#include <rcloss.h>

Inheritance diagram for RCLoss:

Collaboration diagram for RCLoss:

Public Member Functions
	RCLoss (Navigator *navigator)

	~RCLoss ()=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
	DEFINE_PARAMETERS ((ParamFloat< px4::params::NAV_RCL_LT >) _param_nav_gpsf_lt) enum RCLState

void	set_rcl_item ()
	Set the RCL item. More...

void	advance_rcl ()
	Move to next RCL item. More...

Private Attributes
	_rcl_state {RCL_STATE_NONE}

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

Definition at line 49 of file rcloss.h.

Constructor & Destructor Documentation

◆ RCLoss()

RCLoss::RCLoss ( Navigator * navigator )

Definition at line 56 of file rcloss.cpp.

◆ ~RCLoss()

RCLoss::~RCLoss ( )

default

Member Function Documentation

◆ advance_rcl()

void RCLoss::advance_rcl ( )

private

Move to next RCL item.

Definition at line 141 of file rcloss.cpp.

References NavigatorMode::_navigator, _rcl_state, Navigator::get_mavlink_log_pub(), Navigator::get_mission_result(), mavlink_log_critical, MissionBlock::reset_mission_item_reached(), Navigator::set_mission_result_updated(), mission_result_s::stay_in_failsafe, and warnx.

Referenced by on_activation(), and on_active().

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◆ DEFINE_PARAMETERS()

RCLoss::DEFINE_PARAMETERS ( (ParamFloat< px4::params::NAV_RCL_LT >) _param_nav_gpsf_lt )

inlineprivate

Definition at line 60 of file rcloss.h.

◆ on_activation()

void RCLoss::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 73 of file rcloss.cpp.

References _rcl_state, advance_rcl(), and set_rcl_item().

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◆ on_active()

void RCLoss::on_active ( )

overridevirtual

This function is called while the mode is active.

Reimplemented from NavigatorMode.

Definition at line 81 of file rcloss.cpp.

References advance_rcl(), MissionBlock::is_mission_item_reached(), and set_rcl_item().

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◆ on_inactive()

void RCLoss::on_inactive ( )

overridevirtual

This function is called while the mode is inactive.

Reimplemented from NavigatorMode.

Definition at line 64 of file rcloss.cpp.

References NavigatorMode::_navigator, _rcl_state, and Navigator::get_can_loiter_at_sp().

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◆ set_rcl_item()

void RCLoss::set_rcl_item ( )

private

Set the RCL item.

Definition at line 90 of file rcloss.cpp.

References MissionBlock::_mission_item, NavigatorMode::_navigator, _rcl_state, mission_item_s::acceptance_radius, vehicle_global_position_s::alt, mission_item_s::altitude, mission_item_s::altitude_is_relative, mission_item_s::autocontinue, position_setpoint_triplet_s::current, mission_result_s::flight_termination, Navigator::get_acceptance_radius(), Navigator::get_global_position(), Navigator::get_loiter_radius(), Navigator::get_mission_result(), Navigator::get_position_setpoint_triplet(), vehicle_global_position_s::lat, mission_item_s::lat, mission_item_s::loiter_radius, vehicle_global_position_s::lon, mission_item_s::lon, MissionBlock::mission_apply_limitation(), MissionBlock::mission_item_to_position_setpoint(), mission_item_s::nav_cmd, NAV_CMD_LOITER_TIME_LIMIT, position_setpoint_triplet_s::next, mission_item_s::origin, ORIGIN_ONBOARD, position_setpoint_triplet_s::previous, MissionBlock::reset_mission_item_reached(), Navigator::set_can_loiter_at_sp(), Navigator::set_mission_result_updated(), Navigator::set_position_setpoint_triplet_updated(), mission_item_s::time_inside, position_setpoint_s::valid, warnx, vehicle_global_position_s::yaw, and mission_item_s::yaw.

Referenced by on_activation(), and on_active().

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Member Data Documentation

◆ _rcl_state

RCLoss::_rcl_state {RCL_STATE_NONE}

private

Definition at line 69 of file rcloss.h.

Referenced by advance_rcl(), on_activation(), on_inactive(), and set_rcl_item().

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

src/modules/navigator/rcloss.h
src/modules/navigator/rcloss.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RCLoss()

◆ ~RCLoss()

Member Function Documentation

◆ advance_rcl()

◆ DEFINE_PARAMETERS()

◆ on_activation()

◆ on_active()

◆ on_inactive()

◆ set_rcl_item()

Member Data Documentation

◆ _rcl_state