[WIP] Flight task auto

src/lib/FlightTasks/CMakeLists.txt

@@ -41,6 +41,8 @@ px4_add_module(
 		tasks/FlightTaskManualAltitudeSmooth.cpp
 		tasks/FlightTaskManualPosition.cpp
 		tasks/FlightTaskManualPositionSmooth.cpp
+		tasks/FlightTaskAuto.cpp
+		tasks/FlightTaskAutoLine.cpp
 		tasks/Utility/ManualSmoothingZ.cpp
 		tasks/Utility/ManualSmoothingXY.cpp
 		SubscriptionArray.cpp

src/lib/FlightTasks/FlightTasks.cpp

@@ -72,6 +72,10 @@ int FlightTasks::switchTask(FlightTaskIndex new_task_index)
 		_current_task = new (&_task_union.sport) FlightTaskSport();
 		break;
 
+	case FlightTaskIndex::AutoLine:
+		_current_task = new (&_task_union.autoLine) FlightTaskAutoLine();
+		break;
+
 	default:
 		/* invalid task */
 		return -1;

src/lib/FlightTasks/FlightTasks.hpp

@@ -47,6 +47,7 @@
 #include "tasks/FlightTaskManualPosition.hpp"
 #include "tasks/FlightTaskManualPositionSmooth.hpp"
 #include "tasks/FlightTaskManualStabilized.hpp"
+#include "tasks/FlightTaskAutoLine.hpp"
 #include "tasks/FlightTaskOrbit.hpp"
 #include "tasks/FlightTaskSport.hpp"
 
@@ -63,6 +64,7 @@ enum class FlightTaskIndex : int {
 	PositionSmooth,
 	Orbit,
 	Sport,
+	AutoLine,
 
 	Count // number of tasks
 };
@@ -139,6 +141,7 @@ class FlightTasks
 		FlightTaskManualPositionSmooth position_smooth;
 		FlightTaskOrbit orbit;
 		FlightTaskSport sport;
+		FlightTaskAutoLine autoLine;
 	} _task_union; /**< storage for the currently active task */
 
 	FlightTask *_current_task = nullptr;

src/lib/FlightTasks/tasks/FlightTask.cpp

@@ -27,7 +27,7 @@ bool FlightTask::updateInitialize()
 	_time = (_time_stamp_current - _time_stamp_activate) / 1e6f;
 	_deltatime  = math::min((_time_stamp_current - _time_stamp_last), _timeout) / 1e6f;
 	_time_stamp_last = _time_stamp_current;
-	return _evaluateVehiclePosition();
+	return _evaluateVehicleLocalPosition();
 }
 
 const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
@@ -53,7 +53,7 @@ void FlightTask::_resetSetpoints()
 	_yaw_setpoint = _yawspeed_setpoint = NAN;
 }
 
-bool FlightTask::_evaluateVehiclePosition()
+bool FlightTask::_evaluateVehicleLocalPosition()
 {
 	if ((_time_stamp_current - _sub_vehicle_local_position->get().timestamp) < _timeout) {
 		_position = matrix::Vector3f(&_sub_vehicle_local_position->get().x);

src/lib/FlightTasks/tasks/FlightTask.hpp

@@ -47,10 +47,8 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
-
 #include "../SubscriptionArray.hpp"
 
-
 class FlightTask : public ModuleParams
 {
 public:
@@ -134,8 +132,6 @@ class FlightTask : public ModuleParams
 	 */
 	void _resetSetpoints();
 
