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>
#include <uORB/topics/home_position.h>
#include <lib/ecl/geo/geo.h>

/**
 * This enum has to agree with position_setpoint_s type definition
 * The only reason for not using the struct position_setpoint is because
 * of the size
 */
enum class WaypointType : int {
	position = 0,
	velocity,
	loiter,
	takeoff,
	land,
	idle
};

class FlightTaskAuto : public FlightTask
{
public:
	FlightTaskAuto() = default;

	virtual ~FlightTaskAuto() = default;
	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
	bool activate() override;
	bool updateInitialize() override;

protected:
	void _setDefaultConstraints() override;
	float _getMaxCruiseSpeed() {return MPC_XY_CRUISE.get();} /**< getter for default cruise speed */

	matrix::Vector3f _prev_prev_wp{}; /**< Pre-previous waypoint (local frame). This will be used for smoothing trajectories -> not used yet. */
	matrix::Vector3f _prev_wp{}; /**< Previous waypoint  (local frame). If no previous triplet is available, the prev_wp is set to current position. */
	matrix::Vector3f _target{}; /**< Target waypoint  (local frame).*/
	matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
	float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Currently it is not a yaw-waypoint, but rather a yaw setpoint at each time stamp. */
	float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */

	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};

private:
	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};

	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
					(ParamFloat<px4::params::MPC_XY_CRUISE>) MPC_XY_CRUISE); /**< Default mc cruise speed.*/

	map_projection_reference_s _reference; /**< Reference frame from global to local. */

	map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
	float _reference_altitude = 0.0f;  /**< Altitude relative to ground. */
	hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */

	bool _evaluateTriplets(); /**< Checks and sets triplets. */
	bool _isFinite(const position_setpoint_s sp); /**< Checks if all waypoint triplets are finite. */
	void _updateReference(); /**< Updates the local reference. */
	void _evaluateVehicleGlobalPosition(); /**< Checks if global position is valid. */
};