VtolAttitudeControl Class Reference

#include <vtol_att_control_main.h>

Inheritance diagram for VtolAttitudeControl:

Collaboration diagram for VtolAttitudeControl:

Public Member Functions
	VtolAttitudeControl ()
	~VtolAttitudeControl ()
void	Run () override
bool	init ()
int	print_status () override
bool	is_fixed_wing_requested ()
void	abort_front_transition (const char *reason)
struct actuator_controls_s *	get_actuators_fw_in ()
struct actuator_controls_s *	get_actuators_mc_in ()
struct actuator_controls_s *	get_actuators_out0 ()
struct actuator_controls_s *	get_actuators_out1 ()
struct airspeed_validated_s *	get_airspeed ()
struct position_setpoint_triplet_s *	get_pos_sp_triplet ()
struct tecs_status_s *	get_tecs_status ()
struct vehicle_attitude_s *	get_att ()
struct vehicle_attitude_setpoint_s *	get_att_sp ()
struct vehicle_attitude_setpoint_s *	get_fw_virtual_att_sp ()
struct vehicle_attitude_setpoint_s *	get_mc_virtual_att_sp ()
struct vehicle_control_mode_s *	get_control_mode ()
struct vehicle_land_detected_s *	get_land_detected ()
struct vehicle_local_position_s *	get_local_pos ()
struct vehicle_local_position_setpoint_s *	get_local_pos_sp ()
struct vtol_vehicle_status_s *	get_vtol_vehicle_status ()
struct Params *	get_params ()

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])
static int	custom_command (int argc, char *argv[])
static int	print_usage (const char *reason=nullptr)

Private Member Functions
void	vehicle_cmd_poll ()
	Check for command updates. More...
int	parameters_update ()
void	handle_command ()
	Check received command. More...

Private Attributes
uORB::SubscriptionCallbackWorkItem	_actuator_inputs_fw {this, ORB_ID(actuator_controls_virtual_fw)}
uORB::SubscriptionCallbackWorkItem	_actuator_inputs_mc {this, ORB_ID(actuator_controls_virtual_mc)}
uORB::Subscription	_airspeed_validated_sub {ORB_ID(airspeed_validated)}
uORB::Subscription	_fw_virtual_att_sp_sub {ORB_ID(fw_virtual_attitude_setpoint)}
uORB::Subscription	_land_detected_sub {ORB_ID(vehicle_land_detected)}
uORB::Subscription	_local_pos_sp_sub {ORB_ID(vehicle_local_position_setpoint)}
uORB::Subscription	_local_pos_sub {ORB_ID(vehicle_local_position)}
uORB::Subscription	_manual_control_sp_sub {ORB_ID(manual_control_setpoint)}
uORB::Subscription	_mc_virtual_att_sp_sub {ORB_ID(mc_virtual_attitude_setpoint)}
uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
uORB::Subscription	_pos_sp_triplet_sub {ORB_ID(position_setpoint_triplet)}
uORB::Subscription	_tecs_status_sub {ORB_ID(tecs_status)}
uORB::Subscription	_v_att_sub {ORB_ID(vehicle_attitude)}
uORB::Subscription	_v_control_mode_sub {ORB_ID(vehicle_control_mode)}
uORB::Subscription	_vehicle_cmd_sub {ORB_ID(vehicle_command)}
uORB::Publication< actuator_controls_s >	_actuators_0_pub {ORB_ID(actuator_controls_0)}
uORB::Publication< actuator_controls_s >	_actuators_1_pub {ORB_ID(actuator_controls_1)}
uORB::Publication< vehicle_attitude_setpoint_s >	_v_att_sp_pub {ORB_ID(vehicle_attitude_setpoint)}
uORB::Publication< vtol_vehicle_status_s >	_vtol_vehicle_status_pub {ORB_ID(vtol_vehicle_status)}
orb_advert_t	_mavlink_log_pub {nullptr}
vehicle_attitude_setpoint_s	_v_att_sp {}
vehicle_attitude_setpoint_s	_fw_virtual_att_sp {}
vehicle_attitude_setpoint_s	_mc_virtual_att_sp {}
actuator_controls_s	_actuators_fw_in {}
actuator_controls_s	_actuators_mc_in {}
actuator_controls_s	_actuators_out_0 {}
actuator_controls_s	_actuators_out_1 {}
airspeed_validated_s	_airspeed_validated {}
manual_control_setpoint_s	_manual_control_sp {}
position_setpoint_triplet_s	_pos_sp_triplet {}
tecs_status_s	_tecs_status {}
vehicle_attitude_s	_v_att {}
vehicle_command_s	_vehicle_cmd {}
vehicle_control_mode_s	_v_control_mode {}
vehicle_land_detected_s	_land_detected {}
vehicle_local_position_s	_local_pos {}
vehicle_local_position_setpoint_s	_local_pos_sp {}
vtol_vehicle_status_s	_vtol_vehicle_status {}
Params	_params {}
struct {
param_t   idle_pwm_mc
param_t   vtol_motor_id
param_t   vtol_fw_permanent_stab
param_t   vtol_type
param_t   elevons_mc_lock
param_t   fw_min_alt
param_t   fw_alt_err
param_t   fw_qc_max_pitch
param_t   fw_qc_max_roll
param_t   front_trans_time_openloop
param_t   front_trans_time_min
param_t   front_trans_duration
param_t   back_trans_duration
param_t   transition_airspeed
param_t   front_trans_throttle
param_t   back_trans_throttle
param_t   airspeed_blend
param_t   airspeed_mode
param_t   front_trans_timeout
param_t   mpc_xy_cruise
param_t   fw_motors_off
param_t   diff_thrust
param_t   diff_thrust_scale
}	_params_handles
int	_transition_command {vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC}
bool	_abort_front_transition {false}
VtolType *	_vtol_type {nullptr}
bool	_initialized {false}
perf_counter_t	_loop_perf
	loop performance counter More...

Detailed Description

Definition at line 89 of file vtol_att_control_main.h.

Constructor & Destructor Documentation

VtolAttitudeControl()

VtolAttitudeControl::VtolAttitudeControl

(

)

Definition at line 55 of file vtol_att_control_main.cpp.

References _params, _params_handles, _vtol_type, _vtol_vehicle_status, Params::idle_pwm_mc, param_find(), parameters_update(), PWM_DEFAULT_MIN, STANDARD, TAILSITTER, TILTROTOR, vtol_vehicle_status_s::vtol_in_rw_mode, Params::vtol_motor_id, and Params::vtol_type.

Referenced by task_spawn().

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~VtolAttitudeControl()

VtolAttitudeControl::~VtolAttitudeControl

(

)

Definition at line 106 of file vtol_att_control_main.cpp.

References _loop_perf, and perf_free().

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Member Function Documentation

abort_front_transition()

void VtolAttitudeControl::abort_front_transition

(

const char *

reason

)

Definition at line 200 of file vtol_att_control_main.cpp.

References _abort_front_transition, _mavlink_log_pub, _vtol_vehicle_status, mavlink_log_critical, and vtol_vehicle_status_s::vtol_transition_failsafe.

Referenced by VtolType::check_quadchute_condition(), and Standard::update_transition_state().

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custom_command()

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

static

See also

ModuleBase

Definition at line 460 of file vtol_att_control_main.cpp.

References print_usage().

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get_actuators_fw_in()

struct actuator_controls_s* VtolAttitudeControl::get_actuators_fw_in ( )

inline

Definition at line 115 of file vtol_att_control_main.h.

References _actuators_fw_in.

Referenced by VtolType::VtolType().

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get_actuators_mc_in()

struct actuator_controls_s* VtolAttitudeControl::get_actuators_mc_in ( )

inline

Definition at line 116 of file vtol_att_control_main.h.

References _actuators_mc_in.

Referenced by VtolType::VtolType().

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get_actuators_out0()

struct actuator_controls_s* VtolAttitudeControl::get_actuators_out0 ( )

inline

Definition at line 117 of file vtol_att_control_main.h.

References _actuators_out_0.

Referenced by VtolType::VtolType().

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get_actuators_out1()

struct actuator_controls_s* VtolAttitudeControl::get_actuators_out1 ( )

inline

Definition at line 118 of file vtol_att_control_main.h.

References _actuators_out_1.

Referenced by VtolType::VtolType().

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get_airspeed()

struct airspeed_validated_s* VtolAttitudeControl::get_airspeed ( )

inline

Definition at line 119 of file vtol_att_control_main.h.

References _airspeed_validated.

Referenced by VtolType::VtolType().

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get_att()

struct vehicle_attitude_s* VtolAttitudeControl::get_att ( )

inline

Definition at line 122 of file vtol_att_control_main.h.

References _v_att.

Referenced by VtolType::VtolType().

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get_att_sp()

struct vehicle_attitude_setpoint_s* VtolAttitudeControl::get_att_sp ( )

inline

Definition at line 123 of file vtol_att_control_main.h.

References _v_att_sp.

Referenced by VtolType::VtolType().

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get_control_mode()

struct vehicle_control_mode_s* VtolAttitudeControl::get_control_mode ( )

inline

Definition at line 126 of file vtol_att_control_main.h.

References _v_control_mode.

Referenced by VtolType::VtolType().

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get_fw_virtual_att_sp()

struct vehicle_attitude_setpoint_s* VtolAttitudeControl::get_fw_virtual_att_sp ( )

inline

Definition at line 124 of file vtol_att_control_main.h.

References _fw_virtual_att_sp.

Referenced by VtolType::VtolType().

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get_land_detected()

struct vehicle_land_detected_s* VtolAttitudeControl::get_land_detected ( )

inline

Definition at line 127 of file vtol_att_control_main.h.

References _land_detected.

Referenced by VtolType::VtolType().

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get_local_pos()

struct vehicle_local_position_s* VtolAttitudeControl::get_local_pos ( )

inline

Definition at line 128 of file vtol_att_control_main.h.

References _local_pos.

Referenced by VtolType::VtolType().

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get_local_pos_sp()

struct vehicle_local_position_setpoint_s* VtolAttitudeControl::get_local_pos_sp ( )

inline

Definition at line 129 of file vtol_att_control_main.h.

References _local_pos_sp.

Referenced by VtolType::VtolType().

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get_mc_virtual_att_sp()

struct vehicle_attitude_setpoint_s* VtolAttitudeControl::get_mc_virtual_att_sp ( )

inline

Definition at line 125 of file vtol_att_control_main.h.

References _mc_virtual_att_sp.

Referenced by VtolType::VtolType().

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get_params()

struct Params* VtolAttitudeControl::get_params ( )

inline

Definition at line 132 of file vtol_att_control_main.h.

References _params.

Referenced by VtolType::VtolType().

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get_pos_sp_triplet()

struct position_setpoint_triplet_s* VtolAttitudeControl::get_pos_sp_triplet ( )

inline

Definition at line 120 of file vtol_att_control_main.h.

References _pos_sp_triplet.

Referenced by Standard::update_mc_state().

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get_tecs_status()

struct tecs_status_s* VtolAttitudeControl::get_tecs_status ( )

inline

Definition at line 121 of file vtol_att_control_main.h.

References _tecs_status.

Referenced by VtolType::VtolType().

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get_vtol_vehicle_status()

struct vtol_vehicle_status_s* VtolAttitudeControl::get_vtol_vehicle_status ( )

inline

Definition at line 130 of file vtol_att_control_main.h.

References _vtol_vehicle_status.

Referenced by Standard::update_mc_state(), and VtolType::VtolType().

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handle_command()

void VtolAttitudeControl::handle_command ( )

private

Check received command.

Definition at line 143 of file vtol_att_control_main.cpp.

References _transition_command, _vehicle_cmd, vehicle_command_s::command, vehicle_command_s::from_external, hrt_absolute_time(), ORB_ID, vehicle_command_s::param1, vehicle_command_s::source_component, vehicle_command_s::source_system, and vehicle_command_ack_s::timestamp.

Referenced by vehicle_cmd_poll().

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init()

bool VtolAttitudeControl::init

(

)

Definition at line 112 of file vtol_att_control_main.cpp.

References _actuator_inputs_fw, _actuator_inputs_mc, and uORB::SubscriptionCallback::registerCallback().

Referenced by task_spawn().

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is_fixed_wing_requested()

bool VtolAttitudeControl::is_fixed_wing_requested

(

)

Definition at line 171 of file vtol_att_control_main.cpp.

References _abort_front_transition, _manual_control_sp, _transition_command, _v_control_mode, _vtol_vehicle_status, vehicle_control_mode_s::flag_control_manual_enabled, manual_control_setpoint_s::transition_switch, and vtol_vehicle_status_s::vtol_transition_failsafe.

Referenced by Tiltrotor::update_vtol_state(), Tailsitter::update_vtol_state(), and Standard::update_vtol_state().

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parameters_update()

int VtolAttitudeControl::parameters_update ( )

private

Definition at line 210 of file vtol_att_control_main.cpp.

