FlightTaskAutoLineSmoothVel.hpp 3.21 KiB
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/**
* @file FlightTaskAutoLineSmoothVel.hpp
*
* Flight task for autonomous, gps driven mode. The vehicle flies
* along a straight line in between waypoints.
*/
#pragma once
#include "FlightTaskAutoMapper2.hpp"
#include "VelocitySmoothing.hpp"
class FlightTaskAutoLineSmoothVel : public FlightTaskAutoMapper2
{
public:
FlightTaskAutoLineSmoothVel() = default;
virtual ~FlightTaskAutoLineSmoothVel() = default;
bool activate() override;
void reActivate() override;
protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper2,
(ParamFloat<px4::params::MIS_YAW_ERR>) MIS_YAW_ERR, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) MPC_ACC_HOR_MAX,
(ParamFloat<px4::params::MPC_JERK_MIN>) MPC_JERK_MIN,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) MPC_XY_TRAJ_P,
(ParamFloat<px4::params::MPC_Z_TRAJ_P>) MPC_Z_TRAJ_P
);
void _generateSetpoints() override; /**< Generate setpoints along line. */
void _setDefaultConstraints() override;
inline float constrain_one_side(float val, float constrain);
void _generateHeadingAlongTrack(); /**< Generates heading along track. */
void _prepareSetpoints(); /**< Generate velocity target points for the trajectory generator. */
void _generateTrajectory();
VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
};