FlightTaskManualAltitude Class Reference

Inheritance diagram for FlightTaskManualAltitude:

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	update () override
	To be called regularly in the control loop cycle to execute the task. More...
Public Member Functions inherited from FlightTaskManual
bool	applyCommandParameters (const vehicle_command_s &command) override
	To be called to adopt parameters from an arrived vehicle command. More...
Public Member Functions inherited from FlightTask
virtual void	reActivate ()
	Call this to reset an active Flight Task.
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

Protected Member Functions
void	_updateHeadingSetpoints ()
	sets yaw or yaw speed
virtual void	_updateSetpoints ()
	updates all setpoints
virtual void	_scaleSticks ()
	scales sticks to velocity in z
void	_rotateIntoHeadingFrame (matrix::Vector2f &vec)
	rotates vector into local frame
void	_updateAltitudeLock ()
	Check and sets for position lock. More...
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,(ParamFloat< px4::params::MPC_HOLD_MAX_Z >) _param_mpc_hold_max_z,(ParamInt< px4::params::MPC_ALT_MODE >) _param_mpc_alt_mode,(ParamFloat< px4::params::MPC_HOLD_MAX_XY >) _param_mpc_hold_max_xy,(ParamFloat< px4::params::MPC_Z_P >) _param_mpc_z_p,(ParamFloat< px4::params::MPC_MAN_Y_MAX >) _param_mpc_man_y_max,(ParamFloat< px4::params::MPC_MAN_TILT_MAX >) _param_mpc_man_tilt_max,(ParamFloat< px4::params::MPC_LAND_ALT1 >) _param_mpc_land_alt1,(ParamFloat< px4::params::MPC_LAND_ALT2 >) _param_mpc_land_alt2,(ParamFloat< px4::params::MPC_LAND_SPEED >) _param_mpc_land_speed,(ParamFloat< px4::params::MPC_TKO_SPEED >) _param_mpc_tko_speed) private void	_respectMinAltitude ()
	Terrain following. More...
void	_respectMaxAltitude ()
void	_respectGroundSlowdown ()
	Sets downwards velocity constraint based on the distance to ground. More...
Protected Member Functions inherited from FlightTaskManual
float	stickDeadzone () const
Protected Member Functions inherited from FlightTask
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< home_position_s > *	_sub_home_position {nullptr}
uint8_t	_reset_counter = 0
	counter for estimator resets in z-direction
float	_max_speed_up = 10.0f
float	_min_speed_down = 1.0f
bool	_terrain_follow {false}
	true when the vehicle is following the terrain height
bool	_terrain_hold {false}
	true when vehicle is controlling height above a static ground position
float	_dist_to_ground_lock = NAN
	Distance to ground during terrain following. More...
Protected Attributes inherited from FlightTaskManual
bool	_sticks_data_required = true
	let inherited task-class define if it depends on stick data
matrix::Vector< float, 4 >	_sticks
	unmodified manual stick inputs
matrix::Vector< float, 4 >	_sticks_expo
	modified manual sticks using expo function
int	_gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE
	old switch state
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

_respectGroundSlowdown()

void FlightTaskManualAltitude::_respectGroundSlowdown ( )

protected

Sets downwards velocity constraint based on the distance to ground.

To ensure a slowdown to land speed before hitting the ground.

_respectMinAltitude()

void FlightTaskManualAltitude::_respectMinAltitude ( )

protected

Terrain following.

During terrain following, the position setpoint is adjusted such that the distance to ground is kept constant.

Parameters

apply_brake	is true if user wants to break
stopped	is true if vehicle has stopped moving in D-direction Minimum Altitude during range sensor operation. If a range sensor is used for altitude estimates, for best operation a minimum altitude is required. The minimum altitude is only enforced during altitude lock.

_updateAltitudeLock()

void FlightTaskManualAltitude::_updateAltitudeLock ( )

protected

Check and sets for position lock.

If sticks are at center position, the vehicle will exit velocity control and enter position control.

activate()

bool FlightTaskManualAltitude::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 FlightTaskSport, FlightTaskOrbit, FlightTaskManualPosition, FlightTaskManualPositionSmoothVel, and FlightTaskManualAltitudeSmoothVel.

initializeSubscriptions()

bool FlightTaskManualAltitude::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 FlightTaskManual.

Reimplemented in FlightTaskManualPosition.

update()

bool FlightTaskManualAltitude::update ( )

overridevirtual

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

Returns

true on success, false on error

Implements FlightTask.

Reimplemented in FlightTaskOrbit.

updateInitialize()

bool FlightTaskManualAltitude::updateInitialize ( )

overridevirtual

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

Returns

true on success, false on error

Reimplemented from FlightTaskManual.

Reimplemented in FlightTaskManualPosition.

Member Data Documentation

_dist_to_ground_lock

float FlightTaskManualAltitude::_dist_to_ground_lock = NAN

protected

Distance to ground during terrain following.

If user does not demand velocity change in D-direction and the vehcile is in terrain-following mode, then height to ground will be locked to _dist_to_ground_lock.

---

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

• src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
• src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp