From bf9a18a20017fe22e7943296da17a5710fd798b5 Mon Sep 17 00:00:00 2001
From: Simone Guscetti <simone@yuneecresearch.com>
Date: Thu, 1 Nov 2018 17:43:49 +0100
Subject: [PATCH] FlightTask: Add interface for landing gear
---
.../FlightTasks/tasks/FlightTask/FlightTask.cpp | 4 ++--
.../FlightTasks/tasks/FlightTask/FlightTask.hpp | 15 +++++++++++++++
2 files changed, 17 insertions(+), 2 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
index 1693c4ab00..7963c121a8 100644
--- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
@@ -6,7 +6,8 @@ constexpr uint64_t FlightTask::_timeout;
// First index of empty_setpoint corresponds to time-stamp and requires a finite number.
const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
-const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, vehicle_constraints_s::GEAR_KEEP, {}};
+const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {}};
+const landing_gear_s FlightTask::landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
const vehicle_trajectory_waypoint_s FlightTask::empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
{ {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
@@ -148,7 +149,6 @@ void FlightTask::_setDefaultConstraints()
_constraints.speed_up = MPC_Z_VEL_MAX_UP.get();
_constraints.speed_down = MPC_Z_VEL_MAX_DN.get();
_constraints.tilt = math::radians(MPC_TILTMAX_AIR.get());
- _constraints.landing_gear = vehicle_constraints_s::GEAR_KEEP;
_constraints.min_distance_to_ground = NAN;
_constraints.max_distance_to_ground = NAN;
}
diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
index 9efe587ee4..b19d37506e 100644
--- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
@@ -45,6 +45,7 @@
#include <drivers/drv_hrt.h>
#include <matrix/matrix/math.hpp>
#include <uORB/Subscription.hpp>
+#include <uORB/topics/landing_gear.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_command.h>
@@ -114,6 +115,13 @@ public:
*/
const vehicle_constraints_s &getConstraints() { return _constraints; }
+ /**
+ * Get landing gear position.
+ * The constraints can vary with task.
+ * @return landing gear
+ */
+ const landing_gear_s &getGear() { return _gear; }
+
/**
* Get avoidance desired waypoint
* @return desired waypoints
@@ -132,6 +140,11 @@ public:
*/
static const vehicle_constraints_s empty_constraints;
+ /**
+ * default landing gear state
+ */
+ static const landing_gear_s landing_gear_default_keep;
+
/**
* Empty desired waypoints.
* All waypoints are set to NAN.
@@ -215,6 +228,8 @@ protected:
*/
vehicle_constraints_s _constraints{};
+ landing_gear_s _gear{};
+
/**
* Desired waypoints.
* Goals set by the FCU to be sent to the obstacle avoidance system.
--
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