References _params, _params_handles, _vtol_type, _vtol_vehicle_status, Params::airspeed_blend, Params::airspeed_disabled, Params::back_trans_duration, Params::back_trans_throttle, math::constrain(), Params::diff_thrust, Params::diff_thrust_scale, Params::elevons_mc_lock, f(), Params::front_trans_duration, Params::front_trans_throttle, Params::front_trans_time_min, Params::front_trans_time_openloop, Params::front_trans_timeout, Params::fw_alt_err, Params::fw_min_alt, Params::fw_motors_off, vtol_vehicle_status_s::fw_permanent_stab, Params::fw_qc_max_pitch, Params::fw_qc_max_roll, Params::idle_pwm_mc, math::min(), Params::mpc_xy_cruise, OK, param_get(), VtolType::parameters_update(), Params::transition_airspeed, Params::vtol_motor_id, and Params::vtol_type.

Referenced by Run(), and VtolAttitudeControl().

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print_status()

int VtolAttitudeControl::print_status ( )

override

See also

ModuleBase::print_status()

Definition at line 466 of file vtol_att_control_main.cpp.

References _loop_perf, and perf_print_counter().

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print_usage()

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

static

See also

ModuleBase

Definition at line 474 of file vtol_att_control_main.cpp.

Referenced by custom_command().

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Run()

void VtolAttitudeControl::Run ( )

override

Definition at line 287 of file vtol_att_control_main.cpp.

References _actuator_inputs_fw, _actuator_inputs_mc, _actuators_0_pub, _actuators_1_pub, _actuators_fw_in, _actuators_mc_in, _actuators_out_0, _actuators_out_1, _airspeed_validated, _airspeed_validated_sub, _fw_virtual_att_sp, _fw_virtual_att_sp_sub, _initialized, _land_detected, _land_detected_sub, _local_pos, _local_pos_sp, _local_pos_sp_sub, _local_pos_sub, _loop_perf, _manual_control_sp, _manual_control_sp_sub, _mc_virtual_att_sp, _mc_virtual_att_sp_sub, _parameter_update_sub, _pos_sp_triplet, _pos_sp_triplet_sub, _tecs_status, _tecs_status_sub, _transition_command, _v_att, _v_att_sp, _v_att_sp_pub, _v_att_sub, _v_control_mode, _v_control_mode_sub, _vtol_type, _vtol_vehicle_status, _vtol_vehicle_status_pub, uORB::Subscription::copy(), VtolType::fill_actuator_outputs(), FIXED_WING, vehicle_control_mode_s::flag_control_manual_enabled, VtolType::get_mode(), hrt_absolute_time(), vtol_vehicle_status_s::in_transition_to_fw, VtolType::init(), parameters_update(), perf_begin(), perf_end(), uORB::Publication< T >::publish(), ROTARY_WING, vtol_vehicle_status_s::timestamp, TRANSITION_TO_FW, TRANSITION_TO_MC, uORB::SubscriptionCallback::unregisterCallback(), uORB::SubscriptionInterval::update(), uORB::Subscription::update(), VtolType::update_fw_state(), VtolType::update_mc_state(), VtolType::update_transition_state(), VtolType::update_vtol_state(), uORB::Subscription::updated(), vehicle_cmd_poll(), vtol_vehicle_status_s::vtol_in_rw_mode, and vtol_vehicle_status_s::vtol_in_trans_mode.

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task_spawn()

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

static

See also

ModuleBase

Definition at line 436 of file vtol_att_control_main.cpp.

References init(), ll40ls::instance, and VtolAttitudeControl().

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vehicle_cmd_poll()

void VtolAttitudeControl::vehicle_cmd_poll ( )

private

Check for command updates.

Definition at line 131 of file vtol_att_control_main.cpp.

References _vehicle_cmd, _vehicle_cmd_sub, uORB::Subscription::copy(), handle_command(), and uORB::Subscription::updated().

Referenced by Run().

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Member Data Documentation

_abort_front_transition

bool VtolAttitudeControl::_abort_front_transition {false}

private

Definition at line 213 of file vtol_att_control_main.h.

Referenced by abort_front_transition(), and is_fixed_wing_requested().

_actuator_inputs_fw

uORB::SubscriptionCallbackWorkItem VtolAttitudeControl::_actuator_inputs_fw {this, ORB_ID(actuator_controls_virtual_fw)}

private

Definition at line 136 of file vtol_att_control_main.h.

