#include <FlightTaskAutoLineSmoothVel.hpp>

Inheritance diagram for FlightTaskAutoLineSmoothVel:

Collaboration diagram for FlightTaskAutoLineSmoothVel:

Public Member Functions
	FlightTaskAutoLineSmoothVel ()=default

virtual	~FlightTaskAutoLineSmoothVel ()=default

bool	activate (vehicle_local_position_setpoint_s last_setpoint) override
	Call once on the event where you switch to the task. More...

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

Public Member Functions inherited from FlightTaskAutoMapper2
	FlightTaskAutoMapper2 ()=default

virtual	~FlightTaskAutoMapper2 ()=default

bool	activate (vehicle_local_position_setpoint_s last_setpoint) override
	Call once on the event where you switch to the task. More...

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

Public Member Functions inherited from FlightTaskAuto
	FlightTaskAuto ()

virtual	~FlightTaskAuto ()=default

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

bool	updateFinalize () override
	Call after update() to constrain the generated setpoints in order to comply with the constraints of the current mode. More...

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

Public Member Functions inherited from FlightTask
	FlightTask ()

virtual	~FlightTask ()=default

virtual bool	applyCommandParameters (const vehicle_command_s &command)
	To be called to adopt parameters from an arrived vehicle command. 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) More...

void	updateVelocityControllerIO (const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp)

Protected Member Functions
void	checkSetpoints (vehicle_local_position_setpoint_s &setpoints)

void	_ekfResetHandlerPositionXY () override
	Reset position or velocity setpoints in case of EKF reset event. More...

void	_ekfResetHandlerVelocityXY () override

void	_ekfResetHandlerPositionZ () override

void	_ekfResetHandlerVelocityZ () override

void	_ekfResetHandlerHeading (float delta_psi) override

void	_generateSetpoints () override
	Generate setpoints along line. More...

void	_generateHeading ()

bool	_generateHeadingAlongTraj ()
	Generates heading along trajectory. More...

float	_getSpeedAtTarget (float next_target_speed) const
	Constrain the value -max <= val <= max. More...

float	_getMaxSpeedFromDistance (float braking_distance, float final_speed) const

void	_prepareSetpoints ()
	Generate velocity target points for the trajectory generator. More...

void	_updateTrajConstraints ()

void	_generateTrajectory ()

bool	_checkTakeoff () override
	determines when to trigger a takeoff (ignored in flight) More...

	DEFINE_PARAMETERS_CUSTOM_PARENT (FlightTaskAutoMapper2,(ParamFloat< px4::params::MIS_YAW_ERR >) _param_mis_yaw_err,(ParamFloat< px4::params::MPC_ACC_HOR >) _param_mpc_acc_hor,(ParamFloat< px4::params::MPC_ACC_UP_MAX >) _param_mpc_acc_up_max,(ParamFloat< px4::params::MPC_ACC_DOWN_MAX >) _param_mpc_acc_down_max,(ParamFloat< px4::params::MPC_JERK_AUTO >) _param_mpc_jerk_auto,(ParamFloat< px4::params::MPC_XY_TRAJ_P >) _param_mpc_xy_traj_p,(ParamFloat< px4::params::MPC_Z_TRAJ_P >) _param_mpc_z_traj_p)

Protected Member Functions inherited from FlightTaskAutoMapper2
void	_prepareIdleSetpoints ()

void	_prepareLandSetpoints ()

void	_prepareVelocitySetpoints ()

void	_prepareTakeoffSetpoints ()

void	_preparePositionSetpoints ()

void	_updateAltitudeAboveGround ()
	Computes altitude above ground based on sensors available. More...

void	updateParams () override
	See ModuleParam class. More...

	DEFINE_PARAMETERS_CUSTOM_PARENT (FlightTaskAuto,(ParamFloat< px4::params::MPC_LAND_SPEED >) _param_mpc_land_speed,(ParamFloat< px4::params::MPC_TILTMAX_LND >) _param_mpc_tiltmax_lnd,(ParamInt< px4::params::MPC_LAND_RC_HELP >) _param_mpc_land_rc_help,(ParamFloat< px4::params::MPC_LAND_ALT1 >) _param_mpc_land_alt1,(ParamFloat< px4::params::MPC_LAND_ALT2 >) _param_mpc_land_alt2,(ParamFloat< px4::params::MPC_TKO_SPEED >) _param_mpc_tko_speed)

Protected Member Functions inherited from FlightTaskAuto
void	_setDefaultConstraints () override
	Set constraints to default values. More...

matrix::Vector2f	_getTargetVelocityXY ()
	only used for follow-me and only here because of legacy reason. More...

void	_updateInternalWaypoints ()
	Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). More...

bool	_compute_heading_from_2D_vector (float &heading, matrix::Vector2f v)
	Computes and sets heading a 2D vector. More...

