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FlightTask: Add interface for landing gear

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This commit is contained in:
Simone Guscetti
2018-11-01 17:43:49 +01:00
committed by Dennis Mannhart
parent 6938b7fe02
commit bf9a18a200
2 changed files with 17 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
+2 -2
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@@ -6,7 +6,8 @@ constexpr uint64_t FlightTask::_timeout;
// First index of empty_setpoint corresponds to time-stamp and requires a finite number. // First index of empty_setpoint corresponds to time-stamp and requires a finite number.
const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}}; const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, vehicle_constraints_s::GEAR_KEEP, {}}; const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {}};
const landing_gear_s FlightTask::landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
const vehicle_trajectory_waypoint_s FlightTask::empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0}, const vehicle_trajectory_waypoint_s FlightTask::empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
{ {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}}, { {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}}, {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
@@ -148,7 +149,6 @@ void FlightTask::_setDefaultConstraints()
_constraints.speed_up = MPC_Z_VEL_MAX_UP.get(); _constraints.speed_up = MPC_Z_VEL_MAX_UP.get();
_constraints.speed_down = MPC_Z_VEL_MAX_DN.get(); _constraints.speed_down = MPC_Z_VEL_MAX_DN.get();
_constraints.tilt = math::radians(MPC_TILTMAX_AIR.get()); _constraints.tilt = math::radians(MPC_TILTMAX_AIR.get());
_constraints.landing_gear = vehicle_constraints_s::GEAR_KEEP;
_constraints.min_distance_to_ground = NAN; _constraints.min_distance_to_ground = NAN;
_constraints.max_distance_to_ground = NAN; _constraints.max_distance_to_ground = NAN;
} }
src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
+15
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@@ -45,6 +45,7 @@
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <matrix/matrix/math.hpp> #include <matrix/matrix/math.hpp>
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_command.h>
@@ -114,6 +115,13 @@ public:
*/ */
const vehicle_constraints_s &getConstraints() { 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 * Get avoidance desired waypoint
* @return desired waypoints * @return desired waypoints
@@ -132,6 +140,11 @@ public:
*/ */
static const vehicle_constraints_s empty_constraints; static const vehicle_constraints_s empty_constraints;
/**
* default landing gear state
*/
static const landing_gear_s landing_gear_default_keep;
/** /**
* Empty desired waypoints. * Empty desired waypoints.
* All waypoints are set to NAN. * All waypoints are set to NAN.
@@ -215,6 +228,8 @@ protected:
*/ */
vehicle_constraints_s _constraints{}; vehicle_constraints_s _constraints{};
landing_gear_s _gear{};
/** /**
* Desired waypoints. * Desired waypoints.
* Goals set by the FCU to be sent to the obstacle avoidance system. * Goals set by the FCU to be sent to the obstacle avoidance system.