#include <FlightTaskAuto.hpp>

Inheritance diagram for FlightTaskAuto:

Collaboration diagram for FlightTaskAuto:

Public Member Functions
	FlightTaskAuto ()

virtual	~FlightTaskAuto ()=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	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...

virtual bool	update ()=0
	To be called regularly in the control loop cycle to execute the task. 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
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
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	_limitYawRate ()
	Limits the rate of change of the yaw setpoint. More...

bool	_evaluateTriplets ()
	Checks and sets triplets. More...

bool	_isFinite (const position_setpoint_s &sp)
	Checks if all waypoint triplets are finite. More...

bool	_evaluateGlobalReference ()
	Check is global reference is available. More...

State	_getCurrentState ()
	Computes the current vehicle state based on the vehicle position and navigator triplets. More...

void	_set_heading_from_mode ()

Private Attributes
matrix::Vector2f	_lock_position_xy {NAN, NAN}
	if no valid triplet is received, lock positition to current position More...

bool	_yaw_lock {false}
	if within acceptance radius, lock yaw to current yaw More...

uORB::SubscriptionData< position_setpoint_triplet_s >	_sub_triplet_setpoint {ORB_ID(position_setpoint_triplet)}

matrix::Vector3f	_triplet_target
	current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. More...

matrix::Vector3f	_triplet_prev_wp
	previous triplet from navigator which may differ from the intenal one (_prev_wp) depending on the vehicle state. More...

matrix::Vector3f	_triplet_next_wp
	next triplet from navigator which may differ from the intenal one (_next_wp) depending on the vehicle state. More...

matrix::Vector2f	_closest_pt
	closest point to the vehicle position on the line previous - target More...

map_projection_reference_s	_reference_position {}
	Structure used to project lat/lon setpoint into local frame. More...

float	_reference_altitude {NAN}
	Altitude relative to ground. More...

hrt_abstime	_time_stamp_reference {0}
	time stamp when last reference update occured. More...

WeatherVane *	_ext_yaw_handler {nullptr}
	external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind 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 74 of file FlightTaskAuto.hpp.

Constructor & Destructor Documentation

◆ FlightTaskAuto()

FlightTaskAuto::FlightTaskAuto ( )

Definition at line 45 of file FlightTaskAuto.cpp.

◆ ~FlightTaskAuto()

virtual FlightTaskAuto::~FlightTaskAuto ( )

virtualdefault

Member Function Documentation

◆ _compute_heading_from_2D_vector()

bool FlightTaskAuto::_compute_heading_from_2D_vector	(	float &	heading,
		matrix::Vector2f	v
	)

protected

Computes and sets heading a 2D vector.

Definition at line 474 of file FlightTaskAuto.cpp.

References matrix::Vector< Type, M >::length(), matrix::Vector< Type, M >::normalize(), SIGMA_NORM, math::sign(), and matrix::wrap_pi().

Referenced by _set_heading_from_mode().

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◆ _evaluateGlobalReference()

bool FlightTaskAuto::_evaluateGlobalReference ( )

private

Check is global reference is available.

Definition at line 346 of file FlightTaskAuto.cpp.

References _reference_altitude, _reference_position, FlightTask::_sub_vehicle_local_position, _time_stamp_reference, uORB::SubscriptionData< T >::get(), map_projection_init(), vehicle_local_position_s::ref_alt, vehicle_local_position_s::ref_lat, vehicle_local_position_s::ref_lon, vehicle_local_position_s::ref_timestamp, vehicle_local_position_s::xy_global, and vehicle_local_position_s::z_global.

Referenced by updateInitialize().

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◆ _evaluateTriplets()

bool FlightTaskAuto::_evaluateTriplets ( )

private

Checks and sets triplets.

Definition at line 123 of file FlightTaskAuto.cpp.

Referenced by updateInitialize().

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◆ _getCurrentState()

State FlightTaskAuto::_getCurrentState ( )

private

Computes the current vehicle state based on the vehicle position and navigator triplets.

Definition at line 408 of file FlightTaskAuto.cpp.

References _closest_pt, _mc_cruise_speed, FlightTask::_position, _triplet_prev_wp, _triplet_target, f(), matrix::Vector< Type, M >::length(), none, offtrack, previous_infront, and target_behind.

Referenced by _evaluateTriplets().

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◆ _getTargetVelocityXY()

Vector2f FlightTaskAuto::_getTargetVelocityXY ( )

protected

only used for follow-me and only here because of legacy reason.

Definition at line 391 of file FlightTaskAuto.cpp.

References _sub_triplet_setpoint, position_setpoint_triplet_s::current, uORB::SubscriptionData< T >::get(), position_setpoint_s::velocity_valid, position_setpoint_s::vx, and position_setpoint_s::vy.

