Inheritance diagram for FlightTaskAutoFollowMe:
Public Member Functions | |
| bool | update () override |
| To be called regularly in the control loop cycle to execute the task. More... | |
 Public Member Functions inherited from FlightTaskAuto | |
| 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... | |
| 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 |
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... | |
| Protected Member Functions inherited from FlightTaskAuto | |
| 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 inherited from FlightTaskAuto | |
| 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 |
| 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
§ update()
|
overridevirtual |
To be called regularly in the control loop cycle to execute the task.
- Returns
- true on success, false on error
Implements FlightTask.
The documentation for this class was generated from the following files:
- src/lib/FlightTasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.hpp
- src/lib/FlightTasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.cpp
