#include <navigator.h>

Inheritance diagram for Navigator:

Collaboration diagram for Navigator:

Public Member Functions
	Navigator ()

	~Navigator () override

	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. More...

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. More...

void	set_can_loiter_at_sp (bool can_loiter)
	Setters. More...

void	set_position_setpoint_triplet_updated ()

void	set_mission_result_updated ()

struct home_position_s *	get_home_position ()
	Getters. More...

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 ()

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. More...

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. More...

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

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

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	get_mission_start_land_available ()

int	get_mission_landing_index ()

double	get_mission_landing_lat ()

double	get_mission_landing_lon ()

float	get_mission_landing_alt ()

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 ()

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)

Private Member Functions
	DEFINE_PARAMETERS ((ParamFloat< px4::params::NAV_LOITER_RAD >) _param_nav_loiter_rad,(ParamFloat< px4::params::NAV_ACC_RAD >) _param_nav_acc_rad,(ParamFloat< px4::params::NAV_FW_ALT_RAD >) _param_nav_fw_alt_rad,(ParamFloat< px4::params::NAV_FW_ALTL_RAD >) _param_nav_fw_altl_rad,(ParamFloat< px4::params::NAV_MC_ALT_RAD >) _param_nav_mc_alt_rad,(ParamInt< px4::params::NAV_FORCE_VT >) _param_nav_force_vt,(ParamInt< px4::params::NAV_TRAFF_AVOID >) _param_nav_traff_avoid,(ParamFloat< px4::params::MIS_LTRMIN_ALT >) _param_mis_ltrmin_alt,(ParamFloat< px4::params::MIS_TAKEOFF_ALT >) _param_mis_takeoff_alt,(ParamBool< px4::params::MIS_TAKEOFF_REQ >) _param_mis_takeoff_req,(ParamFloat< px4::params::MIS_YAW_TMT >) _param_mis_yaw_tmt,(ParamFloat< px4::params::MIS_YAW_ERR >) _param_mis_yaw_err) int _local_pos_sub

void	params_update ()

void	publish_position_setpoint_triplet ()
	Publish a new position setpoint triplet for position controllers. More...

void	publish_mission_result ()
	Publish the mission result so commander and mavlink know what is going on. More...

void	publish_vehicle_command_ack (const vehicle_command_s &cmd, uint8_t result)

Private Attributes
int	_vehicle_status_sub {-1}
	local position subscription More...

uORB::Subscription	_global_pos_sub {ORB_ID(vehicle_global_position)}
	global position subscription More...

uORB::Subscription	_gps_pos_sub {ORB_ID(vehicle_gps_position)}
	gps position subscription More...

uORB::Subscription	_home_pos_sub {ORB_ID(home_position)}
	home position subscription More...

uORB::Subscription	_land_detected_sub {ORB_ID(vehicle_land_detected)}
	vehicle land detected subscription More...

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
	param update subscription More...

uORB::Subscription	_pos_ctrl_landing_status_sub {ORB_ID(position_controller_landing_status)}
	position controller landing status subscription More...

uORB::Subscription	_traffic_sub {ORB_ID(transponder_report)}
	traffic subscription More...

uORB::Subscription	_vehicle_command_sub {ORB_ID(vehicle_command)}
	vehicle commands (onboard and offboard) More...

uORB::SubscriptionData< position_controller_status_s >	_position_controller_status_sub {ORB_ID(position_controller_status)}

uORB::Publication< geofence_result_s >	_geofence_result_pub {ORB_ID(geofence_result)}

uORB::Publication< mission_result_s >	_mission_result_pub {ORB_ID(mission_result)}

uORB::Publication< position_setpoint_triplet_s >	_pos_sp_triplet_pub {ORB_ID(position_setpoint_triplet)}

uORB::Publication< vehicle_roi_s >	_vehicle_roi_pub {ORB_ID(vehicle_roi)}

orb_advert_t	_mavlink_log_pub {nullptr}
	the uORB advert to send messages over mavlink More...

uORB::PublicationQueued< vehicle_command_ack_s >	_vehicle_cmd_ack_pub {ORB_ID(vehicle_command_ack)}

uORB::PublicationQueued< vehicle_command_s >	_vehicle_cmd_pub {ORB_ID(vehicle_command)}

home_position_s	_home_pos {}
	home position for RTL More...

mission_result_s	_mission_result {}

vehicle_global_position_s	_global_pos {}
	global vehicle position More...

vehicle_gps_position_s	_gps_pos {}
	gps position More...

vehicle_land_detected_s	_land_detected {}
	vehicle land_detected More...

vehicle_local_position_s	_local_pos {}
	local vehicle position More...

vehicle_status_s	_vstatus {}
	vehicle status More...

uint8_t	_previous_nav_state {}
	nav_state of the previous iteration More...

geofence_result_s	_geofence_result {}

position_setpoint_triplet_s	_pos_sp_triplet {}
	triplet of position setpoints More...

position_setpoint_triplet_s	_reposition_triplet {}
	triplet for non-mission direct position command More...

position_setpoint_triplet_s	_takeoff_triplet {}
	triplet for non-mission direct takeoff command More...

vehicle_roi_s	_vroi {}
	vehicle ROI More...

perf_counter_t	_loop_perf
	loop performance counter More...

Geofence	_geofence
	class that handles the geofence More...

bool	_geofence_violation_warning_sent {false}
	prevents spaming to mavlink More...

bool	_can_loiter_at_sp {false}
	flags if current position SP can be used to loiter More...

bool	_pos_sp_triplet_updated {false}
	flags if position SP triplet needs to be published More...

bool	_pos_sp_triplet_published_invalid_once {false}
	flags if position SP triplet has been published once to UORB More...

bool	_mission_result_updated {false}
	flags if mission result has seen an update More...

NavigatorMode *	_navigation_mode {nullptr}
	abstract pointer to current navigation mode class More...

Mission	_mission
	class that handles the missions More...

Loiter	_loiter
	class that handles loiter More...

Takeoff	_takeoff
	class for handling takeoff commands More...

Land	_land
	class for handling land commands More...

PrecLand	_precland
	class for handling precision land commands More...

RTL	_rtl
	class that handles RTL More...

RCLoss	_rcLoss
	class that handles RTL according to OBC rules (rc loss mode) More...

DataLinkLoss	_dataLinkLoss
	class that handles the OBC datalink loss mode More...

EngineFailure	_engineFailure
	class that handles the engine failure mode (FW only!) More...

GpsFailure	_gpsFailure
	class that handles the OBC gpsfailure loss mode More...

