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84578748f4
* Add return to land to mission This method uses the planned mission for rtl. If a landing sequence is present it will continue the mission and land. If not it will fly back the mission and loiter/land at the home position.
137 lines
4.2 KiB
C++
137 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mission_block.h
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*
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* Helper class to use mission items
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include "navigator_mode.h"
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#include "navigation.h"
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#include <drivers/drv_hrt.h>
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#include <systemlib/mavlink_log.h>
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#include <uORB/topics/mission.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vtol_vehicle_status.h>
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class Navigator;
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class MissionBlock : public NavigatorMode
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{
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public:
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/**
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* Constructor
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*/
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MissionBlock(Navigator *navigator);
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virtual ~MissionBlock() = default;
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MissionBlock(const MissionBlock &) = delete;
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MissionBlock &operator=(const MissionBlock &) = delete;
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static bool item_contains_position(const mission_item_s &item);
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protected:
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/**
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* Check if mission item has been reached
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* @return true if successfully reached
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*/
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bool is_mission_item_reached();
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/**
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* Reset all reached flags
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*/
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void reset_mission_item_reached();
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/**
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* Convert a mission item to a position setpoint
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*
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* @param the mission item to convert
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* @param the position setpoint that needs to be set
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*/
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bool mission_item_to_position_setpoint(const mission_item_s &item, position_setpoint_s *sp);
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/**
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* Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
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*/
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void set_loiter_item(struct mission_item_s *item, float min_clearance = -1.0f);
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/**
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* Set a takeoff mission item
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*/
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void set_takeoff_item(struct mission_item_s *item, float abs_altitude, float min_pitch = 0.0f);
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/**
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* Set a land mission item
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*/
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void set_land_item(struct mission_item_s *item, bool at_current_location);
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/**
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* Set idle mission item
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*/
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void set_idle_item(struct mission_item_s *item);
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/**
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* Set vtol transition item
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*/
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void set_vtol_transition_item(struct mission_item_s *item, const uint8_t new_mode);
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/**
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* General function used to adjust the mission item based on vehicle specific limitations
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*/
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void mission_apply_limitation(mission_item_s &item);
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void issue_command(const mission_item_s &item);
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float get_time_inside(const struct mission_item_s &item);
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float get_absolute_altitude_for_item(struct mission_item_s &mission_item) const;
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mission_item_s _mission_item{};
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bool _waypoint_position_reached{false};
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bool _waypoint_yaw_reached{false};
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hrt_abstime _time_first_inside_orbit{0};
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hrt_abstime _action_start{0};
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hrt_abstime _time_wp_reached{0};
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orb_advert_t _actuator_pub{nullptr};
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};
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