#include <FlightTaskManualPositionSmoothVel.hpp>

Inheritance diagram for FlightTaskManualPositionSmoothVel:

Collaboration diagram for FlightTaskManualPositionSmoothVel:

Public Member Functions
	FlightTaskManualPositionSmoothVel ()=default

virtual	~FlightTaskManualPositionSmoothVel ()=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 FlightTaskManualPosition
	FlightTaskManualPosition ()

virtual	~FlightTaskManualPosition ()=default

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

void	setYawHandler (WeatherVane *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 FlightTaskManualAltitude
	FlightTaskManualAltitude ()=default

virtual	~FlightTaskManualAltitude ()=default

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

Public Member Functions inherited from FlightTaskManual
	FlightTaskManual ()=default

virtual	~FlightTaskManual ()=default

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

Public Member Functions inherited from FlightTask
	FlightTask ()

virtual	~FlightTask ()=default

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...

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

Protected Member Functions
virtual void	_updateSetpoints () override
	updates all setpoints More...

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

void	_ekfResetHandlerVelocityXY () override

void	_ekfResetHandlerPositionZ () override

void	_ekfResetHandlerVelocityZ () override

DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,(ParamFloat< px4::params::MPC_JERK_MAX >) _param_mpc_jerk_max,(ParamFloat< px4::params::MPC_ACC_UP_MAX >) _param_mpc_acc_up_max,(ParamFloat< px4::params::MPC_ACC_DOWN_MAX >) _param_mpc_acc_down_max) private void	_updateTrajConstraints ()

void	_updateTrajConstraintsXY ()

void	_updateTrajConstraintsZ ()

void	_updateTrajVelFeedback ()

void	_updateTrajCurrentPositionEstimate ()

void	_updateTrajectories (Vector3f vel_target)

void	_setOutputState ()

void	_setOutputStateXY ()

void	_setOutputStateZ ()

Protected Member Functions inherited from FlightTaskManualPosition
void	_updateXYlock ()
	applies position lock based on stick and velocity More...

void	_scaleSticks () override
	scales sticks to velocity in z More...

Protected Member Functions inherited from FlightTaskManualAltitude
void	_updateHeadingSetpoints ()
	sets yaw or yaw speed More...

void	_ekfResetHandlerHeading (float delta_psi) override
	adjust heading setpoint in case of EKF reset event More...

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

void	_rotateIntoHeadingFrame (matrix::Vector2f &vec)
	rotates vector into local frame More...

void	_updateAltitudeLock ()
	Check and sets for position lock. More...

DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,(ParamFloat< px4::params::MPC_HOLD_MAX_Z >) _param_mpc_hold_max_z,(ParamInt< px4::params::MPC_ALT_MODE >) _param_mpc_alt_mode,(ParamFloat< px4::params::MPC_HOLD_MAX_XY >) _param_mpc_hold_max_xy,(ParamFloat< px4::params::MPC_Z_P >) _param_mpc_z_p,(ParamFloat< px4::params::MPC_MAN_Y_MAX >) _param_mpc_man_y_max,(ParamFloat< px4::params::MPC_MAN_Y_TAU >) _param_mpc_man_y_tau,(ParamFloat< px4::params::MPC_MAN_TILT_MAX >) _param_mpc_man_tilt_max,(ParamFloat< px4::params::MPC_LAND_ALT1 >) _param_mpc_land_alt1,(ParamFloat< px4::params::MPC_LAND_ALT2 >) _param_mpc_land_alt2,(ParamFloat< px4::params::MPC_LAND_SPEED >) _param_mpc_land_speed,(ParamFloat< px4::params::MPC_TKO_SPEED >) _param_mpc_tko_speed) private void	_unlockYaw ()

void	_lockYaw ()

float	_applyYawspeedFilter (float yawspeed_target)
	Filter between stick input and yaw setpoint. More...

void	_terrainFollowing (bool apply_brake, bool stopped)
	Terrain following. More...

void	_respectMinAltitude ()
	Minimum Altitude during range sensor operation. More...

void	_respectMaxAltitude ()

void	_respectGroundSlowdown ()
	Sets downwards velocity constraint based on the distance to ground. More...

Protected Member Functions inherited from FlightTaskManual
float	stickDeadzone () const

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...

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

void	_checkEkfResetCounters ()

Protected Attributes
ManualVelocitySmoothingXY	_smoothing_xy
	Smoothing in x and y directions. More...

ManualVelocitySmoothingZ	_smoothing_z
	Smoothing in z direction. More...

Protected Attributes inherited from FlightTaskManualPosition
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,(ParamFloat< px4::params::MPC_VEL_MANUAL >) _param_mpc_vel_manual,(ParamFloat< px4::params::MPC_ACC_HOR_MAX >) _param_mpc_acc_hor_max,(ParamFloat< px4::params::MPC_HOLD_MAX_XY >) _param_mpc_hold_max_xy,(ParamFloat< px4::params::MPC_ACC_HOR_ESTM >) _param_mpc_acc_hor_estm) private uint8_t	_reset_counter {0}
	counter for estimator resets in xy-direction More...

WeatherVane *	_weathervane_yaw_handler
	external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind More...

CollisionPrevention	_collision_prevention
	collision avoidance setpoint amendment More...

Protected Attributes inherited from FlightTaskManualAltitude
uORB::SubscriptionData< home_position_s >	_sub_home_position {ORB_ID(home_position)}

float	_yawspeed_filter_state {}
	state of low-pass filter in rad/s More...

uint8_t	_reset_counter = 0
	counter for estimator resets in z-direction More...

float	_max_speed_up = 10.0f

float	_min_speed_down = 1.0f

bool	_terrain_follow {false}
	true when the vehicle is following the terrain height More...

bool	_terrain_hold {false}
	true when vehicle is controlling height above a static ground position More...

float	_dist_to_ground_lock = NAN
	Distance to ground during terrain following. More...

Protected Attributes inherited from FlightTaskManual
bool	_sticks_data_required = true
	let inherited task-class define if it depends on stick data More...

matrix::Vector< float, 4 >	_sticks
	unmodified manual stick inputs More...

matrix::Vector< float, 4 >	_sticks_expo
	modified manual sticks using expo function More...

int	_gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE
	old switch state 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...