FollowTarget	_follow_target

NavigatorMode *	_navigation_mode_array [NAVIGATOR_MODE_ARRAY_SIZE]
	array of navigation modes More...

param_t	_handle_back_trans_dec_mss {PARAM_INVALID}

param_t	_handle_reverse_delay {PARAM_INVALID}

float	_param_back_trans_dec_mss {0.f}

float	_param_reverse_delay {0.f}

float	_mission_cruising_speed_mc {-1.0f}

float	_mission_cruising_speed_fw {-1.0f}

float	_mission_throttle {-1.0f}

Detailed Description

Definition at line 89 of file navigator.h.

Constructor & Destructor Documentation

◆ Navigator() [1/2]

Navigator::Navigator ( )

Definition at line 77 of file navigator_main.cpp.

References _dataLinkLoss, _engineFailure, _follow_target, _gpsFailure, _handle_back_trans_dec_mss, _handle_reverse_delay, _land, _loiter, _mission, _navigation_mode_array, _precland, _rcLoss, _rtl, _takeoff, _vehicle_status_sub, ORB_ID, orb_subscribe(), param_find(), and reset_triplets().

Referenced by instantiate().

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◆ ~Navigator()

Navigator::~Navigator ( )

override

Definition at line 115 of file navigator_main.cpp.

References _vehicle_status_sub, and orb_unsubscribe().

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◆ Navigator() [2/2]

Navigator::Navigator ( const Navigator & )

delete

Member Function Documentation

◆ abort_landing()

bool Navigator::abort_landing ( )

Definition at line 1041 of file navigator_main.cpp.

References _pos_ctrl_landing_status_sub, _pos_sp_triplet, position_controller_landing_status_s::abort_landing, uORB::Subscription::copy(), position_setpoint_triplet_s::current, position_setpoint_triplet_s::timestamp, position_setpoint_s::type, uORB::Subscription::updated(), and position_setpoint_s::valid.

Referenced by in_rtl_state(), and Mission::on_active().

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◆ check_traffic()

void Navigator::check_traffic ( )

Check nearby traffic for potential collisions.

Definition at line 934 of file navigator_main.cpp.

References _mavlink_log_pub, _rtl, _traffic_sub, vehicle_global_position_s::alt, vehicle_command_s::command, uORB::Subscription::copy(), math::degrees(), crosstrack_error_s::distance, get_distance_to_line(), get_distance_to_point_global_wgs84(), get_global_position(), vehicle_global_position_s::lat, vehicle_global_position_s::lon, mavlink_log_critical, crosstrack_error_s::past_end, publish_vehicle_cmd(), RTL::set_return_alt_min(), uORB::Subscription::updated(), and waypoint_from_heading_and_distance().

Referenced by run().

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◆ custom_command()

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

static

See also: ModuleBase

Definition at line 1072 of file navigator_main.cpp.

References f(), GEOFENCE_FILENAME, is_running(), and print_usage().

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◆ DEFINE_PARAMETERS()

Navigator::DEFINE_PARAMETERS	(	(ParamFloat< px4::params::NAV_LOITER_RAD >)	_param_nav_loiter_rad,
		(ParamFloat< px4::params::NAV_ACC_RAD >)	_param_nav_acc_rad,
		(ParamFloat< px4::params::NAV_FW_ALT_RAD >)	_param_nav_fw_alt_rad,
		(ParamFloat< px4::params::NAV_FW_ALTL_RAD >)	_param_nav_fw_altl_rad,
		(ParamFloat< px4::params::NAV_MC_ALT_RAD >)	_param_nav_mc_alt_rad,
		(ParamInt< px4::params::NAV_FORCE_VT >)	_param_nav_force_vt,
		(ParamInt< px4::params::NAV_TRAFF_AVOID >)	_param_nav_traff_avoid,
		(ParamFloat< px4::params::MIS_LTRMIN_ALT >)	_param_mis_ltrmin_alt,
		(ParamFloat< px4::params::MIS_TAKEOFF_ALT >)	_param_mis_takeoff_alt,
		(ParamBool< px4::params::MIS_TAKEOFF_REQ >)	_param_mis_takeoff_req,
		(ParamFloat< px4::params::MIS_YAW_TMT >)	_param_mis_yaw_tmt,
		(ParamFloat< px4::params::MIS_YAW_ERR >)	_param_mis_yaw_err
	)

inlineprivate

Parameters

_param_nav_loiter_rad	loiter radius for fixedwing
_param_nav_acc_rad	acceptance for takeoff
_param_nav_fw_alt_rad	acceptance radius for fixedwing altitude
_param_nav_fw_altl_rad	acceptance radius for fixedwing altitude before landing
_param_nav_mc_alt_rad	acceptance radius for multicopter altitude
_param_nav_force_vt	acceptance radius for multicopter altitude
_param_nav_traff_avoid	avoiding other aircraft is enabled

Definition at line 297 of file navigator.h.

◆ 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

Definition at line 898 of file navigator_main.cpp.

References vehicle_global_position_s::alt, get_global_position(), hrt_absolute_time(), ORB_ID, transponder_report_s::timestamp, and waypoint_from_heading_and_distance().

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◆ force_vtol()

bool Navigator::force_vtol ( )

Definition at line 1065 of file navigator_main.cpp.

References _vstatus, vehicle_status_s::in_transition_to_fw, vehicle_status_s::is_vtol, vehicle_status_s::vehicle_type, and VEHICLE_TYPE_FIXED_WING.

Referenced by get_vtol_reverse_delay(), MissionBlock::set_land_item(), and Mission::set_mission_items().

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◆ 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

Definition at line 749 of file navigator_main.cpp.

Referenced by Mission::altitude_sp_foh_update(), Mission::do_abort_landing(), Mission::do_need_move_to_land(), Mission::do_need_move_to_takeoff(), get_loiter_radius(), Mission::heading_sp_update(), MissionBlock::is_mission_item_reached(), MissionBlock::MissionBlock(), run(), set_cruising_throttle(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), RCLoss::set_rcl_item(), and RTL::set_rtl_item().

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◆ 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

Definition at line 854 of file navigator_main.cpp.

References _pos_sp_triplet, _position_controller_status_sub, position_controller_status_s::acceptance_radius, uORB::SubscriptionData< T >::get(), position_controller_status_s::timestamp, and position_setpoint_triplet_s::timestamp.

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◆ 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

Definition at line 778 of file navigator_main.cpp.

References get_default_altitude_acceptance_radius(), get_position_setpoint_triplet(), get_vstatus(), position_setpoint_triplet_s::next, position_setpoint_s::type, position_setpoint_s::valid, and VEHICLE_TYPE_FIXED_WING.

Referenced by Mission::do_need_vertical_takeoff(), get_loiter_radius(), and MissionBlock::is_mission_item_reached().

