#include <loiter.h>
Public Member Functions | |
| Loiter (Navigator *navigator) | |
| ~Loiter ()=default | |
| void | on_inactive () override |
| This function is called while the mode is inactive. More... | |
| void | on_activation () override |
| This function is called one time when mode becomes active, pos_sp_triplet must be initialized here. More... | |
| void | on_active () override |
| This function is called while the mode is active. More... | |
 Public Member Functions inherited from MissionBlock | |
| MissionBlock (Navigator *navigator) | |
| Constructor. More... | |
| virtual | ~MissionBlock ()=default |
| MissionBlock (const MissionBlock &)=delete | |
| MissionBlock & | operator= (const MissionBlock &)=delete |
| Public Member Functions inherited from NavigatorMode | |
| NavigatorMode (Navigator *navigator) | |
| virtual | ~NavigatorMode ()=default |
| NavigatorMode (const NavigatorMode &)=delete | |
| NavigatorMode | operator= (const NavigatorMode &)=delete |
| void | run (bool active) |
| virtual void | on_inactivation () |
| This function is called one time when mode becomes inactive. More... | |
Private Member Functions | |
| void | reposition () |
| Use the stored reposition location of the navigator to move to a new location. More... | |
| void | set_loiter_position () |
| Set the position to hold based on the current local position. More... | |
Private Attributes | |
| bool | _loiter_pos_set {false} |
Additional Inherited Members | |
| Static Public Member Functions inherited from MissionBlock | |
| static bool | item_contains_position (const mission_item_s &item) |
| Protected Member Functions inherited from MissionBlock | |
| bool | is_mission_item_reached () |
| Check if mission item has been reached. More... | |
| void | reset_mission_item_reached () |
| Reset all reached flags. More... | |
| bool | mission_item_to_position_setpoint (const mission_item_s &item, position_setpoint_s *sp) |
| Convert a mission item to a position setpoint. More... | |
| void | set_loiter_item (struct mission_item_s *item, float min_clearance=-1.0f) |
| Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position. More... | |
| void | set_takeoff_item (struct mission_item_s *item, float abs_altitude, float min_pitch=0.0f) |
| Set a takeoff mission item. More... | |
| void | set_land_item (struct mission_item_s *item, bool at_current_location) |
| Set a land mission item. More... | |
| void | set_idle_item (struct mission_item_s *item) |
| Set idle mission item. More... | |
| void | set_vtol_transition_item (struct mission_item_s *item, const uint8_t new_mode) |
| Set vtol transition item. More... | |
| void | mission_apply_limitation (mission_item_s &item) |
| General function used to adjust the mission item based on vehicle specific limitations. More... | |
| void | issue_command (const mission_item_s &item) |
| float | get_time_inside (const mission_item_s &item) const |
| float | get_absolute_altitude_for_item (const mission_item_s &mission_item) const |
| Protected Attributes inherited from MissionBlock | |
| mission_item_s | _mission_item {} |
| bool | _waypoint_position_reached {false} |
| bool | _waypoint_yaw_reached {false} |
| bool | _waypoint_position_reached_previously {false} |
| hrt_abstime | _time_first_inside_orbit {0} |
| hrt_abstime | _action_start {0} |
| hrt_abstime | _time_wp_reached {0} |
| uORB::Publication< actuator_controls_s > | _actuator_pub {ORB_ID(actuator_controls_2)} |
| Protected Attributes inherited from NavigatorMode | |
| Navigator * | _navigator {nullptr} |
Detailed Description
Constructor & Destructor Documentation
◆ Loiter()
| Loiter::Loiter | ( | Navigator * | navigator | ) |
Definition at line 45 of file loiter.cpp.
◆ ~Loiter()
|
default |
Member Function Documentation
◆ on_activation()
|
overridevirtual |
This function is called one time when mode becomes active, pos_sp_triplet must be initialized here.
Reimplemented from NavigatorMode.
Definition at line 58 of file loiter.cpp.
References NavigatorMode::_navigator, position_setpoint_triplet_s::current, Navigator::get_reposition_triplet(), reposition(), set_loiter_position(), and position_setpoint_s::valid.
◆ on_active()
|
overridevirtual |
This function is called while the mode is active.
Reimplemented from NavigatorMode.
Definition at line 69 of file loiter.cpp.
References _loiter_pos_set, NavigatorMode::_navigator, vehicle_status_s::arming_state, position_setpoint_triplet_s::current, Navigator::get_reposition_triplet(), Navigator::get_vstatus(), reposition(), and position_setpoint_s::valid.
◆ on_inactive()
|
overridevirtual |
This function is called while the mode is inactive.
Reimplemented from NavigatorMode.
Definition at line 52 of file loiter.cpp.
References _loiter_pos_set.
◆ reposition()
|
private |
Use the stored reposition location of the navigator to move to a new location.
Definition at line 119 of file loiter.cpp.
References NavigatorMode::_navigator, vehicle_global_position_s::alt, position_setpoint_s::alt, vehicle_status_s::arming_state, position_setpoint_triplet_s::current, Navigator::get_global_position(), Navigator::get_position_setpoint_triplet(), Navigator::get_reposition_triplet(), Navigator::get_vstatus(), vehicle_global_position_s::lat, position_setpoint_s::lat, vehicle_global_position_s::lon, position_setpoint_s::lon, position_setpoint_triplet_s::next, position_setpoint_triplet_s::previous, Navigator::set_can_loiter_at_sp(), Navigator::set_position_setpoint_triplet_updated(), position_setpoint_s::type, position_setpoint_s::valid, position_setpoint_s::velocity_valid, vehicle_global_position_s::yaw, and position_setpoint_s::yaw.
Referenced by on_activation(), and on_active().
◆ set_loiter_position()
|
private |
Set the position to hold based on the current local position.
Definition at line 82 of file loiter.cpp.
References _loiter_pos_set, MissionBlock::_mission_item, NavigatorMode::_navigator, vehicle_status_s::arming_state, position_setpoint_triplet_s::current, Navigator::get_land_detected(), Navigator::get_loiter_min_alt(), Navigator::get_position_setpoint_triplet(), Navigator::get_vstatus(), vehicle_land_detected_s::landed, MissionBlock::mission_apply_limitation(), MissionBlock::mission_item_to_position_setpoint(), position_setpoint_triplet_s::next, position_setpoint_triplet_s::previous, Navigator::set_can_loiter_at_sp(), MissionBlock::set_loiter_item(), Navigator::set_position_setpoint_triplet_updated(), position_setpoint_s::type, position_setpoint_s::valid, and position_setpoint_s::velocity_valid.
Referenced by on_activation().
Member Data Documentation
◆ _loiter_pos_set
|
private |
Definition at line 70 of file loiter.h.
Referenced by on_active(), on_inactive(), and set_loiter_position().
The documentation for this class was generated from the following files:
- src/modules/navigator/loiter.h
- src/modules/navigator/loiter.cpp