Referenced by init(), and Run().

_actuator_inputs_mc

uORB::SubscriptionCallbackWorkItem VtolAttitudeControl::_actuator_inputs_mc {this, ORB_ID(actuator_controls_virtual_mc)}

private

Definition at line 137 of file vtol_att_control_main.h.

Referenced by init(), and Run().

_actuators_0_pub

uORB::Publication<actuator_controls_s> VtolAttitudeControl::_actuators_0_pub {ORB_ID(actuator_controls_0)}

private

Definition at line 153 of file vtol_att_control_main.h.

Referenced by Run().

_actuators_1_pub

uORB::Publication<actuator_controls_s> VtolAttitudeControl::_actuators_1_pub {ORB_ID(actuator_controls_1)}

private

Definition at line 154 of file vtol_att_control_main.h.

Referenced by Run().

_actuators_fw_in

actuator_controls_s VtolAttitudeControl::_actuators_fw_in {}

private

Definition at line 164 of file vtol_att_control_main.h.

Referenced by get_actuators_fw_in(), and Run().

_actuators_mc_in

actuator_controls_s VtolAttitudeControl::_actuators_mc_in {}

private

Definition at line 165 of file vtol_att_control_main.h.

Referenced by get_actuators_mc_in(), and Run().

_actuators_out_0

actuator_controls_s VtolAttitudeControl::_actuators_out_0 {}

private

Definition at line 166 of file vtol_att_control_main.h.

Referenced by get_actuators_out0(), and Run().

_actuators_out_1

actuator_controls_s VtolAttitudeControl::_actuators_out_1 {}

private

Definition at line 167 of file vtol_att_control_main.h.

Referenced by get_actuators_out1(), and Run().

_airspeed_validated

airspeed_validated_s VtolAttitudeControl::_airspeed_validated {}

private

Definition at line 169 of file vtol_att_control_main.h.

Referenced by get_airspeed(), and Run().

_airspeed_validated_sub

uORB::Subscription VtolAttitudeControl::_airspeed_validated_sub {ORB_ID(airspeed_validated)}

private

Definition at line 139 of file vtol_att_control_main.h.

Referenced by Run().

_fw_virtual_att_sp

vehicle_attitude_setpoint_s VtolAttitudeControl::_fw_virtual_att_sp {}

private

Definition at line 161 of file vtol_att_control_main.h.

Referenced by get_fw_virtual_att_sp(), and Run().

_fw_virtual_att_sp_sub

uORB::Subscription VtolAttitudeControl::_fw_virtual_att_sp_sub {ORB_ID(fw_virtual_attitude_setpoint)}

private

Definition at line 140 of file vtol_att_control_main.h.

Referenced by Run().

_initialized

bool VtolAttitudeControl::_initialized {false}

private

Definition at line 217 of file vtol_att_control_main.h.

Referenced by Run().

_land_detected

vehicle_land_detected_s VtolAttitudeControl::_land_detected {}

private

Definition at line 176 of file vtol_att_control_main.h.

Referenced by get_land_detected(), and Run().

_land_detected_sub

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

private

Definition at line 141 of file vtol_att_control_main.h.

Referenced by Run().

_local_pos

vehicle_local_position_s VtolAttitudeControl::_local_pos {}

private

Definition at line 177 of file vtol_att_control_main.h.

Referenced by get_local_pos(), and Run().

_local_pos_sp

vehicle_local_position_setpoint_s VtolAttitudeControl::_local_pos_sp {}

private

Definition at line 178 of file vtol_att_control_main.h.

Referenced by get_local_pos_sp(), and Run().

_local_pos_sp_sub

uORB::Subscription VtolAttitudeControl::_local_pos_sp_sub {ORB_ID(vehicle_local_position_setpoint)}

private

Definition at line 142 of file vtol_att_control_main.h.

Referenced by Run().

_local_pos_sub

uORB::Subscription VtolAttitudeControl::_local_pos_sub {ORB_ID(vehicle_local_position)}

private

Definition at line 143 of file vtol_att_control_main.h.

Referenced by Run().

_loop_perf

perf_counter_t VtolAttitudeControl::_loop_perf

private

loop performance counter

Definition at line 219 of file vtol_att_control_main.h.

Referenced by print_status(), Run(), and ~VtolAttitudeControl().

