Inheritance diagram for FlightTask:

Public Member Functions
virtual bool	initializeSubscriptions (SubscriptionArray &subscription_array)
	Initialize the uORB subscriptions using an array. More...

virtual bool	activate ()
	Call once on the event where you switch to the task. More...

virtual void	reActivate ()
	Call this to reset an active Flight Task.

virtual bool	applyCommandParameters (const vehicle_command_s &command)
	To be called to adopt parameters from an arrived vehicle command. More...

virtual bool	updateInitialize ()
	Call before activate() or update() to initialize time and input data. More...

virtual bool	update ()=0
	To be called regularly in the control loop cycle to execute the task. More...

virtual bool	updateFinalize ()
	Call after update() to constrain the generated setpoints in order to comply with the constraints of the current mode. More...

const vehicle_local_position_setpoint_s	getPositionSetpoint ()
	Get the output data. More...

const vehicle_constraints_s &	getConstraints ()
	Get vehicle constraints. More...

const landing_gear_s &	getGear ()
	Get landing gear position. More...

const vehicle_trajectory_waypoint_s &	getAvoidanceWaypoint ()
	Get avoidance desired waypoint. More...

void	handleParameterUpdate ()
	Call this whenever a parameter update notification is received (parameter_update uORB message)

virtual void	setYawHandler (WeatherVane *ext_yaw_handler)
	Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy. More...

void	updateVelocityControllerIO (const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp)

Public Member Functions inherited from ModuleParams
	ModuleParams (ModuleParams *parent)

void	setParent (ModuleParams *parent)
	Sets the parent module. More...

	ModuleParams (const ModuleParams &)=delete

ModuleParams &	operator= (const ModuleParams &)=delete

	ModuleParams (ModuleParams &&)=delete

ModuleParams &	operator= (ModuleParams &&)=delete

Public Member Functions inherited from ListNode< ModuleParams *>
void	setSibling (ModuleParams * sibling)

const ModuleParams *	getSibling () const

Static Public Attributes
static const vehicle_local_position_setpoint_s	empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}}
	Empty setpoint. More...

static const vehicle_constraints_s	empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {}}
	Empty constraints. More...

static const landing_gear_s	empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}}
	default landing gear state

static const vehicle_trajectory_waypoint_s	empty_trajectory_waypoint
	Empty desired waypoints. More...

Protected Member Functions
void	_resetSetpoints ()
	Reset all setpoints to NAN.

void	_evaluateVehicleLocalPosition ()
	Check and update local position.

virtual void	_setDefaultConstraints ()
	Set constraints to default values.

Protected Member Functions inherited from ModuleParams
virtual void	updateParams ()
	Call this method whenever the module gets a parameter change notification. More...

virtual void	updateParamsImpl ()
	The implementation for this is generated with the macro DEFINE_PARAMETERS()

Protected Attributes
uORB::Subscription< vehicle_local_position_s > *	_sub_vehicle_local_position {nullptr}

uORB::Subscription< vehicle_attitude_s > *	_sub_attitude {nullptr}

uint8_t	_heading_reset_counter {0}
	estimator heading reset

float	_time = 0
	passed time in seconds since the task was activated

float	_deltatime = 0
	passed time in seconds since the task was last updated

hrt_abstime	_time_stamp_activate = 0
	time stamp when task was activated

hrt_abstime	_time_stamp_current = 0
	time stamp at the beginning of the current task update

hrt_abstime	_time_stamp_last = 0
	time stamp when task was last updated

matrix::Vector3f	_position
	current vehicle position

matrix::Vector3f	_velocity
	current vehicle velocity

float	_yaw = 0.f
	current vehicle yaw heading

float	_dist_to_bottom = 0.0f
	current height above ground level

matrix::Vector3f	_position_setpoint
	Setpoints which the position controller has to execute. More...

matrix::Vector3f	_velocity_setpoint

matrix::Vector3f	_acceleration_setpoint

matrix::Vector3f	_jerk_setpoint

matrix::Vector3f	_thrust_setpoint

float	_yaw_setpoint

float	_yawspeed_setpoint

matrix::Vector3f	_velocity_setpoint_feedback

matrix::Vector3f	_thrust_setpoint_feedback

vehicle_constraints_s	_constraints {}
	Vehicle constraints. More...

landing_gear_s	_gear {}

vehicle_trajectory_waypoint_s	_desired_waypoint {}
	Desired waypoints. More...

Protected Attributes inherited from ListNode< ModuleParams *>
ModuleParams *	_sibling

Static Protected Attributes
static constexpr uint64_t	_timeout = 500000
	maximal time in us before a loop or data times out

Member Function Documentation

§ activate()

bool FlightTask::activate ( )

virtual

Call once on the event where you switch to the task.

