PX4 Firmware
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FlightTaskAutoMapper.hpp
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33 
34 /**
35  * @file FlightTaskAutoMapper.hpp
36  *
37  * Abstract Flight task which generates local setpoints
38  * based on the triplet type.
39  */
40 
41 #pragma once
42 
43 #include "FlightTaskAuto.hpp"
44 
46 {
47 public:
48  FlightTaskAutoMapper() = default;
49  virtual ~FlightTaskAutoMapper() = default;
50  bool activate(vehicle_local_position_setpoint_s last_setpoint) override;
51  bool update() override;
52 
53 protected:
54 
55  virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
56 
61 
62  void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
63  void updateParams() override; /**< See ModuleParam class */
64 
65  float _alt_above_ground{0.0f}; /**< If home provided, then it is altitude above home, otherwise it is altitude above local position reference. */
66 
68  (ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
69  (ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd,
70  (ParamFloat<px4::params::MPC_LAND_ALT1>)
71  _param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
72  (ParamFloat<px4::params::MPC_LAND_ALT2>)
73  _param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
74  (ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed
75  );
76 
77 private:
78 
79  void _reset(); /**< Resets member variables to current vehicle state */
80  WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
81  bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
82 };
virtual void _generateSetpoints()=0
Generate velocity and position setpoint for following line.
Map from global triplet to local quadruple.
float _alt_above_ground
If home provided, then it is altitude above home, otherwise it is altitude above local position refer...
WaypointType _type_previous
Previous type of current target triplet.
bool update() override
To be called regularly in the control loop cycle to execute the task.
WaypointType
This enum has to agree with position_setpoint_s type definition The only reason for not using the str...
void _updateAltitudeAboveGround()
Computes altitude above ground based on sensors available.
bool activate(vehicle_local_position_setpoint_s last_setpoint) override
Call once on the event where you switch to the task.
bool _highEnoughForLandingGear()
Checks if gears can be lowered.
virtual ~FlightTaskAutoMapper()=default
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,(ParamFloat< px4::params::MPC_LAND_ALT1 >) _param_mpc_land_alt1,(ParamFloat< px4::params::MPC_LAND_ALT2 >) _param_mpc_land_alt2,(ParamFloat< px4::params::MPC_TKO_SPEED >) _param_mpc_tko_speed)
void _reset()
Resets member variables to current vehicle state.
void updateParams() override
See ModuleParam class.
FlightTaskAutoMapper()=default