flight_mode_manager: merge with flight_tasks

src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp

@@ -0,0 +1,273 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file FlightTask.hpp
+ *
+ * Abstract base class for different advanced flight tasks like orbit, follow me, ...
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include <px4_platform_common/module_params.h>
+#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>
+#include <uORB/topics/vehicle_constraints.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_trajectory_waypoint.h>
+#include <uORB/topics/home_position.h>
+#include <lib/weather_vane/WeatherVane.hpp>
+
+struct ekf_reset_counters_s {
+	uint8_t xy;
+	uint8_t vxy;
+	uint8_t z;
+	uint8_t vz;
+	uint8_t heading;
+};
+
+class FlightTask : public ModuleParams
+{
+public:
+	FlightTask() :
+		ModuleParams(nullptr)
+	{
+		_resetSetpoints();
+		_constraints = empty_constraints;
+	}
+
+	virtual ~FlightTask() = default;
+
+	/**
+	 * Call once on the event where you switch to the task
+	 * @param last_setpoint last output of the previous task
+	 * @return true on success, false on error
+	 */
+	virtual bool activate(const vehicle_local_position_setpoint_s &last_setpoint);
+
+	/**
+	 * Call this to reset an active Flight Task
+	 */
+	virtual void reActivate();
+
+	/**
+	 * To be called to adopt parameters from an arrived vehicle command
+	 * @param command received command message containing the parameters
+	 * @return true if accepted, false if declined
+	 */
+	virtual bool applyCommandParameters(const vehicle_command_s &command) { return false; }
+
+	/**
+	 * Call before activate() or update()
+	 * to initialize time and input data
+	 * @return true on success, false on error
+	 */
+	virtual bool updateInitialize();
+
+	/**
+	 * To be called regularly in the control loop cycle to execute the task
+	 * @return true on success, false on error
+	 */
+	virtual bool update();
+
+	/**
+	 * Call after update()
+	 * to constrain the generated setpoints in order to comply
+	 * with the constraints of the current mode
+	 * @return true on success, false on error
+	 */
+	virtual bool updateFinalize() { return true; };
+
+	/**
+	 * Get the output data
+	 * @return task output setpoints that get executed by the positon controller
+	 */
+	const vehicle_local_position_setpoint_s getPositionSetpoint();
+
+	const ekf_reset_counters_s getResetCounters() const { return _reset_counters; }
+	void setResetCounters(const ekf_reset_counters_s &counters) { _reset_counters = counters; }
+
+	/**
+	 * Get vehicle constraints.
+	 * The constraints can vary with task.
+	 * @return constraints
+	 */
+	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
+	 */
+	const vehicle_trajectory_waypoint_s &getAvoidanceWaypoint() { return _desired_waypoint; }
+
+	/**
+	 * Empty setpoint.
+	 * All setpoints are set to NAN.
+	 */
+	static const vehicle_local_position_setpoint_s empty_setpoint;
+
+	/**.
+	 * All counters are set to 0.
+	 */
+	static const ekf_reset_counters_s zero_reset_counters;
+
+	/**
+	 * Empty constraints.
+	 * All constraints are set to NAN.
+	 */
+	static const vehicle_constraints_s empty_constraints;
+
+	/**
+	 * default landing gear state
+	 */
+	static const landing_gear_s empty_landing_gear_default_keep;
+
+	/**
+	 * Call this whenever a parameter update notification is received (parameter_update uORB message)
+	 */
+	void handleParameterUpdate()
+	{
+		updateParams();
+	}
+
+	/**
+	 * Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy.
+	 * This method does nothing, each flighttask which wants to use the yaw handler needs to override this method.
+	 */
+	virtual void setYawHandler(WeatherVane *ext_yaw_handler) {}
+
+	void updateVelocityControllerIO(const matrix::Vector3f &vel_sp,
+					const matrix::Vector3f &acc_sp)
+	{
+		_velocity_setpoint_feedback = vel_sp;
+		_acceleration_setpoint_feedback = acc_sp;
+	}
+
+protected:
+	uORB::SubscriptionData<vehicle_local_position_s> _sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
+	uORB::SubscriptionData<home_position_s> _sub_home_position{ORB_ID(home_position)};
+
+	/** Reset all setpoints to NAN */
+	void _resetSetpoints();
+
+	/** Check and update local position */
+	void _evaluateVehicleLocalPosition();
+
+	void _evaluateDistanceToGround();
+
+	/** Set constraints to default values */
+	virtual void _setDefaultConstraints();
+
+	/** Determine when to trigger a takeoff (ignored in flight) */
+	virtual bool _checkTakeoff();
+
+	/**
+	 * Monitor the EKF reset counters and
+	 * call the appropriate handling functions in case of a reset event
+	 * TODO: add the delta values to all the handlers
+	 */
+	void _checkEkfResetCounters();
+	virtual void _ekfResetHandlerPositionXY() {};
+	virtual void _ekfResetHandlerVelocityXY() {};
+	virtual void _ekfResetHandlerPositionZ() {};
+	virtual void _ekfResetHandlerVelocityZ() {};
+	virtual void _ekfResetHandlerHeading(float delta_psi) {};
+
+	/* Time abstraction */
+	static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
+	float _time{}; /**< passed time in seconds since the task was activated */
+	float _deltatime{}; /**< passed time in seconds since the task was last updated */
+	hrt_abstime _time_stamp_activate{}; /**< time stamp when task was activated */
+	hrt_abstime _time_stamp_current{}; /**< time stamp at the beginning of the current task update */
+	hrt_abstime _time_stamp_last{}; /**< time stamp when task was last updated */
+
+	/* Current vehicle state */
+	matrix::Vector3f _position; /**< current vehicle position */
+	matrix::Vector3f _velocity; /**< current vehicle velocity */
+	float _yaw{}; /**< current vehicle yaw heading */
+	float _dist_to_bottom{}; /**< current height above ground level */
+	float _dist_to_ground{}; /**< equals _dist_to_bottom if valid, height above home otherwise */
+
+	/**
+	 * Setpoints which the position controller has to execute.
+	 * Setpoints that are set to NAN are not controlled. Not all setpoints can be set at the same time.
+	 * If more than one type of setpoint is set, then order of control is a as follow: position, velocity,
+	 * acceleration, thrust. The exception is _position_setpoint together with _velocity_setpoint, where the
+	 * _velocity_setpoint is used as feedforward.
+	 * _acceleration_setpoint and _jerk_setpoint are currently not supported.
+	 */
+	matrix::Vector3f _position_setpoint;
+	matrix::Vector3f _velocity_setpoint;
+	matrix::Vector3f _acceleration_setpoint;
+	matrix::Vector3f _jerk_setpoint;
+	float _yaw_setpoint{};
+	float _yawspeed_setpoint{};
+	matrix::Vector3f _velocity_setpoint_feedback;
+	matrix::Vector3f _acceleration_setpoint_feedback;
+
+	ekf_reset_counters_s _reset_counters{}; ///< Counters for estimator local position resets
+
+	/**
+	 * Vehicle constraints.
+	 * The constraints can vary with tasks.
+	 */
+	vehicle_constraints_s _constraints{};
+
+	landing_gear_s _gear{};
+
+	/**
+	 * Desired waypoints.
+	 * Goals set by the FCU to be sent to the obstacle avoidance system.
+	 */
+	vehicle_trajectory_waypoint_s _desired_waypoint{};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
+					(ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max,
+					(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
+					(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up
+				       )
+};