FlightTaskAutoMapper.cpp

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/**
 * @file FlightAutoMapper.cpp
 */

#include "FlightTaskAutoMapper.hpp"
#include <mathlib/mathlib.h>

using namespace matrix;

bool FlightTaskAutoMapper::activate(vehicle_local_position_setpoint_s last_setpoint)
{
    bool ret = FlightTaskAuto::activate(last_setpoint);
    _reset();
    return ret;
}

bool FlightTaskAutoMapper::update()
{
    // always reset constraints because they might change depending on the type
    _setDefaultConstraints();

    _updateAltitudeAboveGround();

    bool follow_line = _type == WaypointType::loiter || _type == WaypointType::position;
    bool follow_line_prev = _type_previous == WaypointType::loiter || _type_previous == WaypointType::position;

    // 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state.
    if (follow_line && !follow_line_prev) {
        _reset();
    }

    // The only time a thrust set-point is sent out is during
    // idle. Hence, reset thrust set-point to NAN in case the
    // vehicle exits idle.

    if (_type_previous == WaypointType::idle) {
        _thrust_setpoint = Vector3f(NAN, NAN, NAN);
    }

    // during mission and reposition, raise the landing gears but only
    // if altitude is high enough
    if (_highEnoughForLandingGear()) {
        _gear.landing_gear = _mission_gear;
    }

    if (_type == WaypointType::idle) {
        _generateIdleSetpoints();

    } else if (_type == WaypointType::land) {
        _generateLandSetpoints();

    } else if (follow_line) {
        _generateSetpoints();

    } else if (_type == WaypointType::takeoff) {
        _generateTakeoffSetpoints();

    } else if (_type == WaypointType::velocity) {
        _generateVelocitySetpoints();
    }

    if (_param_com_obs_avoid.get()) {
        _obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint, (int)_type);
        _obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
                _yawspeed_setpoint);
    }

    // update previous type
    _type_previous = _type;

    return true;
}

void FlightTaskAutoMapper::_reset()
{
    // Set setpoints equal current state.
    _velocity_setpoint = _velocity;
    _position_setpoint = _position;
}

void FlightTaskAutoMapper::_generateIdleSetpoints()
{
    // Send zero thrust setpoint
    _position_setpoint = Vector3f(NAN, NAN, NAN); // Don't require any position/velocity setpoints
    _velocity_setpoint = Vector3f(NAN, NAN, NAN);
    _thrust_setpoint.zero();
}

void FlightTaskAutoMapper::_generateLandSetpoints()
{
    // Keep xy-position and go down with landspeed
    _position_setpoint = Vector3f(_target(0), _target(1), NAN);
    _velocity_setpoint = Vector3f(Vector3f(NAN, NAN, _param_mpc_land_speed.get()));
    // set constraints
    _constraints.tilt = math::radians(_param_mpc_tiltmax_lnd.get());
    _constraints.speed_down = _param_mpc_land_speed.get();
    _gear.landing_gear = landing_gear_s::GEAR_DOWN;
}

void FlightTaskAutoMapper::_generateTakeoffSetpoints()
{
    // Takeoff is completely defined by target position
    _position_setpoint = _target;
    _velocity_setpoint = Vector3f(NAN, NAN, NAN);

    // limit vertical speed during takeoff
    _constraints.speed_up = math::gradual(_alt_above_ground, _param_mpc_land_alt2.get(),
                          _param_mpc_land_alt1.get(), _param_mpc_tko_speed.get(), _constraints.speed_up);

    _gear.landing_gear = landing_gear_s::GEAR_DOWN;
}

void FlightTaskAutoMapper::_generateVelocitySetpoints()
{
    // TODO: Remove velocity force logic from navigator, since
    // navigator should only send out waypoints.
    _position_setpoint = Vector3f(NAN, NAN, _position(2));
    Vector2f vel_sp_xy = Vector2f(_velocity).unit_or_zero() * _mc_cruise_speed;
    _velocity_setpoint = Vector3f(vel_sp_xy(0), vel_sp_xy(1), NAN);
}

void FlightTaskAutoMapper::_updateAltitudeAboveGround()
{
    // Altitude above ground is by default just the negation of the current local position in D-direction.
    _alt_above_ground = -_position(2);

    if (PX4_ISFINITE(_dist_to_bottom)) {
        // We have a valid distance to ground measurement
        _alt_above_ground = _dist_to_bottom;

    } else if (_sub_home_position.get().valid_alt) {
        // if home position is set, then altitude above ground is relative to the home position
        _alt_above_ground = -_position(2) + _sub_home_position.get().z;
    }
}

void FlightTaskAutoMapper::updateParams()
{
    FlightTaskAuto::updateParams();

    // make sure that alt1 is above alt2
    _param_mpc_land_alt1.set(math::max(_param_mpc_land_alt1.get(), _param_mpc_land_alt2.get()));
}

bool FlightTaskAutoMapper::_highEnoughForLandingGear()
{
    // return true if altitude is above two meters
    return _alt_above_ground > 2.0f;
}