#include <FlightTaskTransition.hpp>

Inheritance diagram for FlightTaskTransition:

Collaboration diagram for FlightTaskTransition:

Public Member Functions
	FlightTaskTransition ()=default

virtual	~FlightTaskTransition ()=default

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

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

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

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

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

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

Private Member Functions
void	checkSetpoints (vehicle_local_position_setpoint_s &setpoints)

void	updateAccelerationEstimate ()

Private Attributes
float	_transition_altitude = 0.0f

float	_transition_yaw = 0.0f

matrix::Vector3f	_velocity_prev {}

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...

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

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

virtual void	_setDefaultConstraints ()
	Set constraints to default values. 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 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...

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 44 of file FlightTaskTransition.hpp.

Constructor & Destructor Documentation

◆ FlightTaskTransition()

FlightTaskTransition::FlightTaskTransition ( )

default

◆ ~FlightTaskTransition()

virtual FlightTaskTransition::~FlightTaskTransition ( )

virtualdefault

Member Function Documentation

◆ activate()

bool FlightTaskTransition::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 FlightTask.

Definition at line 45 of file FlightTaskTransition.cpp.

References FlightTask::_acceleration_setpoint, _transition_altitude, _transition_yaw, FlightTask::_velocity, _velocity_prev, FlightTask::activate(), checkSetpoints(), f(), matrix::Matrix< Type, M, N >::setAll(), vehicle_local_position_setpoint_s::yaw, and vehicle_local_position_setpoint_s::z.

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◆ checkSetpoints()

void FlightTaskTransition::checkSetpoints ( vehicle_local_position_setpoint_s & setpoints )

private

Definition at line 55 of file FlightTaskTransition.cpp.

References FlightTask::_position, FlightTask::_yaw, vehicle_local_position_setpoint_s::yaw, and vehicle_local_position_setpoint_s::z.

Referenced by activate().

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◆ update()

bool FlightTaskTransition::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 78 of file FlightTaskTransition.cpp.

References FlightTask::_position_setpoint, FlightTask::_thrust_setpoint, _transition_altitude, _transition_yaw, FlightTask::_velocity_setpoint, FlightTask::_yaw_setpoint, and updateAccelerationEstimate().

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◆ updateAccelerationEstimate()

void FlightTaskTransition::updateAccelerationEstimate ( )

private

Definition at line 63 of file FlightTaskTransition.cpp.

References FlightTask::_acceleration_setpoint, FlightTask::_deltatime, FlightTask::_velocity, _velocity_prev, f(), and matrix::Matrix< Type, M, N >::setAll().

Referenced by update().

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◆ updateInitialize()

bool FlightTaskTransition::updateInitialize ( )

overridevirtual

Call before activate() or update() to initialize time and input data.

Returns: true on success, false on error

Reimplemented from FlightTask.

Definition at line 40 of file FlightTaskTransition.cpp.

References FlightTask::updateInitialize().

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Member Data Documentation

◆ _transition_altitude

float FlightTaskTransition::_transition_altitude = 0.0f

private

Definition at line 58 of file FlightTaskTransition.hpp.

Referenced by activate(), and update().

◆ _transition_yaw

float FlightTaskTransition::_transition_yaw = 0.0f

private

Definition at line 59 of file FlightTaskTransition.hpp.

Referenced by activate(), and update().

◆ _velocity_prev

matrix::Vector3f FlightTaskTransition::_velocity_prev {}

private

Definition at line 60 of file FlightTaskTransition.hpp.

Referenced by activate(), and updateAccelerationEstimate().

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

src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlightTaskTransition()

◆ ~FlightTaskTransition()

Member Function Documentation

◆ activate()

◆ checkSetpoints()

◆ update()

◆ updateAccelerationEstimate()

◆ updateInitialize()

Member Data Documentation

◆ _transition_altitude

◆ _transition_yaw

◆ _velocity_prev