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◆ get_can_loiter_at_sp()

bool Navigator::get_can_loiter_at_sp ( )

inline

Definition at line 170 of file navigator.h.

References _can_loiter_at_sp.

Referenced by RCLoss::on_inactive(), DataLinkLoss::on_inactive(), GpsFailure::on_inactive(), Mission::on_inactive(), and MissionBlock::set_loiter_item().

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◆ get_cruising_speed()

float Navigator::get_cruising_speed ( )

Get the cruising speed.

Returns: the desired cruising speed for this mission

Definition at line 793 of file navigator_main.cpp.

References _mission_cruising_speed_fw, _mission_cruising_speed_mc, _vstatus, f(), is_planned_mission(), and vehicle_status_s::vehicle_type.

Referenced by Mission::cruising_speed_sp_update(), get_loiter_radius(), MissionBlock::mission_item_to_position_setpoint(), and run().

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◆ get_cruising_throttle()

float Navigator::get_cruising_throttle ( )

Get the target throttle.

Returns: the desired throttle for this mission

Definition at line 842 of file navigator_main.cpp.

References _mission_throttle, and FLT_EPSILON.

Referenced by get_loiter_radius(), MissionBlock::mission_item_to_position_setpoint(), and run().

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◆ get_default_acceptance_radius()

float Navigator::get_default_acceptance_radius ( )

Returns the default acceptance radius defined by the parameter.

Definition at line 743 of file navigator_main.cpp.

Referenced by MissionFeasibilityChecker::checkTakeoff(), get_loiter_radius(), and MissionBlock::mission_item_to_position_setpoint().

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◆ 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

Definition at line 755 of file navigator_main.cpp.

References _pos_sp_triplet, _position_controller_status_sub, position_controller_status_s::altitude_acceptance, uORB::SubscriptionData< T >::get(), get_vstatus(), position_controller_status_s::timestamp, position_setpoint_triplet_s::timestamp, and VEHICLE_TYPE_FIXED_WING.

Referenced by get_altitude_acceptance_radius(), get_loiter_radius(), and MissionBlock::is_mission_item_reached().

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◆ get_geofence()

Geofence& Navigator::get_geofence ( )

inline

Definition at line 168 of file navigator.h.

References _geofence.

Referenced by MissionFeasibilityChecker::checkGeofence().

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◆ get_global_position()

struct vehicle_global_position_s* Navigator::get_global_position ( )

inline

Definition at line 156 of file navigator.h.

References _global_pos.

Referenced by Mission::altitude_sp_foh_update(), RTL::calculate_return_alt_from_cone_half_angle(), Mission::calculate_takeoff_altitude(), check_traffic(), Mission::copy_position_if_valid(), Mission::do_abort_landing(), Mission::do_need_move_to_land(), Mission::do_need_move_to_takeoff(), Mission::do_need_vertical_takeoff(), fake_traffic(), RTL::find_RTL_destination(), Mission::generate_waypoint_from_heading(), Mission::heading_sp_update(), Mission::index_closest_mission_item(), MissionBlock::is_mission_item_reached(), MissionBlock::mission_item_to_position_setpoint(), PrecLand::on_activation(), RTL::on_activation(), Land::on_active(), FollowTarget::on_active(), Loiter::reposition(), run(), PrecLand::run_state_descend_above_target(), PrecLand::run_state_horizontal_approach(), PrecLand::run_state_search(), PrecLand::run_state_start(), Mission::set_align_mission_item(), EngineFailure::set_ef_item(), MissionBlock::set_loiter_item(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), MissionBlock::set_takeoff_item(), Takeoff::set_takeoff_position(), MissionBlock::set_vtol_transition_item(), PrecLand::switch_to_state_fallback(), and PrecLand::switch_to_state_horizontal_approach().

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◆ get_home_position()

struct home_position_s* Navigator::get_home_position ( )

inline

Getters.

Definition at line 151 of file navigator.h.

References _home_pos.

Referenced by Mission::calculate_takeoff_altitude(), Geofence::checkAll(), MissionFeasibilityChecker::checkDistanceToFirstWaypoint(), MissionFeasibilityChecker::checkMissionFeasible(), RTL::find_RTL_destination(), MissionBlock::get_absolute_altitude_for_item(), Mission::index_closest_mission_item(), MissionBlock::is_mission_item_reached(), MissionBlock::issue_command(), MissionBlock::mission_apply_limitation(), MissionBlock::mission_item_to_position_setpoint(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), and Mission::set_mission_items().

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◆ get_land_detected()

struct vehicle_land_detected_s* Navigator::get_land_detected ( )

inline

Definition at line 157 of file navigator.h.

References _land_detected.

Referenced by Mission::calculate_takeoff_altitude(), MissionFeasibilityChecker::checkMissionItemValidity(), MissionFeasibilityChecker::checkTakeoff(), Mission::do_need_vertical_takeoff(), MissionBlock::is_mission_item_reached(), MissionBlock::mission_apply_limitation(), MissionBlock::mission_item_to_position_setpoint(), RTL::on_activation(), Land::on_active(), PrecLand::on_active(), Mission::on_active(), Mission::on_inactive(), run(), Mission::set_execution_mode(), FollowTarget::set_follow_target_item(), MissionBlock::set_loiter_item(), Loiter::set_loiter_position(), Mission::set_mission_items(), and Mission::update_mission().

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◆ get_local_position()

struct vehicle_local_position_s* Navigator::get_local_position ( )

inline

Definition at line 158 of file navigator.h.

References _local_pos.

Referenced by PrecLand::check_state_conditions(), MissionBlock::is_mission_item_reached(), PrecLand::on_activation(), run(), MissionBlock::set_land_item(), RTL::set_rtl_item(), PrecLand::slewrate(), and PrecLand::switch_to_state_search().

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◆ get_loiter_min_alt()

float Navigator::get_loiter_min_alt ( ) const

inline

Definition at line 285 of file navigator.h.

Referenced by Mission::do_abort_landing(), MissionBlock::mission_item_to_position_setpoint(), and Loiter::set_loiter_position().

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◆ get_loiter_radius()

float Navigator::get_loiter_radius ( )

inline

Definition at line 171 of file navigator.h.

References f(), get_acceptance_radius(), get_altitude_acceptance_radius(), get_cruising_speed(), get_cruising_throttle(), get_default_acceptance_radius(), get_default_altitude_acceptance_radius(), reset_cruising_speed(), reset_triplets(), and set_cruising_speed().

Referenced by Mission::do_abort_landing(), MissionBlock::is_mission_item_reached(), MissionBlock::mission_item_to_position_setpoint(), MissionBlock::MissionBlock(), run(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), FollowTarget::set_follow_target_item(), MissionBlock::set_idle_item(), MissionBlock::set_land_item(), MissionBlock::set_loiter_item(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), and MissionBlock::set_takeoff_item().