Returns: true on success, false on error

Reimplemented in FlightTaskAuto, FlightTaskSport, FlightTaskOrbit, FlightTaskManualPosition, FlightTaskAutoLineSmoothVel, FlightTaskManualPositionSmoothVel, FlightTaskOffboard, FlightTaskManualAltitude, FlightTaskManualAltitudeSmoothVel, FlightTaskAutoMapper, FlightTaskAutoMapper2, FlightTaskFailsafe, and FlightTaskTransition.

§ applyCommandParameters()

virtual bool FlightTask::applyCommandParameters ( const vehicle_command_s & command )

inlinevirtual

To be called to adopt parameters from an arrived vehicle command.

Parameters

command received command message containing the parameters

Returns: true if accepted, false if declined

Reimplemented in FlightTaskManual, and FlightTaskOrbit.

§ getAvoidanceWaypoint()

const vehicle_trajectory_waypoint_s& FlightTask::getAvoidanceWaypoint ( )

inline

Get avoidance desired waypoint.

Returns: desired waypoints

§ getConstraints()

const vehicle_constraints_s& FlightTask::getConstraints ( )

inline

Get vehicle constraints.

The constraints can vary with task.

Returns: constraints

§ getGear()

const landing_gear_s& FlightTask::getGear ( )

inline

Get landing gear position.

The constraints can vary with task.

Returns: landing gear

§ getPositionSetpoint()

const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint ( )

Get the output data.

Returns: task output setpoints that get executed by the positon controller

§ initializeSubscriptions()

bool FlightTask::initializeSubscriptions ( SubscriptionArray & subscription_array )

virtual

Initialize the uORB subscriptions using an array.

Parameters

subscription_array handling uORB subscribtions externally across task switches

Returns: true on success, false on error

Reimplemented in FlightTaskAuto, FlightTaskManual, FlightTaskManualPosition, FlightTaskManualAltitude, and FlightTaskOffboard.

§ setYawHandler()

virtual void FlightTask::setYawHandler ( WeatherVane * ext_yaw_handler )

inlinevirtual

Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy.

This method does nothing, each flighttask which wants to use the yaw handler needs to override this method.

Reimplemented in FlightTaskAuto, and FlightTaskManualPosition.

§ update()

virtual bool FlightTask::update ( )

pure virtual

To be called regularly in the control loop cycle to execute the task.

Returns: true on success, false on error

Implemented in FlightTaskOrbit, FlightTaskManualAltitude, FlightTaskTransition, FlightTaskAutoMapper, FlightTaskAutoMapper2, FlightTaskOffboard, FlightTaskAutoFollowMe, and FlightTaskFailsafe.

§ updateFinalize()

virtual bool FlightTask::updateFinalize ( )

inlinevirtual

Call after update() to constrain the generated setpoints in order to comply with the constraints of the current mode.

Returns: true on success, false on error

Reimplemented in FlightTaskAuto.

§ updateInitialize()

bool FlightTask::updateInitialize ( )

virtual

Call before activate() or update() to initialize time and input data.

Returns: true on success, false on error

Reimplemented in FlightTaskAuto, FlightTaskManual, FlightTaskManualPosition, FlightTaskOffboard, FlightTaskManualAltitude, and FlightTaskTransition.

Member Data Documentation

§ _constraints

vehicle_constraints_s FlightTask::_constraints {}

protected

Vehicle constraints.

The constraints can vary with tasks.

§ _desired_waypoint

vehicle_trajectory_waypoint_s FlightTask::_desired_waypoint {}

protected

Desired waypoints.

Goals set by the FCU to be sent to the obstacle avoidance system.

§ _position_setpoint

matrix::Vector3f FlightTask::_position_setpoint

protected

Setpoints which the position controller has to execute.

Setpoints that are set to NAN are not controlled. Not all setpoints can be set at the same time. If more than one type of setpoint is set, then order of control is a as follow: position, velocity, acceleration, thrust. The exception is _position_setpoint together with _velocity_setpoint, where the _velocity_setpoint is used as feedforward. _acceleration_setpoint and _jerk_setpoint are currently not supported.

§ empty_constraints

const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {}}

static

Empty constraints.

All constraints are set to NAN.

§ empty_setpoint

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}}

static

Empty setpoint.

All setpoints are set to NAN.

§ empty_trajectory_waypoint

const vehicle_trajectory_waypoint_s FlightTask::empty_trajectory_waypoint

static

Empty desired waypoints.

All waypoints are set to NAN.

The documentation for this class was generated from the following files:

src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Member Function Documentation

§ activate()

§ applyCommandParameters()

§ getAvoidanceWaypoint()

§ getConstraints()

§ getGear()

§ getPositionSetpoint()

§ initializeSubscriptions()

§ setYawHandler()

§ update()

§ updateFinalize()

§ updateInitialize()

Member Data Documentation

§ _constraints

§ _desired_waypoint

§ _position_setpoint

§ empty_constraints

§ empty_setpoint

§ empty_trajectory_waypoint