_manual_control_sp

manual_control_setpoint_s VtolAttitudeControl::_manual_control_sp {}

private

Definition at line 170 of file vtol_att_control_main.h.

Referenced by is_fixed_wing_requested(), and Run().

_manual_control_sp_sub

uORB::Subscription VtolAttitudeControl::_manual_control_sp_sub {ORB_ID(manual_control_setpoint)}

private

Definition at line 144 of file vtol_att_control_main.h.

Referenced by Run().

_mavlink_log_pub

orb_advert_t VtolAttitudeControl::_mavlink_log_pub {nullptr}

private

Definition at line 158 of file vtol_att_control_main.h.

Referenced by abort_front_transition().

_mc_virtual_att_sp

vehicle_attitude_setpoint_s VtolAttitudeControl::_mc_virtual_att_sp {}

private

Definition at line 162 of file vtol_att_control_main.h.

Referenced by get_mc_virtual_att_sp(), and Run().

_mc_virtual_att_sp_sub

uORB::Subscription VtolAttitudeControl::_mc_virtual_att_sp_sub {ORB_ID(mc_virtual_attitude_setpoint)}

private

Definition at line 145 of file vtol_att_control_main.h.

Referenced by Run().

_parameter_update_sub

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

private

Definition at line 146 of file vtol_att_control_main.h.

Referenced by Run().

_params

Params VtolAttitudeControl::_params {}

private

Definition at line 181 of file vtol_att_control_main.h.

Referenced by get_params(), parameters_update(), and VtolAttitudeControl().

_params_handles

struct { ... } VtolAttitudeControl::_params_handles

Referenced by parameters_update(), and VtolAttitudeControl().

_pos_sp_triplet

position_setpoint_triplet_s VtolAttitudeControl::_pos_sp_triplet {}

private

Definition at line 171 of file vtol_att_control_main.h.

Referenced by get_pos_sp_triplet(), and Run().

_pos_sp_triplet_sub

uORB::Subscription VtolAttitudeControl::_pos_sp_triplet_sub {ORB_ID(position_setpoint_triplet)}

private

Definition at line 147 of file vtol_att_control_main.h.

Referenced by Run().

_tecs_status

tecs_status_s VtolAttitudeControl::_tecs_status {}

private

Definition at line 172 of file vtol_att_control_main.h.

Referenced by get_tecs_status(), and Run().

_tecs_status_sub

uORB::Subscription VtolAttitudeControl::_tecs_status_sub {ORB_ID(tecs_status)}

private

Definition at line 148 of file vtol_att_control_main.h.

Referenced by Run().

_transition_command

int VtolAttitudeControl::_transition_command {vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC}

private

Definition at line 212 of file vtol_att_control_main.h.

Referenced by handle_command(), is_fixed_wing_requested(), and Run().

_v_att

vehicle_attitude_s VtolAttitudeControl::_v_att {}

private

Definition at line 173 of file vtol_att_control_main.h.

Referenced by get_att(), and Run().

_v_att_sp

vehicle_attitude_setpoint_s VtolAttitudeControl::_v_att_sp {}

private

Definition at line 160 of file vtol_att_control_main.h.

Referenced by get_att_sp(), and Run().

_v_att_sp_pub

uORB::Publication<vehicle_attitude_setpoint_s> VtolAttitudeControl::_v_att_sp_pub {ORB_ID(vehicle_attitude_setpoint)}

private

Definition at line 155 of file vtol_att_control_main.h.

Referenced by Run().

_v_att_sub

uORB::Subscription VtolAttitudeControl::_v_att_sub {ORB_ID(vehicle_attitude)}

private

Definition at line 149 of file vtol_att_control_main.h.

Referenced by Run().

_v_control_mode

vehicle_control_mode_s VtolAttitudeControl::_v_control_mode {}

private

Definition at line 175 of file vtol_att_control_main.h.

Referenced by get_control_mode(), is_fixed_wing_requested(), and Run().

_v_control_mode_sub

uORB::Subscription VtolAttitudeControl::_v_control_mode_sub {ORB_ID(vehicle_control_mode)}

private

Definition at line 150 of file vtol_att_control_main.h.

Referenced by Run().

_vehicle_cmd

vehicle_command_s VtolAttitudeControl::_vehicle_cmd {}

private

Definition at line 174 of file vtol_att_control_main.h.

Referenced by handle_command(), and vehicle_cmd_poll().

