Inheritance diagram for FlightTaskAuto:

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

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

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

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

void	setYawHandler (WeatherVane *ext_yaw_handler) override
	Sets an external yaw handler which can be used to implement a different yaw control strategy.

Public Member Functions inherited from FlightTask
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	update ()=0
	To be called regularly in the control loop cycle to execute the task. 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)

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

Protected Member Functions
void	_setDefaultConstraints () override
	Set constraints to default values.

matrix::Vector2f	_getTargetVelocityXY ()
	only used for follow-me and only here because of legacy reason. More...

void	_updateInternalWaypoints ()
	Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). More...

bool	_compute_heading_from_2D_vector (float &heading, matrix::Vector2f v)
	Computes and sets heading a 2D vector.

	DEFINE_PARAMETERS_CUSTOM_PARENT (FlightTask,(ParamFloat< px4::params::MPC_XY_CRUISE >) _param_mpc_xy_cruise,(ParamFloat< px4::params::MPC_CRUISE_90 >) _param_mpc_cruise_90,(ParamFloat< px4::params::NAV_MC_ALT_RAD >) _param_nav_mc_alt_rad,(ParamInt< px4::params::MPC_YAW_MODE >) _param_mpc_yaw_mode,(ParamInt< px4::params::COM_OBS_AVOID >) _param_com_obs_avoid,(ParamFloat< px4::params::MPC_YAWRAUTO_MAX >) _param_mpc_yawrauto_max)

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

void	_evaluateVehicleLocalPosition ()
	Check and update local position.

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
matrix::Vector3f	_prev_prev_wp {}
	Pre-previous waypoint (local frame). More...

matrix::Vector3f	_prev_wp {}
	Previous waypoint (local frame). More...

matrix::Vector3f	_target {}
	Target waypoint (local frame). More...

matrix::Vector3f	_next_wp {}
	The next waypoint after target (local frame). More...

float	_mc_cruise_speed {0.0f}
	Requested cruise speed. More...

WaypointType	_type {WaypointType::idle}
	Type of current target triplet. More...

uORB::Subscription< home_position_s > *	_sub_home_position {nullptr}

State	_current_state {State::none}

float	_target_acceptance_radius = 0.0f
	Acceptances radius of the target.

int	_mission_gear = landing_gear_s::GEAR_KEEP

ObstacleAvoidance	_obstacle_avoidance
	class adjusting setpoints according to external avoidance module's input

Protected Attributes inherited from FlightTask
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

Additional Inherited Members
Static Public Attributes inherited from FlightTask
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...

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

Member Function Documentation

§ _getTargetVelocityXY()

Vector2f FlightTaskAuto::_getTargetVelocityXY ( )

protected

only used for follow-me and only here because of legacy reason.

§ _updateInternalWaypoints()

void FlightTaskAuto::_updateInternalWaypoints ( )

protected

Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack).

§ activate()

bool FlightTaskAuto::activate ( )

overridevirtual

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

Returns: true on success, false on error

Reimplemented from FlightTask.

Reimplemented in FlightTaskAutoLineSmoothVel, FlightTaskAutoMapper, and FlightTaskAutoMapper2.

§ initializeSubscriptions()

bool FlightTaskAuto::initializeSubscriptions ( SubscriptionArray & subscription_array )

overridevirtual

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 from FlightTask.

§ updateFinalize()

bool FlightTaskAuto::updateFinalize ( )

overridevirtual

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 from FlightTask.

§ updateInitialize()

bool FlightTaskAuto::updateInitialize ( )

overridevirtual

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

Returns: true on success, false on error

Reimplemented from FlightTask.

Member Data Documentation

§ _mc_cruise_speed

float FlightTaskAuto::_mc_cruise_speed {0.0f}

protected

Requested cruise speed.

If not valid, default cruise speed is used.

§ _next_wp

matrix::Vector3f FlightTaskAuto::_next_wp {}

protected

The next waypoint after target (local frame).

If no next setpoint is available, next is set to target.

§ _prev_prev_wp

matrix::Vector3f FlightTaskAuto::_prev_prev_wp {}

protected

Pre-previous waypoint (local frame).

This will be used for smoothing trajectories -> not used yet.

§ _prev_wp

matrix::Vector3f FlightTaskAuto::_prev_wp {}

protected

Previous waypoint (local frame).

If no previous triplet is available, the prev_wp is set to current position.

§ _target

matrix::Vector3f FlightTaskAuto::_target {}

protected

Target waypoint (local frame).

§ _type

WaypointType FlightTaskAuto::_type {WaypointType::idle}

protected

Type of current target triplet.

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

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

§ _getTargetVelocityXY()

§ _updateInternalWaypoints()

§ activate()

§ initializeSubscriptions()

§ updateFinalize()

§ updateInitialize()

Member Data Documentation

§ _mc_cruise_speed

§ _next_wp

§ _prev_prev_wp

§ _prev_wp

§ _target

§ _type