FlightTasks: introduce new library to handle advanced features like orbit follow me and so on

it's only a draft setup yet and not functional for real use

the object is for now managed by the mc_pos_control module
but it stays as encapsulated as possible to enable the instance to reside in any trajectory module in the future

src/lib/FlightTasks/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2017 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.
+#
+############################################################################
+px4_add_module(
+	MODULE lib__flight_tasks
+	SRCS
+		FlightTask.h
+		tasks/FlightTaskOrbit.cpp
+	DEPENDS
+		platforms__common
+		modules__uORB
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/lib/FlightTasks/FlightTasks.hpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 flight_taks.h
+ *
+ * Library class to hold and manage all implemented flight task instances
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include "tasks/FlightTask.hpp"
+#include "tasks/FlightTaskOrbit.hpp"
+
+class FlightTasks
+{
+public:
+	FlightTasks() {};
+	~FlightTasks() {};
+
+	/**
+	 * Call regularly in the control loop cycle to execute the task
+	 * @param TODO
+	 * @return 0 on success, >0 on error otherwise
+	 */
+	int update(manual_control_setpoint_s *manual_control_setpoint, vehicle_local_position_s *vehicle_local_position) { return 0; };
+
+	/**
+	 * Call to get result of the task execution
+	 * @return pointer to
+	 */
+	const vehicle_local_position_setpoint_s *get_local_position_setpoint() const { return Orbit.get_local_position_setpoint(); };
+
+private:
+
+	FlightTaskOrbit Orbit;
+
+};

src/lib/FlightTasks/tasks/FlightTask.hpp

@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 FlightTask.h
+ *
+ * Abstract base class for different advanced flight tasks like orbit, follow me, ...
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/vehicle_local_position_setpoint.h>
+
+class FlightTask
+{
+public:
+	FlightTask()
+	{
+		vehicle_local_position_setpoint.x = 1;
+		vehicle_local_position_setpoint.y = 2;
+		vehicle_local_position_setpoint.z = -3;
+	};
+	virtual ~FlightTask() {};
+
+	/**
+	 * Call once on the event where you switch to the task
+	 * @return 0 on success, >0 on error otherwise
+	 */
+	virtual int activate() = 0;
+
+	/**
+	 * Call once on the event of switching away from the task
+	 * 	@return 0 on success, >0 on error otherwise
+	 */
+	virtual int disable() = 0;
+
+	/**
+	 * Call regularly in the control loop cycle to execute the task
+	 * @param TODO
+	 * @return 0 on success, >0 on error otherwise
+	 */
+	virtual int update(manual_control_setpoint_s *manual_control_setpoint,
+			   vehicle_local_position_s *vehicle_local_position) = 0;
+
+	/**
+	 * Call to get result of the task execution
+	 * @return pointer to
+	 */
+	const vehicle_local_position_setpoint_s *get_local_position_setpoint() const { return &vehicle_local_position_setpoint; };
+
+private:
+
+	vehicle_local_position_setpoint_s vehicle_local_position_setpoint;
+
+};

src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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 FlightTaskOrbit.h
+ *
+ * Flight task for orbiting in a circle around a target position
+ *
+ * @author Matthias Grob <maetugr@gmail.com>
+ */
+
+#pragma once
+
+#include "FlightTask.hpp"
+
+class FlightTaskOrbit : public FlightTask
+{
+public:
+	FlightTaskOrbit() {};
+	virtual ~FlightTaskOrbit() {};
+
+	/**
+	 * Call once on the event where you switch to the task
+	 * @return 0 on success, >0 on error otherwise
+	 */
+	virtual int activate() { return 0; };
+
+	/**
+	 * Call once on the event of switching away from the task
+	 * 	@return 0 on success, >0 on error otherwise
+	 */
+	virtual int disable() { return 0; };
+
+	/**
+	 * Call regularly in the control loop cycle to execute the task
+	 * @param TODO
+	 * @return 0 on success, >0 on error otherwise
+	 */
+	virtual int update(manual_control_setpoint_s *manual_control_setpoint,
+			   vehicle_local_position_s *vehicle_local_position) { return 0; };
+
+private:
+
+
+};