PX4 Firmware
PX4 Autopilot Software http://px4.io
FlightTaskAutoLine.hpp
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33 
34 /**
35  * @file FlightTaskAutoLine.hpp
36  *
37  * Flight task for autonomous, gps driven mode. The vehicle flies
38  * along a straight line in between waypoints.
39  */
40 
41 #pragma once
42 
43 #include "FlightTaskAutoMapper.hpp"
44 
46 {
47 public:
48  FlightTaskAutoLine() = default;
49  virtual ~FlightTaskAutoLine() = default;
50 
51 protected:
52 
53  void _generateSetpoints() override; /**< Generate setpoints along line. */
54 
55  void _generateHeadingAlongTrack(); /**< Generates heading along track. */
56  void _generateAltitudeSetpoints(); /**< Generate velocity and position setpoints for following line along z. */
57  void _generateXYsetpoints(); /**< Generate velocity and position setpoints for following line along xy. */
58 
60  (ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
61  (ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
62  (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
63  );
64 
65 
66 private:
67  void _setSpeedAtTarget(); /**< Sets desiered speed at target */
68  float _speed_at_target{0.0f};
69  bool _position_locked{false};
70 };
FlightTaskAutoLine()=default
void _setSpeedAtTarget()
Sets desiered speed at target.
void _generateAltitudeSetpoints()
Generate velocity and position setpoints for following line along z.
void _generateSetpoints() override
Generate setpoints along line.
void _generateXYsetpoints()
Generate velocity and position setpoints for following line along xy.
virtual ~FlightTaskAutoLine()=default
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,(ParamFloat< px4::params::MPC_ACC_HOR >) _param_mpc_acc_hor,(ParamFloat< px4::params::MPC_ACC_UP_MAX >) _param_mpc_acc_up_max,(ParamFloat< px4::params::MPC_ACC_DOWN_MAX >) _param_mpc_acc_down_max)
void _generateHeadingAlongTrack()
Generates heading along track.
Abstract Flight task which generates local setpoints based on the triplet type.