_vehicle_cmd_sub

uORB::Subscription VtolAttitudeControl::_vehicle_cmd_sub {ORB_ID(vehicle_command)}

private

Definition at line 151 of file vtol_att_control_main.h.

Referenced by vehicle_cmd_poll().

_vtol_type

VtolType* VtolAttitudeControl::_vtol_type {nullptr}

private

Definition at line 215 of file vtol_att_control_main.h.

Referenced by parameters_update(), Run(), and VtolAttitudeControl().

_vtol_vehicle_status

vtol_vehicle_status_s VtolAttitudeControl::_vtol_vehicle_status {}

private

Definition at line 179 of file vtol_att_control_main.h.

Referenced by abort_front_transition(), get_vtol_vehicle_status(), is_fixed_wing_requested(), parameters_update(), Run(), and VtolAttitudeControl().

_vtol_vehicle_status_pub

uORB::Publication<vtol_vehicle_status_s> VtolAttitudeControl::_vtol_vehicle_status_pub {ORB_ID(vtol_vehicle_status)}

private

Definition at line 156 of file vtol_att_control_main.h.

Referenced by Run().

airspeed_blend

param_t VtolAttitudeControl::airspeed_blend

Definition at line 200 of file vtol_att_control_main.h.

airspeed_mode

param_t VtolAttitudeControl::airspeed_mode

Definition at line 201 of file vtol_att_control_main.h.

back_trans_duration

param_t VtolAttitudeControl::back_trans_duration

Definition at line 196 of file vtol_att_control_main.h.

back_trans_throttle

param_t VtolAttitudeControl::back_trans_throttle

Definition at line 199 of file vtol_att_control_main.h.

diff_thrust

param_t VtolAttitudeControl::diff_thrust

Definition at line 205 of file vtol_att_control_main.h.

diff_thrust_scale

param_t VtolAttitudeControl::diff_thrust_scale

Definition at line 206 of file vtol_att_control_main.h.

elevons_mc_lock

param_t VtolAttitudeControl::elevons_mc_lock

Definition at line 188 of file vtol_att_control_main.h.

front_trans_duration

param_t VtolAttitudeControl::front_trans_duration

Definition at line 195 of file vtol_att_control_main.h.

front_trans_throttle

param_t VtolAttitudeControl::front_trans_throttle

Definition at line 198 of file vtol_att_control_main.h.

front_trans_time_min

param_t VtolAttitudeControl::front_trans_time_min

Definition at line 194 of file vtol_att_control_main.h.

front_trans_time_openloop

param_t VtolAttitudeControl::front_trans_time_openloop

Definition at line 193 of file vtol_att_control_main.h.

front_trans_timeout

param_t VtolAttitudeControl::front_trans_timeout

Definition at line 202 of file vtol_att_control_main.h.

fw_alt_err

param_t VtolAttitudeControl::fw_alt_err

Definition at line 190 of file vtol_att_control_main.h.

fw_min_alt

param_t VtolAttitudeControl::fw_min_alt

Definition at line 189 of file vtol_att_control_main.h.

fw_motors_off

param_t VtolAttitudeControl::fw_motors_off

Definition at line 204 of file vtol_att_control_main.h.

fw_qc_max_pitch

param_t VtolAttitudeControl::fw_qc_max_pitch

Definition at line 191 of file vtol_att_control_main.h.

fw_qc_max_roll

param_t VtolAttitudeControl::fw_qc_max_roll

Definition at line 192 of file vtol_att_control_main.h.

idle_pwm_mc

param_t VtolAttitudeControl::idle_pwm_mc

Definition at line 184 of file vtol_att_control_main.h.

mpc_xy_cruise

param_t VtolAttitudeControl::mpc_xy_cruise

Definition at line 203 of file vtol_att_control_main.h.

transition_airspeed

param_t VtolAttitudeControl::transition_airspeed

Definition at line 197 of file vtol_att_control_main.h.

vtol_fw_permanent_stab

param_t VtolAttitudeControl::vtol_fw_permanent_stab

Definition at line 186 of file vtol_att_control_main.h.

vtol_motor_id

param_t VtolAttitudeControl::vtol_motor_id

Definition at line 185 of file vtol_att_control_main.h.

vtol_type

param_t VtolAttitudeControl::vtol_type

Definition at line 187 of file vtol_att_control_main.h.

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

• src/modules/vtol_att_control/vtol_att_control_main.h
• src/modules/vtol_att_control/vtol_att_control_main.cpp