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◆ get_mavlink_log_pub()

orb_advert_t* Navigator::get_mavlink_log_pub ( )

inline

Definition at line 261 of file navigator.h.

References _mavlink_log_pub.

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◆ get_mission_landing_alt()

float Navigator::get_mission_landing_alt ( )

inline

Definition at line 275 of file navigator.h.

References _mission, and Mission::get_landing_alt().

Referenced by RTL::find_RTL_destination().

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◆ get_mission_landing_index()

int Navigator::get_mission_landing_index ( )

inline

Definition at line 272 of file navigator.h.

References _mission, and Mission::get_land_start_index().

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◆ get_mission_landing_lat()

double Navigator::get_mission_landing_lat ( )

inline

Definition at line 273 of file navigator.h.

References _mission, and Mission::get_landing_lat().

Referenced by RTL::find_RTL_destination().

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◆ get_mission_landing_lon()

double Navigator::get_mission_landing_lon ( )

inline

Definition at line 274 of file navigator.h.

References _mission, and Mission::get_landing_lon().

Referenced by RTL::find_RTL_destination().

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◆ get_mission_result()

struct mission_result_s* Navigator::get_mission_result ( )

inline

Definition at line 152 of file navigator.h.

References _mission_result.

Referenced by DataLinkLoss::advance_dll(), RCLoss::advance_rcl(), Mission::check_mission_valid(), MissionFeasibilityChecker::checkDistancesBetweenWaypoints(), MissionFeasibilityChecker::checkDistanceToFirstWaypoint(), MissionFeasibilityChecker::checkHomePositionAltitude(), Mission::landing(), Land::on_activation(), Land::on_active(), Takeoff::on_active(), Mission::on_inactive(), Mission::report_do_jump_mission_changed(), NavigatorMode::run(), Mission::set_current_mission_index(), Mission::set_current_mission_item(), DataLinkLoss::set_dll_item(), Mission::set_execution_mode(), GpsFailure::set_gpsf_item(), Mission::set_mission_item_reached(), Mission::set_mission_items(), RCLoss::set_rcl_item(), Takeoff::set_takeoff_position(), and Mission::update_mission().

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◆ get_mission_start_land_available()

bool Navigator::get_mission_start_land_available ( )

inline

Definition at line 271 of file navigator.h.

References _mission, and Mission::get_land_start_available().

Referenced by RTL::find_RTL_destination().

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◆ get_position_setpoint_triplet()

struct position_setpoint_triplet_s* Navigator::get_position_setpoint_triplet ( )

inline

Definition at line 153 of file navigator.h.

References _pos_sp_triplet.

Referenced by Mission::altitude_sp_foh_update(), Mission::cruising_speed_sp_update(), Mission::do_abort_landing(), get_altitude_acceptance_radius(), Mission::heading_sp_update(), MissionBlock::is_mission_item_reached(), Land::on_activation(), NavigatorMode::on_activation(), PrecLand::on_activation(), Land::on_active(), Takeoff::on_active(), Loiter::reposition(), run(), PrecLand::run_state_descend_above_target(), PrecLand::run_state_horizontal_approach(), PrecLand::run_state_search(), PrecLand::run_state_start(), Mission::set_align_mission_item(), Mission::set_current_mission_index(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), Mission::set_execution_mode(), GpsFailure::set_gpsf_item(), MissionBlock::set_loiter_item(), Loiter::set_loiter_position(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), Takeoff::set_takeoff_position(), PrecLand::slewrate(), PrecLand::switch_to_state_fallback(), PrecLand::switch_to_state_search(), PrecLand::switch_to_state_start(), and FollowTarget::update_position_sp().

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◆ get_precland()

PrecLand* Navigator::get_precland ( )

inline

allow others, e.g.

Mission, to use the precision land block

Definition at line 160 of file navigator.h.

References _precland.

Referenced by Mission::on_active(), and Mission::set_mission_items().

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◆ get_reposition_triplet()

struct position_setpoint_triplet_s* Navigator::get_reposition_triplet ( )

inline

Definition at line 154 of file navigator.h.

References _reposition_triplet.

Referenced by Loiter::on_activation(), Loiter::on_active(), Loiter::reposition(), and run().

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◆ get_takeoff_min_alt()

float Navigator::get_takeoff_min_alt ( ) const

inline

Definition at line 286 of file navigator.h.

Referenced by Mission::calculate_takeoff_altitude(), Mission::set_mission_items(), and Takeoff::set_takeoff_position().

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◆ get_takeoff_required()

bool Navigator::get_takeoff_required ( ) const

inline

Definition at line 287 of file navigator.h.

Referenced by MissionFeasibilityChecker::checkTakeoff().

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◆ get_takeoff_triplet()

struct position_setpoint_triplet_s* Navigator::get_takeoff_triplet ( )

inline

Definition at line 155 of file navigator.h.

References _takeoff_triplet.

Referenced by Takeoff::on_active(), run(), and Takeoff::set_takeoff_position().

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◆ get_vroi()

const vehicle_roi_s& Navigator::get_vroi ( )

inline

Definition at line 162 of file navigator.h.

References _vroi.

Referenced by Mission::heading_sp_update(), and Mission::on_active().

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◆ get_vstatus()

struct vehicle_status_s* Navigator::get_vstatus ( )

inline

Definition at line 159 of file navigator.h.

References _vstatus.

Referenced by DataLinkLoss::advance_dll(), RTL::advance_rtl(), Mission::altitude_sp_foh_update(), MissionFeasibilityChecker::checkMissionFeasible(), Mission::do_need_move_to_land(), Mission::do_need_move_to_takeoff(), Mission::do_need_vertical_takeoff(), get_altitude_acceptance_radius(), get_default_altitude_acceptance_radius(), MissionBlock::get_time_inside(), Mission::index_closest_mission_item(), MissionBlock::is_mission_item_reached(), MissionBlock::mission_item_to_position_setpoint(), Mission::need_to_reset_mission(), Land::on_active(), Loiter::on_active(), GpsFailure::on_active(), Mission::on_active(), Loiter::reposition(), Mission::set_execution_mode(), Loiter::set_loiter_position(), Mission::set_mission_items(), and RTL::set_rtl_item().

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◆ get_vtol_back_trans_deceleration()

float Navigator::get_vtol_back_trans_deceleration ( ) const

inline

Definition at line 291 of file navigator.h.

References _param_back_trans_dec_mss.

Referenced by MissionBlock::is_mission_item_reached().

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◆ get_vtol_reverse_delay()

float Navigator::get_vtol_reverse_delay ( ) const

inline

Definition at line 292 of file navigator.h.

