FlightTaskAutoMapper2.hpp

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/**
 * @file FlightTaskAutoMapper2.hpp
 *
 * Abstract Flight task which generates local setpoints
 * based on the triplet type.
 */

#pragma once

#include "FlightTaskAuto.hpp"

class FlightTaskAutoMapper2 : public FlightTaskAuto
{
public:
    FlightTaskAutoMapper2() = default;
    virtual ~FlightTaskAutoMapper2() = default;
    bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
    bool update() override;

protected:

    virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */

    void _prepareIdleSetpoints();
    void _prepareLandSetpoints();
    void _prepareVelocitySetpoints();
    void _prepareTakeoffSetpoints();
    void _preparePositionSetpoints();

    void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
    void updateParams() override; /**< See ModuleParam class */

    float _alt_above_ground{0.0f}; /**< If home provided, then it is altitude above home, otherwise it is altitude above local position reference. */

    DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
                    (ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
                    (ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd,
                    (ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
                    (ParamFloat<px4::params::MPC_LAND_ALT1>)
                    _param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
                    (ParamFloat<px4::params::MPC_LAND_ALT2>)
                    _param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
                    (ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed
                       );

private:

    void _reset(); /**< Resets member variables to current vehicle state */
    WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
    bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
    float _getLandSpeed(); /**< Returns landing descent speed. */
};