-private:
 	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
-
-	bool _evaluateVehiclePosition();
+	bool _evaluateVehicleLocalPosition();
 };

src/lib/FlightTasks/tasks/FlightTaskAuto.cpp

@@ -0,0 +1,182 @@
+/****************************************************************************
+ *
+ *   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 FlightTaskAuto.cpp
+ */
+
+#include "FlightTaskAuto.hpp"
+#include <mathlib/mathlib.h>
+#include <float.h>
+
+using namespace matrix;
+
+bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_array)
+{
+	if (!FlightTask::initializeSubscriptions(subscription_array)) {
+		return false;
+	}
+
+	if (!subscription_array.get(ORB_ID(position_setpoint_triplet), _sub_triplet_setpoint)) {
+		return false;
+	}
+
+	return true;
+}
+
+bool FlightTaskAuto::activate()
+{
+	_prev_prev_wp = _prev_wp = _target = _next_wp = _position;
+	_yaw_wp = _yaw;
+	return FlightTask::activate();
+}
+
+bool FlightTaskAuto::updateInitialize()
+{
+	bool ret = FlightTask::updateInitialize();
+	_evaluateVehicleGlobalPosition();
+	return (ret && _evaluateTriplets());
+}
+
+bool FlightTaskAuto::_evaluateTriplets()
+{
+	// TODO: fix the issues mentioned below
+	// We add here some conditions that are only required because:
+	// 1. navigator continuously sends triplet during mission due to yaw setpoint. This
+	// should be removed in the navigator and only updates if the current setpoint actually has changed.
+	//
+	// 2. navigator should be responsible to send always three valid setpoints. If there is only one setpoint,
+	// then previous will be set to current vehicle position and next will be set equal to setpoint.
+	//
+	// 3. navigator originally only supports gps guided maneuvers. However, it now also supports some flow-specific features
+	// such as land and takeoff. The navigator should use for auto takeoff/land with flow the position in xy at the moment the
+	// takeoff/land was initiated. Until then we do this kind of logic here.
+
+	if (!_sub_triplet_setpoint->get().current.valid) {
+		// best we can do is to just set all waypoints to current state
+		_prev_prev_wp = _prev_wp = _target = _next_wp = _position;
+		_yaw_wp = _yaw;
+		_type = WaypointType::position;
+		return false;
+	}
+
+	_type = (WaypointType)_sub_triplet_setpoint->get().current.type;
+	// always update cruise speed since that can change without waypoint changes
+	_mc_cruise_speed = _sub_triplet_setpoint->get().current.cruising_speed;
+
+	if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) {
+		// use default
+		_mc_cruise_speed = _mc_cruise_default.get();
+	}
+
+	// get target waypoint.
+	matrix::Vector3f target;
+	map_projection_project(&_reference_position,
+			       _sub_triplet_setpoint->get().current.lat, _sub_triplet_setpoint->get().current.lon, &target(0), &target(1));
+	target(2) = -(_sub_triplet_setpoint->get().current.alt - _reference_altitude);
+
+
+	_yaw_wp = _sub_triplet_setpoint->get().current.yaw;
+
+	if (!PX4_ISFINITE(_yaw_wp)) {
+		_yaw_wp = _yaw;
+
+	}
+
+	// Check if anything has changed. We do that by comparing the target
+	// setpoint to the previous target.
+	// TODO This is a hack and it would be much better if the navigator only sends out a waypoints once tthey have changed.
+
+	// dont't do any updates if the current target has not changed
+	if (!(fabsf(target(0) - _target(0)) > 0.001f || fabsf(target(1) - _target(1)) > 0.001f
+	      || fabsf(target(2) - _target(2)) > 0.001f)) {
+		// nothing has changed: just keep old waypoints
+		return true;
+	}
+
+	// update all waypoints
+	_target = target;
+
+	if (!PX4_ISFINITE(_target(0)) || !PX4_ISFINITE(_target(1))) {
+		// Horizontal target is not finite. */
+		_target(0) = _position(0);
+		_target(1) = _position(1);
+	}
+
+	if (!PX4_ISFINITE(_target(2))) {
+		_target(2) = _position(2);
+	}
+
+	_prev_prev_wp = _prev_wp;
+
+	if (_isFinite(_sub_triplet_setpoint->get().previous) && _sub_triplet_setpoint->get().previous.valid) {
+		map_projection_project(&_reference_position, _sub_triplet_setpoint->get().previous.lat,
+				       _sub_triplet_setpoint->get().previous.lon, &_prev_wp(0), &_prev_wp(1));
+		_prev_wp(2) = -(_sub_triplet_setpoint->get().previous.alt - _reference_altitude);
+
+	} else {
+		_prev_wp = _position;
+	}
+
+	if (_type == WaypointType::loiter) {
+		_next_wp = _target;
+
+	} else if (_isFinite(_sub_triplet_setpoint->get().next) && _sub_triplet_setpoint->get().next.valid) {
+		map_projection_project(&_reference_position, _sub_triplet_setpoint->get().next.lat,
+				       _sub_triplet_setpoint->get().next.lon, &_next_wp(0), &_next_wp(1));
+		_next_wp(2) = -(_sub_triplet_setpoint->get().next.alt - _reference_altitude);
+
+	} else {
+		_next_wp = _target;
+	}
+
+	return true;
+}
+
+bool FlightTaskAuto::_isFinite(const position_setpoint_s sp)
+{
+	return (PX4_ISFINITE(sp.lat) && PX4_ISFINITE(sp.lon) && PX4_ISFINITE(sp.alt));
+}
+
+void FlightTaskAuto::_evaluateVehicleGlobalPosition()
+{
+	FlightTask::_evaluateVehicleLocalPosition();
+
+	// check if reference has changed and update.
+	if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) {
+		map_projection_init(&_reference_position,
+				    _sub_vehicle_local_position->get().ref_lat,
+				    _sub_vehicle_local_position->get().ref_lon);
+		_reference_altitude = _sub_vehicle_local_position->get().ref_alt;
+		_time_stamp_reference = _sub_vehicle_local_position->get().ref_timestamp;
+	}
+}

