(2))) {
        // stay at current altitude setpoint
        _velocity_setpoint(2) = 0.0f;
        _thrust_setpoint(2) = NAN;

    } else if (PX4_ISFINITE(_velocity(2))) {
        // land with landspeed
        _velocity_setpoint(2) = _param_mpc_land_speed.get();
        _position_setpoint(2) = NAN;
        _thrust_setpoint(2) = NAN;
    }

    return true;

}