	DEFINE_PARAMETERS_CUSTOM_PARENT (FlightTask,(ParamFloat< px4::params::MPC_XY_CRUISE >) _param_mpc_xy_cruise,(ParamFloat< px4::params::MPC_CRUISE_90 >) _param_mpc_cruise_90,(ParamFloat< px4::params::NAV_MC_ALT_RAD >) _param_nav_mc_alt_rad,(ParamInt< px4::params::MPC_YAW_MODE >) _param_mpc_yaw_mode,(ParamInt< px4::params::COM_OBS_AVOID >) _param_com_obs_avoid,(ParamFloat< px4::params::MPC_YAWRAUTO_MAX >) _param_mpc_yawrauto_max,(ParamFloat< px4::params::MIS_YAW_ERR >) _param_mis_yaw_err,(ParamBool< px4::params::WV_EN >) _param_wv_en)

Protected Member Functions inherited from FlightTask
void	_resetSetpoints ()
	Reset all setpoints to NAN. More...

void	_evaluateVehicleLocalPosition ()
	Check and update local position. More...

void	_initEkfResetCounters ()
	Monitor the EKF reset counters and call the appropriate handling functions in case of a reset event. More...

void	_checkEkfResetCounters ()

Static Protected Member Functions
static float	_constrainOneSide (float val, float constraint)
	Constrain val between INF and constraint. More...

static float	_constrainAbs (float val, float max)

Protected Attributes
bool	_want_takeoff {false}

VelocitySmoothing	_trajectory [3]
	Trajectories in x, y and z directions. More...

Protected Attributes inherited from FlightTaskAutoMapper2
float	_alt_above_ground {0.0f}
	If home provided, then it is altitude above home, otherwise it is altitude above local position reference. More...

Protected Attributes inherited from FlightTaskAuto
matrix::Vector3f	_prev_prev_wp {}
	Pre-previous waypoint (local frame). More...

matrix::Vector3f	_prev_wp {}
	Previous waypoint (local frame). More...

matrix::Vector3f	_target {}
	Target waypoint (local frame). More...

matrix::Vector3f	_next_wp {}
	The next waypoint after target (local frame). More...

float	_mc_cruise_speed {0.0f}
	Requested cruise speed. More...

WaypointType	_type {WaypointType::idle}
	Type of current target triplet. More...

uORB::SubscriptionData< home_position_s >	_sub_home_position {ORB_ID(home_position)}

uORB::SubscriptionData< manual_control_setpoint_s >	_sub_manual_control_setpoint {ORB_ID(manual_control_setpoint)}

uORB::SubscriptionData< vehicle_status_s >	_sub_vehicle_status {ORB_ID(vehicle_status)}

State	_current_state {State::none}

float	_target_acceptance_radius {0.0f}
	Acceptances radius of the target. More...

int	_mission_gear {landing_gear_s::GEAR_KEEP}

float	_yaw_sp_prev {NAN}

bool	_yaw_sp_aligned {false}

ObstacleAvoidance	_obstacle_avoidance
	class adjusting setpoints according to external avoidance module's input More...

Protected Attributes inherited from FlightTask
uORB::SubscriptionData< vehicle_local_position_s >	_sub_vehicle_local_position {ORB_ID(vehicle_local_position)}

uORB::SubscriptionData< vehicle_attitude_s >	_sub_attitude {ORB_ID(vehicle_attitude)}

float	_time = 0
	passed time in seconds since the task was activated More...

float	_deltatime = 0
	passed time in seconds since the task was last updated More...

hrt_abstime	_time_stamp_activate = 0
	time stamp when task was activated More...

hrt_abstime	_time_stamp_current = 0
	time stamp at the beginning of the current task update More...

hrt_abstime	_time_stamp_last = 0
	time stamp when task was last updated More...

matrix::Vector3f	_position
	current vehicle position More...

matrix::Vector3f	_velocity
	current vehicle velocity More...

float	_yaw = 0.f
	current vehicle yaw heading More...

float	_dist_to_bottom = 0.0f
	current height above ground level More...

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

struct {
uint8_t xy = 0

uint8_t vxy = 0

uint8_t z = 0

uint8_t vz = 0

uint8_t quat = 0

}	_reset_counters

vehicle_constraints_s	_constraints {}
	Vehicle constraints. More...

landing_gear_s	_gear {}

vehicle_trajectory_waypoint_s	_desired_waypoint {}
	Desired waypoints. More...

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, false, {}}
	Empty constraints. More...

static const landing_gear_s	empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}}
	default landing gear state More...

Static Protected Attributes inherited from FlightTask
static constexpr uint64_t	_timeout = 500000
	maximal time in us before a loop or data times out More...

