Inheritance diagram for Navigator:

Public Member Functions
	Navigator (const Navigator &)=delete

Navigator	operator= (const Navigator &)=delete

void	run () override

int	print_status () override

void	load_fence_from_file (const char *filename)
	Load fence from file.

void	publish_geofence_result ()
	Publish the geofence result.

void	publish_vehicle_cmd (vehicle_command_s *vcmd)

void	fake_traffic (const char *callsign, float distance, float direction, float traffic_heading, float altitude_diff, float hor_velocity, float ver_velocity)
	Generate an artificial traffic indication. More...

void	check_traffic ()
	Check nearby traffic for potential collisions.

void	set_can_loiter_at_sp (bool can_loiter)
	Setters.

void	set_position_setpoint_triplet_updated ()

void	set_mission_result_updated ()

struct home_position_s *	get_home_position ()
	Getters.

struct mission_result_s *	get_mission_result ()

struct position_setpoint_triplet_s *	get_position_setpoint_triplet ()

struct position_setpoint_triplet_s *	get_reposition_triplet ()

struct position_setpoint_triplet_s *	get_takeoff_triplet ()

struct vehicle_global_position_s *	get_global_position ()

struct vehicle_land_detected_s *	get_land_detected ()

struct vehicle_local_position_s *	get_local_position ()

struct vehicle_status_s *	get_vstatus ()

PrecLand *	get_precland ()
	allow others, e.g. More...

const vehicle_roi_s &	get_vroi ()

void	reset_vroi ()

bool	home_alt_valid ()

bool	home_position_valid ()

int	get_mission_sub ()

Geofence &	get_geofence ()

bool	get_can_loiter_at_sp ()

float	get_loiter_radius ()

float	get_default_acceptance_radius ()
	Returns the default acceptance radius defined by the parameter.

float	get_acceptance_radius ()
	Get the acceptance radius. More...

float	get_default_altitude_acceptance_radius ()
	Get the default altitude acceptance radius (i.e. More...

float	get_altitude_acceptance_radius ()
	Get the altitude acceptance radius. More...

float	get_cruising_speed ()
	Get the cruising speed. More...

void	set_cruising_speed (float speed=-1.0f)
	Set the cruising speed. More...

void	reset_cruising_speed ()
	Reset cruising speed to default values. More...

void	reset_triplets ()
	Set triplets to invalid.

float	get_cruising_throttle ()
	Get the target throttle. More...

void	set_cruising_throttle (float throttle=-1.0f)
	Set the target throttle.

float	get_acceptance_radius (float mission_item_radius)
	Get the acceptance radius given the mission item preset radius. More...

float	get_yaw_acceptance (float mission_item_yaw)
	Get the yaw acceptance given the current mission item. More...

orb_advert_t *	get_mavlink_log_pub ()

void	increment_mission_instance_count ()

void	set_mission_failure (const char *reason)

bool	is_planned_mission () const

bool	on_mission_landing ()

bool	start_mission_landing ()

bool	mission_start_land_available ()

bool	mission_landing_required ()

int	rtl_type ()

bool	in_rtl_state () const

bool	abort_landing ()

float	get_loiter_min_alt () const

float	get_takeoff_min_alt () const

bool	get_takeoff_required () const

float	get_yaw_timeout () const

float	get_yaw_threshold () const

float	get_vtol_back_trans_deceleration () const

float	get_vtol_reverse_delay () const

bool	force_vtol ()

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

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static Navigator *	instantiate (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Additional Inherited Members
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 inherited from ListNode< ModuleParams *>
ModuleParams *	_sibling

Member Function Documentation

§ custom_command()

int Navigator::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

§ fake_traffic()

void Navigator::fake_traffic	(	const char *	callsign,
		float	distance,
		float	direction,
		float	traffic_heading,
		float	altitude_diff,
		float	hor_velocity,
		float	ver_velocity
	)

Generate an artificial traffic indication.

Creates a fake traffic measurement with supplied parameters.

Parameters

distance	Horizontal distance to this vehicle
direction	Direction in earth frame from this vehicle in radians
traffic_heading	Travel direction of the traffic in earth frame in radians
altitude_diff	Altitude difference, positive is up
hor_velocity	Horizontal velocity of traffic, in m/s
ver_velocity	Vertical velocity of traffic, in m/s

§ get_acceptance_radius() [1/2]

float Navigator::get_acceptance_radius ( )

Get the acceptance radius.

Returns: the distance at which the next waypoint should be used

§ get_acceptance_radius() [2/2]

float Navigator::get_acceptance_radius ( float mission_item_radius )

Get the acceptance radius given the mission item preset radius.

Parameters

mission_item_radius the radius to use in case the controller-derived radius is smaller

Returns: the distance at which the next waypoint should be used

§ get_altitude_acceptance_radius()

float Navigator::get_altitude_acceptance_radius ( )

Get the altitude acceptance radius.

Returns: the distance from the target altitude before considering the waypoint reached

§ get_cruising_speed()

float Navigator::get_cruising_speed ( )

Get the cruising speed.

Returns: the desired cruising speed for this mission

§ get_cruising_throttle()

float Navigator::get_cruising_throttle ( )

Get the target throttle.

Returns: the desired throttle for this mission

§ get_default_altitude_acceptance_radius()

float Navigator::get_default_altitude_acceptance_radius ( )

Get the default altitude acceptance radius (i.e.

from parameters)

Returns: the distance from the target altitude before considering the waypoint reached

§ get_precland()

PrecLand* Navigator::get_precland ( )

inline

allow others, e.g.

Mission, to use the precision land block

§ get_yaw_acceptance()

float Navigator::get_yaw_acceptance ( float mission_item_yaw )

Get the yaw acceptance given the current mission item.

Parameters

mission_item_yaw the yaw to use in case the controller-derived radius is finite

Returns: the yaw at which the next waypoint should be used or NaN if the yaw at a waypoint should be ignored

§ instantiate()

Navigator * Navigator::instantiate	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

§ print_status()

int Navigator::print_status ( )

override

See also: ModuleBase::print_status()

§ print_usage()

int Navigator::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

§ reset_cruising_speed()

void Navigator::reset_cruising_speed ( )

Reset cruising speed to default values.

For VTOL: resets both cruising speeds.

§ run()

void Navigator::run ( )

override

See also: ModuleBase::run()

§ set_cruising_speed()

void Navigator::set_cruising_speed ( float speed = -1.0f )

Set the cruising speed.

Passing a negative value or leaving the parameter away will reset the cruising speed to its default value.

For VTOL: sets cruising speed for current mode only (multirotor or fixed-wing).

§ task_spawn()

int Navigator::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

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

src/modules/navigator/navigator.h
src/modules/navigator/navigator_main.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Function Documentation

§ custom_command()

§ fake_traffic()

§ get_acceptance_radius() [1/2]

§ get_acceptance_radius() [2/2]

§ get_altitude_acceptance_radius()

§ get_cruising_speed()

§ get_cruising_throttle()

§ get_default_altitude_acceptance_radius()

§ get_precland()

§ get_yaw_acceptance()

§ instantiate()

§ print_status()

§ print_usage()

§ reset_cruising_speed()

§ run()

§ set_cruising_speed()

§ task_spawn()