RunwayTakeoff.h

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/**
 * @file RunwayTakeoff.h
 * Runway takeoff handling for fixed-wing UAVs with steerable wheels.
 *
 * @author Roman Bapst <roman@px4.io>
 * @author Andreas Antener <andreas@uaventure.com>
 */

#ifndef RUNWAYTAKEOFF_H
#define RUNWAYTAKEOFF_H

#include <stdbool.h>
#include <stdint.h>
#include <math.h>

#include <drivers/drv_hrt.h>
#include <px4_platform_common/module_params.h>
#include <systemlib/mavlink_log.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>

namespace runwaytakeoff
{

enum RunwayTakeoffState {
    THROTTLE_RAMP = 0, /**< ramping up throttle */
    CLAMPED_TO_RUNWAY = 1, /**< clamped to runway, controlling yaw directly (wheel or rudder) */
    TAKEOFF = 2, /**< taking off, get ground clearance, roll 0 */
    CLIMBOUT = 3, /**< climbout to safe height before navigation, roll limited */
    FLY = 4 /**< fly towards takeoff waypoint */
};

class __EXPORT RunwayTakeoff : public ModuleParams
{
public:
    RunwayTakeoff(ModuleParams *parent);
    ~RunwayTakeoff() = default;

    void init(float yaw, double current_lat, double current_lon);
    void update(float airspeed, float alt_agl, double current_lat, double current_lon, orb_advert_t *mavlink_log_pub);

    RunwayTakeoffState getState() { return _state; }
    bool isInitialized() { return _initialized; }

    bool runwayTakeoffEnabled() { return _param_rwto_tkoff.get(); }
    float getMinAirspeedScaling() { return _param_rwto_airspd_scl.get(); }
    float getInitYaw() { return _init_yaw; }

    bool controlYaw();
    bool climbout() { return _climbout; }
    float getPitch(float tecsPitch);
    float getRoll(float navigatorRoll);
    float getYaw(float navigatorYaw);
    float getThrottle(float tecsThrottle);
    bool resetIntegrators();
    float getMinPitch(float sp_min, float climbout_min, float min);
    float getMaxPitch(float max);
    matrix::Vector2f getStartWP();

    void reset();

private:
    /** state variables **/
    RunwayTakeoffState _state;
    bool _initialized;
    hrt_abstime _initialized_time;
    float _init_yaw;
    bool _climbout;
    matrix::Vector2f _start_wp;

    DEFINE_PARAMETERS(
        (ParamBool<px4::params::RWTO_TKOFF>) _param_rwto_tkoff,
        (ParamInt<px4::params::RWTO_HDG>) _param_rwto_hdg,
        (ParamFloat<px4::params::RWTO_NAV_ALT>) _param_rwto_nav_alt,
        (ParamFloat<px4::params::RWTO_MAX_THR>) _param_rwto_max_thr,
        (ParamFloat<px4::params::RWTO_PSP>) _param_rwto_psp,
        (ParamFloat<px4::params::RWTO_MAX_PITCH>) _param_rwto_max_pitch,
        (ParamFloat<px4::params::RWTO_MAX_ROLL>) _param_rwto_max_roll,
        (ParamFloat<px4::params::RWTO_AIRSPD_SCL>) _param_rwto_airspd_scl,
        (ParamFloat<px4::params::RWTO_RAMP_TIME>) _param_rwto_ramp_time,
        (ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
        (ParamFloat<px4::params::FW_CLMBOUT_DIFF>) _param_fw_clmbout_diff
    )

};

}

#endif // RUNWAYTAKEOFF_H