Inheritance diagram for FlightTaskOffboard:

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

bool	update () override
	To be called regularly in the control loop cycle to execute the task. 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...

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	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 Attributes
uORB::Subscription< position_setpoint_triplet_s > *	_sub_triplet_setpoint {nullptr}

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...

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()

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 FlightTaskOffboard::activate ( )

overridevirtual

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

Returns: true on success, false on error

Reimplemented from FlightTask.

§ initializeSubscriptions()

bool FlightTaskOffboard::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.

§ update()

bool FlightTaskOffboard::update ( )

overridevirtual

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

Returns: true on success, false on error

Implements FlightTask.

§ updateInitialize()

bool FlightTaskOffboard::updateInitialize ( )

overridevirtual

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

Returns: true on success, false on error

Reimplemented from FlightTask.

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

src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp
src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

§ activate()

§ initializeSubscriptions()

§ update()

§ updateInitialize()