Inheritance diagram for FlightTaskManualPositionSmoothVel:

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

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

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

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

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

Public Member Functions inherited from FlightTaskManualAltitude
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 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)

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
virtual void	_updateSetpoints () override
	updates all setpoints

DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,(ParamFloat< px4::params::MPC_JERK_MIN >) _param_mpc_jerk_min,(ParamFloat< px4::params::MPC_JERK_MAX >) _param_mpc_jerk_max,(ParamFloat< px4::params::MPC_ACC_UP_MAX >) _param_mpc_acc_up_max,(ParamFloat< px4::params::MPC_ACC_DOWN_MAX >) _param_mpc_acc_down_max) private void	reset (Axes axes, bool force_z_zero=false)
	Reset the required axes. More...

void	_checkEkfResetCounters ()
	Reset the trajectories when the ekf resets velocity or position.

Protected Member Functions inherited from FlightTaskManualPosition
void	_updateXYlock ()
	applies position lock based on stick and velocity

void	_scaleSticks () override
	scales sticks to velocity in z

Protected Member Functions inherited from FlightTaskManualAltitude
void	_updateHeadingSetpoints ()
	sets yaw or yaw speed

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
VelocitySmoothing	_smoothing [3]
	Smoothing in x, y and z directions.

matrix::Vector3f	_vel_sp_smooth

bool	_position_lock_xy_active {false}

bool	_position_lock_z_active {false}

matrix::Vector2f	_position_setpoint_xy_locked

float	_position_setpoint_z_locked {NAN}

struct {
uint8_t xy

uint8_t vxy

uint8_t z

uint8_t vz

}	_reset_counters

Protected Attributes inherited from FlightTaskManualPosition
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,(ParamFloat< px4::params::MPC_VEL_MANUAL >) _param_mpc_vel_manual,(ParamFloat< px4::params::MPC_ACC_HOR_MAX >) _param_mpc_acc_hor_max,(ParamFloat< px4::params::MPC_HOLD_MAX_XY >) _param_mpc_hold_max_xy,(ParamFloat< px4::params::MPC_ACC_HOR_ESTM >) _param_mpc_acc_hor_estm) private uint8_t	_reset_counter {0}
	counter for estimator resets in xy-direction

WeatherVane *	_weathervane_yaw_handler
	external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind More...

CollisionPrevention	_collision_prevention
	collision avoidance setpoint amendment

Protected Attributes inherited from FlightTaskManualAltitude
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

§ activate()

bool FlightTaskManualPositionSmoothVel::activate ( )

overridevirtual

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

Returns: true on success, false on error

Reimplemented from FlightTaskManualPosition.

§ reset()

void FlightTaskManualPositionSmoothVel::reset	(	Axes	axes,
		bool	force_z_zero = `false`
	)

protected

Reset the required axes.

when force_z_zero is set to true, the z derivatives are set to sero and not to the estimated states

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

src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

§ activate()

§ reset()