FlightTaskOrbit.hpp

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/**
 * @file FlightTaskOrbit.hpp
 *
 * Flight task for orbiting in a circle around a target position
 *
 * @author Matthias Grob <maetugr@gmail.com>
 */

#pragma once

#include "FlightTaskManualAltitudeSmooth.hpp"
#include <uORB/Publication.hpp>
#include <uORB/topics/orbit_status.h>
#include <StraightLine.hpp>

class FlightTaskOrbit : public FlightTaskManualAltitudeSmooth
{
public:
    FlightTaskOrbit();
    virtual ~FlightTaskOrbit() = default;

    bool applyCommandParameters(const vehicle_command_s &command) override;
    bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
    bool update() override;

    /**
     * Check the feasibility of orbit parameters with respect to
     * centripetal acceleration a = v^2 / r
     * @param r desired radius
     * @param v desired velocity
     * @param a maximal allowed acceleration
     * @return true on success, false if value not accepted
     */
    bool checkAcceleration(float r, float v, float a);

protected:
    /**
     * Send out telemetry information for the log and MAVLink.
     * @return true on success, false on error
     */
    bool sendTelemetry();

    /**
     * Change the radius of the circle.
     * @param r desired new radius
     * @return true on success, false if value not accepted
     */
    bool setRadius(const float r);

    /**
     * Change the velocity of the vehicle on the circle.
     * @param v desired new velocity
     * @return true on success, false if value not accepted
     */
    bool setVelocity(const float v);

private:
    void generate_circle_approach_setpoints(); /**< generates setpoints to smoothly reach the closest point on the circle when starting from far away */
    void generate_circle_setpoints(matrix::Vector2f center_to_position); /**< generates xy setpoints to orbit the vehicle */

    float _r = 0.f; /**< radius with which to orbit the target */
    float _v = 0.f; /**< clockwise tangential velocity for orbiting in m/s */
    matrix::Vector2f _center; /**< local frame coordinates of the center point */

    bool _in_circle_approach = false;
    StraightLine _circle_approach_line;

    // TODO: create/use parameters for limits
    const float _radius_min = 1.f;
    const float _radius_max = 100.f;
    const float _velocity_max = 10.f;
    const float _acceleration_max = 2.f;

    uORB::Publication<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise /**< cruise speed for circle approach */
    )
};