FlightTasks Class Reference

Public Member Functions
bool	update ()
	Call regularly in the control loop cycle to execute the task. More...
const vehicle_local_position_setpoint_s	getPositionSetpoint ()
	Get the output data from the current task. More...
const vehicle_constraints_s	getConstraints ()
	Get task dependent constraints. More...
const landing_gear_s	getGear ()
	Get landing gear position. More...
const vehicle_trajectory_waypoint_s	getAvoidanceWaypoint ()
	Get task avoidance desired waypoints. More...
const vehicle_trajectory_waypoint_s &	getEmptyAvoidanceWaypoint ()
	Get empty avoidance desired waypoints. More...
int	switchTask ()
	Switch to the next task in the available list (for testing) More...
int	switchTask (FlightTaskIndex new_task_index)
	Switch to a specific task (for normal usage) More...
int	switchTask (int new_task_index)
int	getActiveTask () const
	Get the number of the active task. More...
bool	isAnyTaskActive () const
	Check if any task is active. More...
void	handleParameterUpdate ()
	Call this whenever a parameter update notification is received (parameter_update uORB message)
const char *	errorToString (const int error)
	Call this method to get the description of a task error.
void	setYawHandler (WeatherVane *ext_yaw_handler)
	Sets an external yaw handler. More...
void	reActivate ()
	This method will re-activate current task.
void	updateVelocityControllerIO (const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp)

Member Function Documentation

getActiveTask()

int FlightTasks::getActiveTask ( ) const

inline

Get the number of the active task.

Returns

number of active task, -1 if there is none

getAvoidanceWaypoint()

const vehicle_trajectory_waypoint_s FlightTasks::getAvoidanceWaypoint

(

)

Get task avoidance desired waypoints.

Returns

auto triplets in the mc_pos_control

getConstraints()

const vehicle_constraints_s FlightTasks::getConstraints

(

)

Get task dependent constraints.

Returns

setpoint constraints that has to be respected by the position controller

getEmptyAvoidanceWaypoint()

const vehicle_trajectory_waypoint_s& FlightTasks::getEmptyAvoidanceWaypoint

(

)

Get empty avoidance desired waypoints.

Returns

empty triplets in the mc_pos_control

getGear()

const landing_gear_s FlightTasks::getGear

(

)

Get landing gear position.

Returns

landing gear

getPositionSetpoint()

const vehicle_local_position_setpoint_s FlightTasks::getPositionSetpoint

(

)

Get the output data from the current task.

Returns

output setpoint, to be executed by position control

isAnyTaskActive()

bool FlightTasks::isAnyTaskActive ( ) const

inline

Check if any task is active.

Returns

true if a task is active, false if not

setYawHandler()

void FlightTasks::setYawHandler ( WeatherVane *  ext_yaw_handler )

inline

Sets an external yaw handler.

The active flight task can use the yaw handler to implement a different yaw control strategy.

switchTask() [1/2]

int FlightTasks::switchTask ( )

inline

Switch to the next task in the available list (for testing)

Returns

1 on success, <0 on error

switchTask() [2/2]

int FlightTasks::switchTask

(

FlightTaskIndex

new_task_index

)

Switch to a specific task (for normal usage)

Parameters

task	index to switch to

Returns

1 on success, 0 on no change, <0 on error

update()

bool FlightTasks::update

(

)

Call regularly in the control loop cycle to execute the task.

Returns

true on success, false on error

---

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

• src/lib/FlightTasks/FlightTasks.hpp
• src/lib/FlightTasks/FlightTasks.cpp