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virtual void | _updateSetpoints () override |
| | updates all setpoints
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void | _updateHeadingSetpoints () |
| | sets yaw or yaw speed
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virtual void | _scaleSticks () |
| | scales sticks to velocity in z
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void | _rotateIntoHeadingFrame (matrix::Vector2f &vec) |
| | rotates vector into local frame
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| void | _updateAltitudeLock () |
| | Check and sets for position lock. More...
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| 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...
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void | _respectMaxAltitude () |
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| void | _respectGroundSlowdown () |
| | Sets downwards velocity constraint based on the distance to ground. More...
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float | stickDeadzone () const |
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void | _resetSetpoints () |
| | Reset all setpoints to NAN.
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void | _evaluateVehicleLocalPosition () |
| | Check and update local position.
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virtual void | _setDefaultConstraints () |
| | Set constraints to default values.
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| virtual void | updateParams () |
| | Call this method whenever the module gets a parameter change notification. More...
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virtual void | updateParamsImpl () |
| | The implementation for this is generated with the macro DEFINE_PARAMETERS()
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VelocitySmoothing | _smoothing |
| | Smoothing in z direction.
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float | _vel_sp_smooth |
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bool | _position_lock_z_active {false} |
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float | _position_setpoint_z_locked {NAN} |
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struct { |
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uint8_t z |
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uint8_t vz |
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| } | _reset_counters |
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uORB::Subscription< home_position_s > * | _sub_home_position {nullptr} |
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uint8_t | _reset_counter = 0 |
| | counter for estimator resets in z-direction
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float | _max_speed_up = 10.0f |
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float | _min_speed_down = 1.0f |
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bool | _terrain_follow {false} |
| | true when the vehicle is following the terrain height
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bool | _terrain_hold {false} |
| | true when vehicle is controlling height above a static ground position
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| float | _dist_to_ground_lock = NAN |
| | Distance to ground during terrain following. More...
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bool | _sticks_data_required = true |
| | let inherited task-class define if it depends on stick data
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matrix::Vector< float, 4 > | _sticks |
| | unmodified manual stick inputs
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matrix::Vector< float, 4 > | _sticks_expo |
| | modified manual sticks using expo function
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int | _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE |
| | old switch state
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uORB::Subscription< vehicle_local_position_s > * | _sub_vehicle_local_position {nullptr} |
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uORB::Subscription< vehicle_attitude_s > * | _sub_attitude {nullptr} |
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uint8_t | _heading_reset_counter {0} |
| | estimator heading reset
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float | _time = 0 |
| | passed time in seconds since the task was activated
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float | _deltatime = 0 |
| | passed time in seconds since the task was last updated
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hrt_abstime | _time_stamp_activate = 0 |
| | time stamp when task was activated
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hrt_abstime | _time_stamp_current = 0 |
| | time stamp at the beginning of the current task update
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hrt_abstime | _time_stamp_last = 0 |
| | time stamp when task was last updated
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matrix::Vector3f | _position |
| | current vehicle position
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matrix::Vector3f | _velocity |
| | current vehicle velocity
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float | _yaw = 0.f |
| | current vehicle yaw heading
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float | _dist_to_bottom = 0.0f |
| | current height above ground level
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| matrix::Vector3f | _position_setpoint |
| | Setpoints which the position controller has to execute. More...
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matrix::Vector3f | _velocity_setpoint |
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matrix::Vector3f | _acceleration_setpoint |
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matrix::Vector3f | _jerk_setpoint |
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matrix::Vector3f | _thrust_setpoint |
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float | _yaw_setpoint |
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float | _yawspeed_setpoint |
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matrix::Vector3f | _velocity_setpoint_feedback |
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matrix::Vector3f | _thrust_setpoint_feedback |
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| vehicle_constraints_s | _constraints {} |
| | Vehicle constraints. More...
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landing_gear_s | _gear {} |
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| vehicle_trajectory_waypoint_s | _desired_waypoint {} |
| | Desired waypoints. More...
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ModuleParams * | _sibling |
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| 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...
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| static const vehicle_constraints_s | empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {}} |
| | Empty constraints. More...
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static const landing_gear_s | empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}} |
| | default landing gear state
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| static const vehicle_trajectory_waypoint_s | empty_trajectory_waypoint |
| | Empty desired waypoints. More...
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static constexpr uint64_t | _timeout = 500000 |
| | maximal time in us before a loop or data times out
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Public Member Functions inherited from FlightTaskManualAltitude