FlightTaskAutoLineSmoothVel.hpp

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/**
 * @file FlightTaskAutoLineSmoothVel.hpp
 *
 * Flight task for autonomous, gps driven mode. The vehicle flies
 * along a straight line in between waypoints.
 */

#pragma once

#include "FlightTaskAutoMapper2.hpp"
#include "VelocitySmoothing.hpp"

class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper2
{
public:
    FlightTaskAutoLineSmoothVel() = default;
    virtual ~FlightTaskAutoLineSmoothVel() = default;

    bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
    void reActivate() override;

protected:

    void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);

    /** Reset position or velocity setpoints in case of EKF reset event */
    void _ekfResetHandlerPositionXY() override;
    void _ekfResetHandlerVelocityXY() override;
    void _ekfResetHandlerPositionZ() override;
    void _ekfResetHandlerVelocityZ() override;
    void _ekfResetHandlerHeading(float delta_psi) override;

    void _generateSetpoints() override; /**< Generate setpoints along line. */
    void _generateHeading();
    bool _generateHeadingAlongTraj(); /**< Generates heading along trajectory. */

    static float _constrainOneSide(float val, float constraint); /**< Constrain val between INF and constraint */

    static float _constrainAbs(float val, float max); /** Constrain the value -max <= val <= max */

    /** Give 0 if next is the last target **/
    float _getSpeedAtTarget(float next_target_speed) const;
    float _getMaxSpeedFromDistance(float braking_distance, float final_speed) const;

    void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
    void _updateTrajConstraints();
    void _generateTrajectory();

    /** determines when to trigger a takeoff (ignored in flight) */
    bool _checkTakeoff() override { return _want_takeoff; };
    bool _want_takeoff{false};

    VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
                    (ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
                    (ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
                    (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
                    (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
                    (ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
                    (ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
                    (ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p
                       );
};