References _param_reverse_delay, and force_vtol().

Referenced by MissionBlock::is_mission_item_reached().

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◆ 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

Definition at line 873 of file navigator_main.cpp.

References _pos_sp_triplet, _position_controller_status_sub, uORB::SubscriptionData< T >::get(), position_controller_status_s::timestamp, position_setpoint_triplet_s::timestamp, and position_controller_status_s::yaw_acceptance.

Referenced by MissionBlock::is_mission_item_reached(), and set_cruising_throttle().

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◆ get_yaw_threshold()

float Navigator::get_yaw_threshold ( ) const

inline

Definition at line 289 of file navigator.h.

References math::radians().

Referenced by MissionBlock::is_mission_item_reached().

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◆ get_yaw_timeout()

float Navigator::get_yaw_timeout ( ) const

inline

Definition at line 288 of file navigator.h.

Referenced by MissionBlock::is_mission_item_reached().

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◆ home_alt_valid()

bool Navigator::home_alt_valid ( )

inline

Definition at line 165 of file navigator.h.

References _home_pos, home_position_s::timestamp, and home_position_s::valid_alt.

Referenced by MissionFeasibilityChecker::checkMissionFeasible().

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◆ home_position_valid()

bool Navigator::home_position_valid ( )

inline

Definition at line 166 of file navigator.h.

References _home_pos, home_position_s::timestamp, home_position_s::valid_alt, and home_position_s::valid_hpos.

Referenced by Mission::check_mission_valid(), Geofence::checkAll(), MissionFeasibilityChecker::checkMissionFeasible(), Mission::on_inactive(), run(), and Takeoff::set_takeoff_position().

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◆ in_rtl_state()

bool Navigator::in_rtl_state ( ) const

inline

Definition at line 280 of file navigator.h.

References _vstatus, abort_landing(), and vehicle_status_s::nav_state.

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◆ increment_mission_instance_count()

void Navigator::increment_mission_instance_count ( )

inline

Definition at line 263 of file navigator.h.

References _mission_result, mission_result_s::instance_count, and set_mission_failure().

Referenced by Mission::check_mission_valid().

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◆ instantiate()

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

static

See also: ModuleBase

Definition at line 714 of file navigator_main.cpp.

References ll40ls::instance, and Navigator().

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◆ is_planned_mission()

bool Navigator::is_planned_mission ( ) const

inline

Definition at line 268 of file navigator.h.

References _mission, and _navigation_mode.

Referenced by Mission::altitude_sp_foh_update(), get_cruising_speed(), and Mission::set_current_mission_index().

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◆ load_fence_from_file()

void Navigator::load_fence_from_file ( const char * filename )

Load fence from file.

Definition at line 889 of file navigator_main.cpp.

References _geofence, and Geofence::loadFromFile().

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◆ mission_landing_required()

bool Navigator::mission_landing_required ( )

inline

Definition at line 278 of file navigator.h.

References _rtl, RTL::RTL_LAND, and RTL::rtl_type().

Referenced by Mission::check_mission_valid().

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◆ on_mission_landing()

bool Navigator::on_mission_landing ( )

inline

Definition at line 269 of file navigator.h.

References _mission, and Mission::landing().

Referenced by RTL::on_activation(), and run().

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◆ operator=()

Navigator Navigator::operator= ( const Navigator & )

delete

◆ params_update()

void Navigator::params_update ( )

private

Definition at line 122 of file navigator_main.cpp.

References _handle_back_trans_dec_mss, _handle_reverse_delay, _param_back_trans_dec_mss, _param_reverse_delay, param_get(), and PARAM_INVALID.

Referenced by run().

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◆ print_status()

int Navigator::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 726 of file navigator_main.cpp.

References _geofence, and Geofence::printStatus().

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◆ print_usage()

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

static

See also: ModuleBase

Definition at line 1170 of file navigator_main.cpp.

Referenced by custom_command().

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◆ publish_mission_result()

void Navigator::publish_mission_result ( )

private

Publish the mission result so commander and mavlink know what is going on.

Definition at line 1099 of file navigator_main.cpp.

References _mission_result, _mission_result_pub, _mission_result_updated, hrt_absolute_time(), mission_result_s::item_changed_index, mission_result_s::item_do_jump_changed, mission_result_s::item_do_jump_remaining, uORB::Publication< T >::publish(), and mission_result_s::timestamp.

Referenced by run().

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◆ publish_position_setpoint_triplet()

void Navigator::publish_position_setpoint_triplet ( )

private

Publish a new position setpoint triplet for position controllers.

Definition at line 735 of file navigator_main.cpp.

References _pos_sp_triplet, _pos_sp_triplet_pub, _pos_sp_triplet_updated, hrt_absolute_time(), uORB::Publication< T >::publish(), and position_setpoint_triplet_s::timestamp.

Referenced by run().

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◆ publish_vehicle_cmd()

void Navigator::publish_vehicle_cmd ( vehicle_command_s * vcmd )

Definition at line 1125 of file navigator_main.cpp.

References _vehicle_cmd_pub, _vstatus, vehicle_command_s::command, vehicle_status_s::component_id, vehicle_command_s::confirmation, vehicle_command_s::from_external, hrt_absolute_time(), NAV_CMD_IMAGE_START_CAPTURE, NAV_CMD_IMAGE_STOP_CAPTURE, NAV_CMD_VIDEO_START_CAPTURE, NAV_CMD_VIDEO_STOP_CAPTURE, uORB::PublicationQueued< T >::publish(), vehicle_command_s::source_component, vehicle_command_s::source_system, vehicle_status_s::system_id, vehicle_command_s::target_component, vehicle_command_s::target_system, and vehicle_command_s::timestamp.

Referenced by check_traffic(), Mission::do_abort_landing(), MissionBlock::issue_command(), Mission::on_activation(), Mission::on_inactivation(), run(), and MissionBlock::set_land_item().

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◆ publish_vehicle_command_ack()

void Navigator::publish_vehicle_command_ack	(	const vehicle_command_s &	cmd,
		uint8_t	result
	)

private

Definition at line 1153 of file navigator_main.cpp.

References _vehicle_cmd_ack_pub, vehicle_command_ack_s::command, vehicle_command_s::command, vehicle_command_ack_s::from_external, hrt_absolute_time(), uORB::PublicationQueued< T >::publish(), vehicle_command_ack_s::result, vehicle_command_ack_s::result_param1, vehicle_command_ack_s::result_param2, vehicle_command_s::source_component, vehicle_command_s::source_system, vehicle_command_ack_s::target_component, vehicle_command_ack_s::target_system, and vehicle_command_ack_s::timestamp.

