lib: name folders consistently

src/lib/flight_tasks/tasks/Descend/FlightTaskDescend.cpp

@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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 FlightTaskDescend.cpp
+ */
+
+#include "FlightTaskDescend.hpp"
+
+bool FlightTaskDescend::activate(vehicle_local_position_setpoint_s last_setpoint)
+{
+	bool ret = FlightTask::activate(last_setpoint);
+	// stay level to minimize horizontal drift
+	_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, NAN);
+	// keep heading
+	_yaw_setpoint = _yaw;
+	return ret;
+}
+
+bool FlightTaskDescend::update()
+{
+	if (PX4_ISFINITE(_velocity(2))) {
+		// land with landspeed
+		_velocity_setpoint(2) = _param_mpc_land_speed.get();
+		_thrust_setpoint(2) = NAN;
+
+	} else {
+		// descend with constant thrust (crash landing)
+		_velocity_setpoint(2) = NAN;
+		_thrust_setpoint(2) = -_param_mpc_thr_hover.get() * 0.7f;
+	}
+
+	return true;
+}