#include <FlightTaskAutoMapper2.hpp>

Inheritance diagram for FlightTaskAutoMapper2:

Collaboration diagram for FlightTaskAutoMapper2:

Public Member Functions
	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 void	reActivate ()
	Call this to reset an active Flight Task. More...

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
virtual void	_generateSetpoints ()=0
	Generate velocity and position setpoint for following line. More...

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...

virtual bool	_checkTakeoff ()
	Determine when to trigger a takeoff (ignored in flight) More...

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

void	_checkEkfResetCounters ()

virtual void	_ekfResetHandlerPositionXY ()

virtual void	_ekfResetHandlerVelocityXY ()

virtual void	_ekfResetHandlerPositionZ ()

virtual void	_ekfResetHandlerVelocityZ ()

virtual void	_ekfResetHandlerHeading (float delta_psi)

Protected Attributes
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...

Private Member Functions
void	_reset ()
	Resets member variables to current vehicle state. More...

bool	_highEnoughForLandingGear ()
	Checks if gears can be lowered. More...

float	_getLandSpeed ()
	Returns landing descent speed. More...

Private Attributes
WaypointType	_type_previous {WaypointType::idle}
	Previous type of current target triplet. 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 45 of file FlightTaskAutoMapper2.hpp.

Constructor & Destructor Documentation

◆ FlightTaskAutoMapper2()

FlightTaskAutoMapper2::FlightTaskAutoMapper2 ( )

default

◆ ~FlightTaskAutoMapper2()

virtual FlightTaskAutoMapper2::~FlightTaskAutoMapper2 ( )

virtualdefault

Member Function Documentation

◆ _generateSetpoints()

virtual void FlightTaskAutoMapper2::_generateSetpoints ( )

protectedpure virtual

Generate velocity and position setpoint for following line.

Implemented in FlightTaskAutoLineSmoothVel.

◆ _getLandSpeed()

float FlightTaskAutoMapper2::_getLandSpeed ( )

private

Returns landing descent speed.

Definition at line 199 of file FlightTaskAutoMapper2.cpp.

References f().

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◆ _highEnoughForLandingGear()

bool FlightTaskAutoMapper2::_highEnoughForLandingGear ( )

private

Checks if gears can be lowered.

Definition at line 193 of file FlightTaskAutoMapper2.cpp.

◆ _prepareIdleSetpoints()

void FlightTaskAutoMapper2::_prepareIdleSetpoints ( )

protected

Definition at line 122 of file FlightTaskAutoMapper2.cpp.

◆ _prepareLandSetpoints()

void FlightTaskAutoMapper2::_prepareLandSetpoints ( )

protected

Definition at line 130 of file FlightTaskAutoMapper2.cpp.

References math::radians().

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◆ _preparePositionSetpoints()

void FlightTaskAutoMapper2::_preparePositionSetpoints ( )

protected

Definition at line 163 of file FlightTaskAutoMapper2.cpp.

◆ _prepareTakeoffSetpoints()

void FlightTaskAutoMapper2::_prepareTakeoffSetpoints ( )

protected

Definition at line 143 of file FlightTaskAutoMapper2.cpp.

◆ _prepareVelocitySetpoints()

void FlightTaskAutoMapper2::_prepareVelocitySetpoints ( )

protected

Definition at line 154 of file FlightTaskAutoMapper2.cpp.

◆ _reset()

void FlightTaskAutoMapper2::_reset ( )

private

Resets member variables to current vehicle state.

Definition at line 115 of file FlightTaskAutoMapper2.cpp.

◆ _updateAltitudeAboveGround()

void FlightTaskAutoMapper2::_updateAltitudeAboveGround ( )

protected

Computes altitude above ground based on sensors available.

Definition at line 170 of file FlightTaskAutoMapper2.cpp.

◆ activate()

bool FlightTaskAutoMapper2::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 43 of file FlightTaskAutoMapper2.cpp.

References FlightTaskAuto::activate().

Referenced by FlightTaskAutoLineSmoothVel::activate().

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◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

FlightTaskAutoMapper2::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

◆ update()

bool FlightTaskAutoMapper2::update ( )

overridevirtual

To be called regularly in the control loop cycle to execute the task.

Returns: true on success, false on error

Implements FlightTask.

Definition at line 50 of file FlightTaskAutoMapper2.cpp.

References idle, land, loiter, position, takeoff, and velocity.

◆ updateParams()

void FlightTaskAutoMapper2::updateParams ( )

overrideprotected

See ModuleParam class.

Definition at line 185 of file FlightTaskAutoMapper2.cpp.

References math::max().

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Member Data Documentation

◆ _alt_above_ground

float FlightTaskAutoMapper2::_alt_above_ground {0.0f}

protected

If home provided, then it is altitude above home, otherwise it is altitude above local position reference.

Definition at line 66 of file FlightTaskAutoMapper2.hpp.

◆ _type_previous

WaypointType FlightTaskAutoMapper2::_type_previous {WaypointType::idle}

private

Previous type of current target triplet.

Definition at line 82 of file FlightTaskAutoMapper2.hpp.

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

src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp
src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlightTaskAutoMapper2()

◆ ~FlightTaskAutoMapper2()

Member Function Documentation

◆ _generateSetpoints()

◆ _getLandSpeed()

◆ _highEnoughForLandingGear()

◆ _prepareIdleSetpoints()

◆ _prepareLandSetpoints()

◆ _preparePositionSetpoints()

◆ _prepareTakeoffSetpoints()

◆ _prepareVelocitySetpoints()

◆ _reset()

◆ _updateAltitudeAboveGround()

◆ activate()

◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

◆ update()

◆ updateParams()

Member Data Documentation

◆ _alt_above_ground

◆ _type_previous