Referenced by run().

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◆ reset_cruising_speed()

void Navigator::reset_cruising_speed ( )

Reset cruising speed to default values.

For VTOL: resets both cruising speeds.

Definition at line 826 of file navigator_main.cpp.

References _mission_cruising_speed_fw, and _mission_cruising_speed_mc.

Referenced by get_loiter_radius(), Mission::on_active(), and Mission::on_inactive().

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◆ reset_triplets()

void Navigator::reset_triplets ( )

Set triplets to invalid.

Definition at line 833 of file navigator_main.cpp.

References _pos_sp_triplet, _pos_sp_triplet_updated, position_setpoint_triplet_s::current, position_setpoint_triplet_s::next, position_setpoint_triplet_s::previous, and position_setpoint_s::valid.

Referenced by get_loiter_radius(), Navigator(), Mission::on_active(), and run().

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◆ reset_vroi()

void Navigator::reset_vroi ( )

inline

Definition at line 163 of file navigator.h.

References _vroi.

Referenced by Mission::update_mission().

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◆ rtl_type()

int Navigator::rtl_type ( )

inline

Definition at line 279 of file navigator.h.

References _rtl, and RTL::rtl_type().

Referenced by run().

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◆ run()

void Navigator::run ( )

override

See also: ModuleBase::run()

Definition at line 136 of file navigator_main.cpp.

◆ set_can_loiter_at_sp()

void Navigator::set_can_loiter_at_sp ( bool can_loiter )

inline

Setters.

Definition at line 144 of file navigator.h.

References _can_loiter_at_sp.

Referenced by Land::on_activation(), Mission::on_active(), Loiter::reposition(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), Loiter::set_loiter_position(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), and Takeoff::set_takeoff_position().

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◆ 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).

Definition at line 815 of file navigator_main.cpp.

References _mission_cruising_speed_fw, _mission_cruising_speed_mc, _vstatus, and vehicle_status_s::vehicle_type.

Referenced by get_loiter_radius(), Mission::on_inactive(), and run().

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◆ set_cruising_throttle()

void Navigator::set_cruising_throttle ( float throttle = -1.0f )

inline

Set the target throttle.

Definition at line 240 of file navigator.h.

References _mission_throttle, get_acceptance_radius(), and get_yaw_acceptance().

Referenced by run().

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◆ set_mission_failure()

void Navigator::set_mission_failure ( const char * reason )

Definition at line 1115 of file navigator_main.cpp.

References _mavlink_log_pub, _mission_result, mission_result_s::failure, mavlink_log_critical, and set_mission_result_updated().

Referenced by increment_mission_instance_count(), and MissionBlock::is_mission_item_reached().

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◆ set_mission_result_updated()

void Navigator::set_mission_result_updated ( )

inline

Definition at line 146 of file navigator.h.

References _mission_result_updated.

Referenced by DataLinkLoss::advance_dll(), RCLoss::advance_rcl(), Mission::check_mission_valid(), Land::on_activation(), Land::on_active(), Takeoff::on_active(), Mission::report_do_jump_mission_changed(), NavigatorMode::run(), Mission::set_current_mission_item(), DataLinkLoss::set_dll_item(), GpsFailure::set_gpsf_item(), set_mission_failure(), Mission::set_mission_item_reached(), Mission::set_mission_items(), RCLoss::set_rcl_item(), and Takeoff::set_takeoff_position().

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◆ set_position_setpoint_triplet_updated()

void Navigator::set_position_setpoint_triplet_updated ( )

inline

Definition at line 145 of file navigator.h.

References _pos_sp_triplet_updated.

Referenced by Mission::altitude_sp_foh_update(), Mission::cruising_speed_sp_update(), Mission::do_abort_landing(), Mission::heading_sp_update(), MissionBlock::is_mission_item_reached(), Land::on_activation(), Land::on_active(), Takeoff::on_active(), Loiter::reposition(), PrecLand::run_state_descend_above_target(), PrecLand::run_state_horizontal_approach(), PrecLand::run_state_search(), DataLinkLoss::set_dll_item(), EngineFailure::set_ef_item(), Mission::set_execution_mode(), GpsFailure::set_gpsf_item(), Loiter::set_loiter_position(), Mission::set_mission_items(), RCLoss::set_rcl_item(), RTL::set_rtl_item(), Takeoff::set_takeoff_position(), PrecLand::switch_to_state_fallback(), PrecLand::switch_to_state_search(), PrecLand::switch_to_state_start(), and FollowTarget::update_position_sp().

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◆ start_mission_landing()

bool Navigator::start_mission_landing ( )

inline

Definition at line 270 of file navigator.h.

References _mission, and Mission::land_start().

Referenced by run(), and RTL::set_rtl_item().

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◆ task_spawn()

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

static

See also: ModuleBase

Definition at line 697 of file navigator_main.cpp.

Member Data Documentation

◆ _can_loiter_at_sp

bool Navigator::_can_loiter_at_sp {false}

private

flags if current position SP can be used to loiter

Definition at line 365 of file navigator.h.

Referenced by get_can_loiter_at_sp(), run(), and set_can_loiter_at_sp().

◆ _dataLinkLoss

DataLinkLoss Navigator::_dataLinkLoss

private

class that handles the OBC datalink loss mode

Definition at line 378 of file navigator.h.

Referenced by Navigator(), and run().

◆ _engineFailure

EngineFailure Navigator::_engineFailure

private

class that handles the engine failure mode (FW only!)

Definition at line 379 of file navigator.h.

Referenced by Navigator(), and run().

◆ _follow_target

FollowTarget Navigator::_follow_target

private

Definition at line 381 of file navigator.h.

Referenced by Navigator(), and run().

◆ _geofence

Geofence Navigator::_geofence

private

class that handles the geofence

Definition at line 362 of file navigator.h.

Referenced by get_geofence(), load_fence_from_file(), print_status(), and run().

◆ _geofence_result

geofence_result_s Navigator::_geofence_result {}

private

Definition at line 354 of file navigator.h.

Referenced by run().

◆ _geofence_result_pub

uORB::Publication<geofence_result_s> Navigator::_geofence_result_pub {ORB_ID(geofence_result)}

private

Definition at line 332 of file navigator.h.

Referenced by run().

◆ _geofence_violation_warning_sent

bool Navigator::_geofence_violation_warning_sent {false}

private

prevents spaming to mavlink

Definition at line 363 of file navigator.h.

Referenced by run().

◆ _global_pos

vehicle_global_position_s Navigator::_global_pos {}

private

global vehicle position

Definition at line 345 of file navigator.h.

Referenced by get_global_position(), and run().

