move injection of avoidance setpoints to flight task library

src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp

@@ -75,7 +75,7 @@ void FlightTaskAutoLineSmoothVel::_generateSetpoints()
 	_prepareSetpoints();
 	_generateTrajectory();
 
-	if (!PX4_ISFINITE(_yaw_setpoint)) {
+	if (!PX4_ISFINITE(_yaw_setpoint) && !PX4_ISFINITE(_yawspeed_setpoint)) {
 		// no valid heading -> generate heading in this flight task
 		_generateHeading();
 	}

src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp

@@ -40,6 +40,12 @@
 
 using namespace matrix;
 
+FlightTaskAutoMapper2::FlightTaskAutoMapper2() :
+	_obstacle_avoidance(this)
+{
+
+}
+
 bool FlightTaskAutoMapper2::activate()
 {
 	bool ret = FlightTaskAuto::activate();
@@ -91,6 +97,8 @@ bool FlightTaskAutoMapper2::update()
 		break;
 	}
 
+	_obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint, _yawspeed_setpoint);
+
 	_generateSetpoints();
 
 	// during mission and reposition, raise the landing gears but only

src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp

@@ -41,11 +41,12 @@
 #pragma once
 
 #include "FlightTaskAuto.hpp"
+#include "lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp"
 
 class FlightTaskAutoMapper2 : public FlightTaskAuto
 {
 public:
-	FlightTaskAutoMapper2() = default;
+	FlightTaskAutoMapper2();
 	virtual ~FlightTaskAutoMapper2() = default;
 	bool activate() override;
 	bool update() override;
@@ -80,4 +81,5 @@ private:
 	void _reset(); /**< Resets member variables to current vehicle state */
 	WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
 	bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
+	ObstacleAvoidance _obstacle_avoidance;
 };

src/lib/FlightTasks/tasks/Utility/CMakeLists.txt

@@ -34,9 +34,10 @@
 px4_add_library(FlightTaskUtility
 	ManualSmoothingZ.cpp
 	ManualSmoothingXY.cpp
+	ObstacleAvoidance.cpp
 	StraightLine.cpp
 	VelocitySmoothing.cpp
 )
 
 target_link_libraries(FlightTaskUtility PUBLIC FlightTask)
-target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 ObstacleAvoidance.cpp
+ */
+
+#include "ObstacleAvoidance.hpp"
+#include <drivers/drv_hrt.h>
+#include <uORB/Subscription.hpp>
+
+
+using namespace matrix;
+using namespace time_literals;
+
+/** Timeout in us for trajectory data to get considered invalid */
+static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500_ms;
+
+ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
+	ModuleParams(parent)
+{
+
+}
+
+void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp) {
+
+	if (!COM_OBS_AVOID.get()) {
+		return;
+	}
+
+	_sub_vehicle_trajectory_waypoint.update();
+	const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint.get().timestamp) > TRAJECTORY_STREAM_TIMEOUT_US;
+	const bool avoidance_point_valid = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
+
+	if (!avoidance_data_timeout && avoidance_point_valid) {
+		pos_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position;
+		vel_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity;
+		yaw_sp =  _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw;
+		yaw_speed_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed;
+	}
+}

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 ObstacleAvoidance.hpp
+ * This class is used to inject the setpoints of an obstacle avoidance system
+ * into the FlightTasks
+ *
+ * @author Martina Rivizzigno
+ */
+
+#pragma once
+
+#include <px4_module_params.h>
+#include <uORB/topics/vehicle_trajectory_waypoint.h>
+#include <lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp>
+#include <matrix/matrix/math.hpp>
+#include <px4_defines.h>
+
+class ObstacleAvoidance : public ModuleParams
+{
+public:
+	ObstacleAvoidance(ModuleParams *parent);
+	~ObstacleAvoidance() = default;
+
+  void prepareAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
+
+private:
+
+  uORB::Subscription<vehicle_trajectory_waypoint_s> _sub_vehicle_trajectory_waypoint{ORB_ID(vehicle_trajectory_waypoint)};
+
+  DEFINE_PARAMETERS(
+    (ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID             /**< obstacle avoidance enabled */
+  );
+
+};

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -283,21 +283,11 @@ private:
 	 */
 	void update_avoidance_waypoint_desired(PositionControlStates &states, vehicle_local_position_setpoint_s &setpoint);
 
-	/**
-	 * Check whether or not use the obstacle avoidance waypoint
-	 */
-	bool use_obstacle_avoidance();
-
 	/**
 	 * Reset setpoints to NAN
 	 */
 	void reset_setpoint_to_nan(vehicle_local_position_setpoint_s &setpoint);
 
-	/**
-	 * Overwrite setpoint with waypoint coming from obstacle avoidance
-	 */
-	void execute_avoidance_waypoint(vehicle_local_position_setpoint_s &setpoint);
-
 	/**
 	 * Publish desired vehicle_trajectory_waypoint
 	 */
@@ -736,11 +726,6 @@ MulticopterPositionControl::run()
 				limit_altitude(setpoint);
 			}
 
-			// adjust setpoints based on avoidance
-			if (use_obstacle_avoidance()) {
-				execute_avoidance_waypoint(setpoint);
-			}
-
 			// Update states, setpoints and constraints.
 			_control.updateConstraints(constraints);
 			_control.updateState(_states);
@@ -1168,24 +1153,6 @@ MulticopterPositionControl::update_avoidance_waypoint_desired(PositionControlSta
 	}
 }
 
-void
-MulticopterPositionControl::execute_avoidance_waypoint(vehicle_local_position_setpoint_s &setpoint)
-{
-	setpoint.x = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[0];
-	setpoint.y = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[1];
-	setpoint.z = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position[2];
-
-	setpoint.vx = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[0];
-	setpoint.vy = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[1];
-	setpoint.vz = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity[2];
-
-	setpoint.acc_x = setpoint.acc_y = setpoint.acc_z = NAN;
-
-	setpoint.yaw = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw;
-	setpoint.yawspeed = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed;
-	Vector3f(NAN, NAN, NAN).copyTo(setpoint.thrust);
-}
-
 void
 MulticopterPositionControl::reset_setpoint_to_nan(vehicle_local_position_setpoint_s &setpoint)
 {
@@ -1196,27 +1163,6 @@ MulticopterPositionControl::reset_setpoint_to_nan(vehicle_local_position_setpoin
 	setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = NAN;
 }
 
-bool
-MulticopterPositionControl::use_obstacle_avoidance()
-{
-	if (_param_com_obs_avoid.get()) {
-		const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) > TRAJECTORY_STREAM_TIMEOUT_US;
-		const bool avoidance_point_valid = _traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
-		const bool in_mission = _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
-		const bool in_rtl = _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
-
-		// switch to hold mode to stop when we loose external avoidance data during a mission
-		if (avoidance_data_timeout && in_mission) {
-			send_vehicle_cmd_do(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
-		}
-
-		if ((in_mission || in_rtl) && !avoidance_data_timeout && avoidance_point_valid) {
-			return true;
-		}
-	}
-	return false;
-}
-
 void
 MulticopterPositionControl::publish_avoidance_desired_waypoint()
 {