Detailed Description

Definition at line 46 of file FlightTaskAutoLineSmoothVel.hpp.

Constructor & Destructor Documentation

◆ FlightTaskAutoLineSmoothVel()

FlightTaskAutoLineSmoothVel::FlightTaskAutoLineSmoothVel ( )

default

◆ ~FlightTaskAutoLineSmoothVel()

virtual FlightTaskAutoLineSmoothVel::~FlightTaskAutoLineSmoothVel ( )

virtualdefault

Member Function Documentation

◆ _checkTakeoff()

bool FlightTaskAutoLineSmoothVel::_checkTakeoff ( )

inlineoverrideprotectedvirtual

determines when to trigger a takeoff (ignored in flight)

Reimplemented from FlightTask.

Definition at line 83 of file FlightTaskAutoLineSmoothVel.hpp.

References _want_takeoff.

◆ _constrainAbs()

float FlightTaskAutoLineSmoothVel::_constrainAbs	(	float	val,
		float	max
	)

staticprotected

Definition at line 176 of file FlightTaskAutoLineSmoothVel.cpp.

References math::min(), and math::sign().

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◆ _constrainOneSide()

float FlightTaskAutoLineSmoothVel::_constrainOneSide	(	float	val,
		float	constraint
	)

staticprotected

Constrain val between INF and constraint.

Definition at line 168 of file FlightTaskAutoLineSmoothVel.cpp.

References math::constrain(), f(), FLT_EPSILON, matrix::max(), and matrix::min().

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◆ _ekfResetHandlerHeading()

void FlightTaskAutoLineSmoothVel::_ekfResetHandlerHeading ( float delta_psi )

overrideprotectedvirtual

Reimplemented from FlightTask.

Definition at line 123 of file FlightTaskAutoLineSmoothVel.cpp.

◆ _ekfResetHandlerPositionXY()

void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionXY ( )

overrideprotectedvirtual

Reset position or velocity setpoints in case of EKF reset event.

EKF reset handling functions Those functions are called by the base FlightTask in case of an EKF reset event.

Reimplemented from FlightTask.

Definition at line 101 of file FlightTaskAutoLineSmoothVel.cpp.

◆ _ekfResetHandlerPositionZ()

void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionZ ( )

overrideprotectedvirtual

Reimplemented from FlightTask.

Definition at line 113 of file FlightTaskAutoLineSmoothVel.cpp.

◆ _ekfResetHandlerVelocityXY()

void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityXY ( )

overrideprotectedvirtual

Reimplemented from FlightTask.

Definition at line 107 of file FlightTaskAutoLineSmoothVel.cpp.

◆ _ekfResetHandlerVelocityZ()

void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityZ ( )

overrideprotectedvirtual

Reimplemented from FlightTask.

Definition at line 118 of file FlightTaskAutoLineSmoothVel.cpp.

◆ _generateHeading()

void FlightTaskAutoLineSmoothVel::_generateHeading ( )

protected

Definition at line 139 of file FlightTaskAutoLineSmoothVel.cpp.

◆ _generateHeadingAlongTraj()

bool FlightTaskAutoLineSmoothVel::_generateHeadingAlongTraj ( )

protected

Generates heading along trajectory.

Definition at line 147 of file FlightTaskAutoLineSmoothVel.cpp.

References matrix::Vector< Type, M >::length().

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◆ _generateSetpoints()

void FlightTaskAutoLineSmoothVel::_generateSetpoints ( )

overrideprotectedvirtual

Generate setpoints along line.

Implements FlightTaskAutoMapper2.

Definition at line 128 of file FlightTaskAutoLineSmoothVel.cpp.

◆ _generateTrajectory()

void FlightTaskAutoLineSmoothVel::_generateTrajectory ( )

protected

Definition at line 322 of file FlightTaskAutoLineSmoothVel.cpp.

References math::constrain(), matrix::Vector< Type, M >::dot(), f(), matrix::Vector< Type, M >::length(), and VelocitySmoothing::timeSynchronization().

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◆ _getMaxSpeedFromDistance()

float FlightTaskAutoLineSmoothVel::_getMaxSpeedFromDistance	(	float	braking_distance,
		float	final_speed
	)		const

protected

Definition at line 222 of file FlightTaskAutoLineSmoothVel.cpp.

References math::trajectory::computeMaxSpeedFromDistance().

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◆ _getSpeedAtTarget()

float FlightTaskAutoLineSmoothVel::_getSpeedAtTarget ( float next_target_speed ) const

protected

Constrain the value -max <= val <= max.

Give 0 if next is the last target

Definition at line 181 of file FlightTaskAutoLineSmoothVel.cpp.