◆ _global_pos_sub

uORB::Subscription Navigator::_global_pos_sub {ORB_ID(vehicle_global_position)}

private

global position subscription

Definition at line 321 of file navigator.h.

Referenced by run().

◆ _gps_pos

vehicle_gps_position_s Navigator::_gps_pos {}

private

gps position

Definition at line 346 of file navigator.h.

Referenced by run().

◆ _gps_pos_sub

uORB::Subscription Navigator::_gps_pos_sub {ORB_ID(vehicle_gps_position)}

private

gps position subscription

Definition at line 322 of file navigator.h.

Referenced by run().

◆ _gpsFailure

GpsFailure Navigator::_gpsFailure

private

class that handles the OBC gpsfailure loss mode

Definition at line 380 of file navigator.h.

Referenced by Navigator(), and run().

◆ _handle_back_trans_dec_mss

param_t Navigator::_handle_back_trans_dec_mss {PARAM_INVALID}

private

Definition at line 385 of file navigator.h.

Referenced by Navigator(), and params_update().

◆ _handle_reverse_delay

param_t Navigator::_handle_reverse_delay {PARAM_INVALID}

private

Definition at line 386 of file navigator.h.

Referenced by Navigator(), and params_update().

◆ _home_pos

home_position_s Navigator::_home_pos {}

private

home position for RTL

Definition at line 343 of file navigator.h.

Referenced by get_home_position(), home_alt_valid(), home_position_valid(), and run().

◆ _home_pos_sub

uORB::Subscription Navigator::_home_pos_sub {ORB_ID(home_position)}

private

home position subscription

Definition at line 323 of file navigator.h.

Referenced by run().

◆ _land

Land Navigator::_land

private

class for handling land commands

Definition at line 374 of file navigator.h.

Referenced by Navigator(), and run().

◆ _land_detected

vehicle_land_detected_s Navigator::_land_detected {}

private

vehicle land_detected

Definition at line 347 of file navigator.h.

Referenced by get_land_detected(), and run().

◆ _land_detected_sub

uORB::Subscription Navigator::_land_detected_sub {ORB_ID(vehicle_land_detected)}

private

vehicle land detected subscription

Definition at line 324 of file navigator.h.

Referenced by run().

◆ _local_pos

vehicle_local_position_s Navigator::_local_pos {}

private

local vehicle position

Definition at line 348 of file navigator.h.

Referenced by get_local_position(), and run().

◆ _loiter

Loiter Navigator::_loiter

private

class that handles loiter

Definition at line 372 of file navigator.h.

Referenced by Navigator(), and run().

◆ _loop_perf

perf_counter_t Navigator::_loop_perf

private

loop performance counter

Definition at line 360 of file navigator.h.

Referenced by run().

◆ _mavlink_log_pub

orb_advert_t Navigator::_mavlink_log_pub {nullptr}

private

the uORB advert to send messages over mavlink

Definition at line 337 of file navigator.h.

Referenced by check_traffic(), get_mavlink_log_pub(), run(), and set_mission_failure().

◆ _mission

Mission Navigator::_mission

private

class that handles the missions

Definition at line 371 of file navigator.h.

Referenced by get_mission_landing_alt(), get_mission_landing_index(), get_mission_landing_lat(), get_mission_landing_lon(), get_mission_start_land_available(), is_planned_mission(), Navigator(), on_mission_landing(), run(), and start_mission_landing().

◆ _mission_cruising_speed_fw

float Navigator::_mission_cruising_speed_fw {-1.0f}

private

Definition at line 391 of file navigator.h.

Referenced by get_cruising_speed(), reset_cruising_speed(), and set_cruising_speed().

◆ _mission_cruising_speed_mc

float Navigator::_mission_cruising_speed_mc {-1.0f}

private

Definition at line 390 of file navigator.h.

Referenced by get_cruising_speed(), reset_cruising_speed(), and set_cruising_speed().

◆ _mission_result

mission_result_s Navigator::_mission_result {}

private

Definition at line 344 of file navigator.h.

Referenced by get_mission_result(), increment_mission_instance_count(), publish_mission_result(), run(), and set_mission_failure().

◆ _mission_result_pub

uORB::Publication<mission_result_s> Navigator::_mission_result_pub {ORB_ID(mission_result)}

private

Definition at line 333 of file navigator.h.

Referenced by publish_mission_result().

◆ _mission_result_updated

bool Navigator::_mission_result_updated {false}

private

flags if mission result has seen an update

Definition at line 368 of file navigator.h.

Referenced by publish_mission_result(), run(), and set_mission_result_updated().

◆ _mission_throttle

float Navigator::_mission_throttle {-1.0f}

private

Definition at line 392 of file navigator.h.

Referenced by get_cruising_throttle(), and set_cruising_throttle().

◆ _navigation_mode

NavigatorMode* Navigator::_navigation_mode {nullptr}

private

abstract pointer to current navigation mode class

Definition at line 370 of file navigator.h.

Referenced by is_planned_mission(), and run().

◆ _navigation_mode_array

NavigatorMode* Navigator::_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]

private

array of navigation modes

Definition at line 383 of file navigator.h.

Referenced by Navigator(), and run().

◆ _param_back_trans_dec_mss

float Navigator::_param_back_trans_dec_mss {0.f}

private

Definition at line 387 of file navigator.h.

Referenced by get_vtol_back_trans_deceleration(), and params_update().

◆ _param_reverse_delay

float Navigator::_param_reverse_delay {0.f}

private

Definition at line 388 of file navigator.h.

Referenced by get_vtol_reverse_delay(), and params_update().

◆ _parameter_update_sub

uORB::Subscription Navigator::_parameter_update_sub {ORB_ID(parameter_update)}

private

param update subscription

Definition at line 325 of file navigator.h.

Referenced by run().

◆ _pos_ctrl_landing_status_sub

uORB::Subscription Navigator::_pos_ctrl_landing_status_sub {ORB_ID(position_controller_landing_status)}

private

position controller landing status subscription

Definition at line 326 of file navigator.h.

Referenced by abort_landing().

◆ _pos_sp_triplet

position_setpoint_triplet_s Navigator::_pos_sp_triplet {}

private

triplet of position setpoints

Definition at line 355 of file navigator.h.

Referenced by abort_landing(), get_acceptance_radius(), get_default_altitude_acceptance_radius(), get_position_setpoint_triplet(), get_yaw_acceptance(), publish_position_setpoint_triplet(), reset_triplets(), and run().

◆ _pos_sp_triplet_pub

uORB::Publication<position_setpoint_triplet_s> Navigator::_pos_sp_triplet_pub {ORB_ID(position_setpoint_triplet)}

private

Definition at line 334 of file navigator.h.

Referenced by publish_position_setpoint_triplet().

