bizhang_-obav/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp

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/**
 * @file FlightTaskAuto.hpp
 *
 * Map from global triplet to local quadruple.
 *
 */

#pragma once

#include "FlightTask.hpp"
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/position_setpoint.h>

/* This enum has to agree with position_setpoint_s type definition */
enum class WaypointType : int {
	position = 0,
	velocity,
	loiter,
	takeoff,
	land,
	idle
};

class FlightTaskAuto : public FlightTask
{
public:
	FlightTaskAuto(control::SuperBlock *parent, const char *name);

	virtual ~FlightTaskAuto() = default;

	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;

	bool activate() override;

	bool updateInitialize() override;

protected:

	matrix::Vector3f _prev_prev_wp{}; /**< Triplet previous-previous triplet. This will be used for smoothing trajectories -> not used yet. */
	matrix::Vector3f _prev_wp{}; /**< Triplet previous setpoint in local frame. If not previous triplet is available, the prev_wp is set to current position. */
	matrix::Vector3f _target{}; /**< Triplet target setpoint in local frame. */
	matrix::Vector3f _next_wp{}; /**< Triplet setpoint in local frame. If no next setpoint is available, next is set to target. */
	float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Unfortunately navigator sends yaw setpoint continuously. It would be better if a yaw setpoint is attached
	to triplet waypoint. This way it would be easy for multicopter to implement features where yaw does not matter. */
	float _mc_cruise_speed{0.0f}; /**< Cruise speed with which multicopter flies and gets set by triplet. If no valid, default cruise speed is used. */
	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */

private:
	control::BlockParamFloat _mc_cruise_default; /**< Default mc cruise speed*/
	map_projection_reference_s _reference; /**< Reference frame from global to local */
	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};

	bool _evaluateTriplets(); /**< Checks and sets triplets */
	bool _isFinite(const position_setpoint_s sp);
	void _updateReference();
};