References math::trajectory::computeMaxSpeedInWaypoint(), f(), and math::min().

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◆ _prepareSetpoints()

void FlightTaskAutoLineSmoothVel::_prepareSetpoints ( )

protected

Generate velocity target points for the trajectory generator.

Definition at line 232 of file FlightTaskAutoLineSmoothVel.cpp.

References f(), and matrix::Vector< Type, M >::unit_or_zero().

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◆ _updateTrajConstraints()

void FlightTaskAutoLineSmoothVel::_updateTrajConstraints ( )

protected

Definition at line 301 of file FlightTaskAutoLineSmoothVel.cpp.

◆ activate()

bool FlightTaskAutoLineSmoothVel::activate ( vehicle_local_position_setpoint_s last_setpoint )

overridevirtual

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

Parameters

state of the previous task

Returns: true on success, false on error

Reimplemented from FlightTaskAuto.

Definition at line 44 of file FlightTaskAutoLineSmoothVel.cpp.

References vehicle_local_position_setpoint_s::acceleration, FlightTaskAutoMapper2::activate(), vehicle_local_position_setpoint_s::vx, vehicle_local_position_setpoint_s::vy, vehicle_local_position_setpoint_s::vz, vehicle_local_position_setpoint_s::x, vehicle_local_position_setpoint_s::y, vehicle_local_position_setpoint_s::yaw, and vehicle_local_position_setpoint_s::z.

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◆ checkSetpoints()

void FlightTaskAutoLineSmoothVel::checkSetpoints ( vehicle_local_position_setpoint_s & setpoints )

protected

Definition at line 72 of file FlightTaskAutoLineSmoothVel.cpp.

References vehicle_local_position_setpoint_s::acceleration, vehicle_local_position_setpoint_s::vx, vehicle_local_position_setpoint_s::vy, vehicle_local_position_setpoint_s::vz, vehicle_local_position_setpoint_s::x, vehicle_local_position_setpoint_s::y, vehicle_local_position_setpoint_s::yaw, and vehicle_local_position_setpoint_s::z.

◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

FlightTaskAutoLineSmoothVel::DEFINE_PARAMETERS_CUSTOM_PARENT	(	FlightTaskAutoMapper2	,
		(ParamFloat< px4::params::MIS_YAW_ERR >)	_param_mis_yaw_err,
		(ParamFloat< px4::params::MPC_ACC_HOR >)	_param_mpc_acc_hor,
		(ParamFloat< px4::params::MPC_ACC_UP_MAX >)	_param_mpc_acc_up_max,
		(ParamFloat< px4::params::MPC_ACC_DOWN_MAX >)	_param_mpc_acc_down_max,
		(ParamFloat< px4::params::MPC_JERK_AUTO >)	_param_mpc_jerk_auto,
		(ParamFloat< px4::params::MPC_XY_TRAJ_P >)	_param_mpc_xy_traj_p,
		(ParamFloat< px4::params::MPC_Z_TRAJ_P >)	_param_mpc_z_traj_p
	)

protected

◆ reActivate()

void FlightTaskAutoLineSmoothVel::reActivate ( )

overridevirtual

Call this to reset an active Flight Task.

Reimplemented from FlightTask.

Definition at line 62 of file FlightTaskAutoLineSmoothVel.cpp.

References f().

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Member Data Documentation

◆ _trajectory

VelocitySmoothing FlightTaskAutoLineSmoothVel::_trajectory[3]

protected

Trajectories in x, y and z directions.

Definition at line 86 of file FlightTaskAutoLineSmoothVel.hpp.

◆ _want_takeoff

bool FlightTaskAutoLineSmoothVel::_want_takeoff {false}

protected

Definition at line 84 of file FlightTaskAutoLineSmoothVel.hpp.

Referenced by _checkTakeoff().

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

src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlightTaskAutoLineSmoothVel()

◆ ~FlightTaskAutoLineSmoothVel()

Member Function Documentation

◆ _checkTakeoff()

◆ _constrainAbs()

◆ _constrainOneSide()

◆ _ekfResetHandlerHeading()

◆ _ekfResetHandlerPositionXY()

◆ _ekfResetHandlerPositionZ()

◆ _ekfResetHandlerVelocityXY()

◆ _ekfResetHandlerVelocityZ()

◆ _generateHeading()

◆ _generateHeadingAlongTraj()

◆ _generateSetpoints()

◆ _generateTrajectory()

◆ _getMaxSpeedFromDistance()

◆ _getSpeedAtTarget()

◆ _prepareSetpoints()

◆ _updateTrajConstraints()

◆ activate()

◆ checkSetpoints()

◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

◆ reActivate()

Member Data Documentation

◆ _trajectory

◆ _want_takeoff