◆ _pos_sp_triplet_published_invalid_once

bool Navigator::_pos_sp_triplet_published_invalid_once {false}

private

flags if position SP triplet has been published once to UORB

Definition at line 367 of file navigator.h.

Referenced by run().

◆ _pos_sp_triplet_updated

bool Navigator::_pos_sp_triplet_updated {false}

private

flags if position SP triplet needs to be published

Definition at line 366 of file navigator.h.

Referenced by publish_position_setpoint_triplet(), reset_triplets(), run(), and set_position_setpoint_triplet_updated().

◆ _position_controller_status_sub

uORB::SubscriptionData<position_controller_status_s> Navigator::_position_controller_status_sub {ORB_ID(position_controller_status)}

private

Definition at line 330 of file navigator.h.

Referenced by get_acceptance_radius(), get_default_altitude_acceptance_radius(), get_yaw_acceptance(), and run().

◆ _precland

PrecLand Navigator::_precland

private

class for handling precision land commands

Definition at line 375 of file navigator.h.

Referenced by get_precland(), Navigator(), and run().

◆ _previous_nav_state

uint8_t Navigator::_previous_nav_state {}

private

nav_state of the previous iteration

Definition at line 351 of file navigator.h.

Referenced by run().

◆ _rcLoss

RCLoss Navigator::_rcLoss

private

class that handles RTL according to OBC rules (rc loss mode)

Definition at line 377 of file navigator.h.

Referenced by Navigator(), and run().

◆ _reposition_triplet

position_setpoint_triplet_s Navigator::_reposition_triplet {}

private

triplet for non-mission direct position command

Definition at line 356 of file navigator.h.

Referenced by get_reposition_triplet().

◆ _rtl

RTL Navigator::_rtl

private

class that handles RTL

Definition at line 376 of file navigator.h.

Referenced by check_traffic(), mission_landing_required(), Navigator(), rtl_type(), and run().

◆ _takeoff

Takeoff Navigator::_takeoff

private

class for handling takeoff commands

Definition at line 373 of file navigator.h.

Referenced by Navigator(), and run().

◆ _takeoff_triplet

position_setpoint_triplet_s Navigator::_takeoff_triplet {}

private

triplet for non-mission direct takeoff command

Definition at line 357 of file navigator.h.

Referenced by get_takeoff_triplet().

◆ _traffic_sub

uORB::Subscription Navigator::_traffic_sub {ORB_ID(transponder_report)}

private

traffic subscription

Definition at line 327 of file navigator.h.

Referenced by check_traffic().

◆ _vehicle_cmd_ack_pub

uORB::PublicationQueued<vehicle_command_ack_s> Navigator::_vehicle_cmd_ack_pub {ORB_ID(vehicle_command_ack)}

private

Definition at line 339 of file navigator.h.

Referenced by publish_vehicle_command_ack().

◆ _vehicle_cmd_pub

uORB::PublicationQueued<vehicle_command_s> Navigator::_vehicle_cmd_pub {ORB_ID(vehicle_command)}

private

Definition at line 340 of file navigator.h.

Referenced by publish_vehicle_cmd().

◆ _vehicle_command_sub

uORB::Subscription Navigator::_vehicle_command_sub {ORB_ID(vehicle_command)}

private

vehicle commands (onboard and offboard)

Definition at line 328 of file navigator.h.

Referenced by run().

◆ _vehicle_roi_pub

uORB::Publication<vehicle_roi_s> Navigator::_vehicle_roi_pub {ORB_ID(vehicle_roi)}

private

Definition at line 335 of file navigator.h.

Referenced by run().

◆ _vehicle_status_sub

int Navigator::_vehicle_status_sub {-1}

private

local position subscription

Definition at line 319 of file navigator.h.

Referenced by Navigator(), run(), and ~Navigator().

◆ _vroi

vehicle_roi_s Navigator::_vroi {}

private

vehicle ROI

Definition at line 358 of file navigator.h.

Referenced by get_vroi(), reset_vroi(), and run().

◆ _vstatus

vehicle_status_s Navigator::_vstatus {}

private

vehicle status

Definition at line 349 of file navigator.h.

Referenced by force_vtol(), get_cruising_speed(), get_vstatus(), in_rtl_state(), publish_vehicle_cmd(), run(), and set_cruising_speed().

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

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Navigator() [1/2]

◆ ~Navigator()

◆ Navigator() [2/2]

Member Function Documentation

◆ abort_landing()

◆ check_traffic()

◆ custom_command()

◆ DEFINE_PARAMETERS()

◆ fake_traffic()

◆ force_vtol()

◆ get_acceptance_radius() [1/2]

◆ get_acceptance_radius() [2/2]

◆ get_altitude_acceptance_radius()

◆ get_can_loiter_at_sp()

◆ get_cruising_speed()

◆ get_cruising_throttle()

◆ get_default_acceptance_radius()

◆ get_default_altitude_acceptance_radius()

◆ get_geofence()

◆ get_global_position()

◆ get_home_position()

◆ get_land_detected()

◆ get_local_position()

◆ get_loiter_min_alt()

◆ get_loiter_radius()

◆ get_mavlink_log_pub()

◆ get_mission_landing_alt()

◆ get_mission_landing_index()

◆ get_mission_landing_lat()

◆ get_mission_landing_lon()

◆ get_mission_result()

◆ get_mission_start_land_available()

◆ get_position_setpoint_triplet()

◆ get_precland()

◆ get_reposition_triplet()

◆ get_takeoff_min_alt()

◆ get_takeoff_required()

◆ get_takeoff_triplet()

◆ get_vroi()

◆ get_vstatus()

◆ get_vtol_back_trans_deceleration()

◆ get_vtol_reverse_delay()

◆ get_yaw_acceptance()

◆ get_yaw_threshold()

◆ get_yaw_timeout()

◆ home_alt_valid()

◆ home_position_valid()

◆ in_rtl_state()

◆ increment_mission_instance_count()

◆ instantiate()

◆ is_planned_mission()

◆ load_fence_from_file()

◆ mission_landing_required()

◆ on_mission_landing()

◆ operator=()

◆ params_update()

◆ print_status()

◆ print_usage()

◆ publish_mission_result()

◆ publish_position_setpoint_triplet()

◆ publish_vehicle_cmd()

◆ publish_vehicle_command_ack()

◆ reset_cruising_speed()

◆ reset_triplets()

◆ reset_vroi()

◆ rtl_type()

◆ run()

◆ set_can_loiter_at_sp()

◆ set_cruising_speed()

◆ set_cruising_throttle()

◆ set_mission_failure()

◆ set_mission_result_updated()

◆ set_position_setpoint_triplet_updated()

◆ start_mission_landing()