src/lib/FlightTasks/tasks/FlightTaskAuto.hpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   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 FlightTaskAuto.hpp
+ *
+ * Map from global triplet to local quadruple.
+ */
+
+#pragma once
+
+#include "FlightTask.hpp"
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/position_setpoint.h>
+#include <lib/ecl/geo/geo.h>
+
+/**
+ * This enum has to agree with position_setpoint_s type definition
+ * The only reason for not using the struct position_setpoint is because
+ * of the size
+ */
+enum class WaypointType : int {
+	position = 0,
+	velocity,
+	loiter,
+	takeoff,
+	land,
+	idle
+};
+
+class FlightTaskAuto : public FlightTask
+{
+public:
+	FlightTaskAuto() = default;
+
+	virtual ~FlightTaskAuto() = default;
+	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;
+	bool activate() override;
+	bool updateInitialize() override;
+
+protected:
+	matrix::Vector3f _prev_prev_wp{}; /**< Pre-previous waypoint (local frame). This will be used for smoothing trajectories -> not used yet. */
+	matrix::Vector3f _prev_wp{}; /**< Previous waypoint  (local frame). If no previous triplet is available, the prev_wp is set to current position. */
+	matrix::Vector3f _target{}; /**< Target waypoint  (local frame).*/
+	matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
+	float _yaw_wp{0.0f}; /**< Triplet yaw waypoint. Currently it is not a yaw-waypoint, but rather a yaw setpoint at each time stamp. */
+	float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
+	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
+
+private:
+	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
+					(ParamFloat<px4::params::MPC_XY_CRUISE>) _mc_cruise_default); /**< Default mc cruise speed.*/
+
+	map_projection_reference_s _reference; /**< Reference frame from global to local. */
+
+	map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
+	float _reference_altitude = 0.0f;  /**< Altitude relative to ground. */
+	hrt_abstime _time_stamp_reference = 0; /**< time stamp when last reference update occured. */
+
+	bool _evaluateTriplets(); /**< Checks and sets triplets. */
+	bool _isFinite(const position_setpoint_s sp); /**< Checks if all waypoint triplets are finite. */
+	void _updateReference(); /**< Updates the local reference. */
+	void _evaluateVehicleGlobalPosition(); /**< Checks if global position is valid. */
+};