lib: name folders consistently

src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp

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+/****************************************************************************
+ *
+ *   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 FlightAutoMapper.cpp
+ */
+
+#include "FlightTaskAutoMapper.hpp"
+#include <mathlib/mathlib.h>
+
+using namespace matrix;
+
+bool FlightTaskAutoMapper::activate(vehicle_local_position_setpoint_s last_setpoint)
+{
+	bool ret = FlightTaskAuto::activate(last_setpoint);
+	_reset();
+	return ret;
+}
+
+bool FlightTaskAutoMapper::update()
+{
+	// always reset constraints because they might change depending on the type
+	_setDefaultConstraints();
+
+	_updateAltitudeAboveGround();
+
+	bool follow_line = _type == WaypointType::loiter || _type == WaypointType::position;
+	bool follow_line_prev = _type_previous == WaypointType::loiter || _type_previous == WaypointType::position;
+
+	// 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state.
+	if (follow_line && !follow_line_prev) {
+		_reset();
+	}
+
+	// The only time a thrust set-point is sent out is during
+	// idle. Hence, reset thrust set-point to NAN in case the
+	// vehicle exits idle.
+
+	if (_type_previous == WaypointType::idle) {
+		_thrust_setpoint = Vector3f(NAN, NAN, NAN);
+	}
+
+	// during mission and reposition, raise the landing gears but only
+	// if altitude is high enough
+	if (_highEnoughForLandingGear()) {
+		_gear.landing_gear = _mission_gear;
+	}
+
+	if (_type == WaypointType::idle) {
+		_generateIdleSetpoints();
+
+	} else if (_type == WaypointType::land) {
+		_generateLandSetpoints();
+
+	} else if (follow_line) {
+		_generateSetpoints();
+
+	} else if (_type == WaypointType::takeoff) {
+		_generateTakeoffSetpoints();
+
+	} else if (_type == WaypointType::velocity) {
+		_generateVelocitySetpoints();
+	}
+
+	if (_param_com_obs_avoid.get()) {
+		_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint, (int)_type);
+		_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+				_yawspeed_setpoint);
+	}
+
+	// update previous type
+	_type_previous = _type;
+
+	return true;
+}
+
+void FlightTaskAutoMapper::_reset()
+{
+	// Set setpoints equal current state.
+	_velocity_setpoint = _velocity;
+	_position_setpoint = _position;
+}
+
+void FlightTaskAutoMapper::_generateIdleSetpoints()
+{
+	// Send zero thrust setpoint
+	_position_setpoint = Vector3f(NAN, NAN, NAN); // Don't require any position/velocity setpoints
+	_velocity_setpoint = Vector3f(NAN, NAN, NAN);
+	_thrust_setpoint.zero();
+}
+
+void FlightTaskAutoMapper::_generateLandSetpoints()
+{
+	// Keep xy-position and go down with landspeed
+	_position_setpoint = Vector3f(_target(0), _target(1), NAN);
+	_velocity_setpoint = Vector3f(Vector3f(NAN, NAN, _param_mpc_land_speed.get()));
+	// set constraints
+	_constraints.tilt = math::radians(_param_mpc_tiltmax_lnd.get());
+	_constraints.speed_down = _param_mpc_land_speed.get();
+	_gear.landing_gear = landing_gear_s::GEAR_DOWN;
+}
+
+void FlightTaskAutoMapper::_generateTakeoffSetpoints()
+{
+	// Takeoff is completely defined by target position
+	_position_setpoint = _target;
+	_velocity_setpoint = Vector3f(NAN, NAN, NAN);
+
+	// limit vertical speed during takeoff
+	_constraints.speed_up = math::gradual(_alt_above_ground, _param_mpc_land_alt2.get(),
+					      _param_mpc_land_alt1.get(), _param_mpc_tko_speed.get(), _constraints.speed_up);
+
+	_gear.landing_gear = landing_gear_s::GEAR_DOWN;
+}
+
+void FlightTaskAutoMapper::_generateVelocitySetpoints()
+{
+	// TODO: Remove velocity force logic from navigator, since
+	// navigator should only send out waypoints.
+	_position_setpoint = Vector3f(NAN, NAN, _position(2));
+	Vector2f vel_sp_xy = Vector2f(_velocity).unit_or_zero() * _mc_cruise_speed;
+	_velocity_setpoint = Vector3f(vel_sp_xy(0), vel_sp_xy(1), NAN);
+}
+
+void FlightTaskAutoMapper::_updateAltitudeAboveGround()
+{
+	// Altitude above ground is by default just the negation of the current local position in D-direction.
+	_alt_above_ground = -_position(2);
+
+	if (PX4_ISFINITE(_dist_to_bottom)) {
+		// We have a valid distance to ground measurement
+		_alt_above_ground = _dist_to_bottom;
+
+	} else if (_sub_home_position.get().valid_alt) {
+		// if home position is set, then altitude above ground is relative to the home position
+		_alt_above_ground = -_position(2) + _sub_home_position.get().z;
+	}
+}
+
+void FlightTaskAutoMapper::updateParams()
+{
+	FlightTaskAuto::updateParams();
+
+	// make sure that alt1 is above alt2
+	_param_mpc_land_alt1.set(math::max(_param_mpc_land_alt1.get(), _param_mpc_land_alt2.get()));
+}
+
+bool FlightTaskAutoMapper::_highEnoughForLandingGear()
+{
+	// return true if altitude is above two meters
+	return _alt_above_ground > 2.0f;
+}