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◆ _isFinite()

bool FlightTaskAuto::_isFinite ( const position_setpoint_s & sp )

private

Checks if all waypoint triplets are finite.

Definition at line 341 of file FlightTaskAuto.cpp.

References position_setpoint_s::alt, position_setpoint_s::lat, and position_setpoint_s::lon.

Referenced by _evaluateTriplets().

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◆ _limitYawRate()

void FlightTaskAuto::_limitYawRate ( )

private

Limits the rate of change of the yaw setpoint.

Definition at line 94 of file FlightTaskAuto.cpp.

References FlightTask::_deltatime, FlightTask::_yaw_setpoint, _yaw_sp_aligned, _yaw_sp_prev, FlightTask::_yawspeed_setpoint, math::constrain(), math::radians(), and matrix::wrap_pi().

Referenced by updateFinalize().

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◆ _set_heading_from_mode()

void FlightTaskAuto::_set_heading_from_mode ( )

private

See also: MPC_YAW_MODE

Definition at line 287 of file FlightTaskAuto.cpp.

References _compute_heading_from_2D_vector(), FlightTask::_position, _sub_home_position, _target, _target_acceptance_radius, FlightTask::_yaw, _yaw_lock, FlightTask::_yaw_setpoint, uORB::SubscriptionData< T >::get(), matrix::Vector< Type, M >::length(), matrix::Matrix< Type, M, N >::setAll(), home_position_s::valid_hpos, and home_position_s::x.

Referenced by _evaluateTriplets().

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◆ _setDefaultConstraints()

void FlightTaskAuto::_setDefaultConstraints ( )

overrideprotectedvirtual

Set constraints to default values.

Reimplemented from FlightTask.

Definition at line 381 of file FlightTaskAuto.cpp.

References FlightTask::_constraints, FlightTask::_setDefaultConstraints(), and vehicle_constraints_s::speed_xy.

Referenced by activate().

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◆ _updateInternalWaypoints()

void FlightTaskAuto::_updateInternalWaypoints ( )

protected

Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack).

Definition at line 436 of file FlightTaskAuto.cpp.

References _closest_pt, _current_state, _next_wp, FlightTask::_position, _prev_wp, _target, _triplet_next_wp, _triplet_prev_wp, _triplet_target, none, offtrack, previous_infront, and target_behind.

Referenced by _evaluateTriplets().

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◆ activate()

bool FlightTaskAuto::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.

Reimplemented in FlightTaskAutoLineSmoothVel, FlightTaskAutoMapper, and FlightTaskAutoMapper2.

Definition at line 51 of file FlightTaskAuto.cpp.

References FlightTask::_position, FlightTask::_position_setpoint, _setDefaultConstraints(), FlightTask::_velocity, FlightTask::_velocity_setpoint, FlightTask::_yaw, FlightTask::_yaw_setpoint, _yaw_sp_prev, FlightTask::_yawspeed_setpoint, and FlightTask::activate().

Referenced by FlightTaskAutoMapper::activate(), and FlightTaskAutoMapper2::activate().

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◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

FlightTaskAuto::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

◆ setYawHandler()

void FlightTaskAuto::setYawHandler ( WeatherVane * ext_yaw_handler )

inlineoverridevirtual

Sets an external yaw handler which can be used to implement a different yaw control strategy.

Reimplemented from FlightTask.

Definition at line 87 of file FlightTaskAuto.hpp.

◆ updateFinalize()

bool FlightTaskAuto::updateFinalize ( )

overridevirtual

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

Returns: true on success, false on error

Reimplemented from FlightTask.

Definition at line 84 of file FlightTaskAuto.cpp.

References FlightTask::_checkTakeoff(), FlightTask::_constraints, _limitYawRate(), and vehicle_constraints_s::want_takeoff.

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◆ updateInitialize()

bool FlightTaskAuto::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 62 of file FlightTaskAuto.cpp.

References _evaluateGlobalReference(), _evaluateTriplets(), FlightTask::_position, _sub_home_position, _sub_manual_control_setpoint, _sub_triplet_setpoint, _sub_vehicle_status, FlightTask::_velocity, uORB::SubscriptionData< T >::update(), and FlightTask::updateInitialize().

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Member Data Documentation

◆ _closest_pt

matrix::Vector2f FlightTaskAuto::_closest_pt

private

closest point to the vehicle position on the line previous - target

Definition at line 139 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), _getCurrentState(), and _updateInternalWaypoints().

◆ _current_state

State FlightTaskAuto::_current_state {State::none}

protected

Definition at line 106 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), and _updateInternalWaypoints().

◆ _ext_yaw_handler

WeatherVane* FlightTaskAuto::_ext_yaw_handler {nullptr}

private

external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind

Definition at line 145 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets().

◆ _lock_position_xy

matrix::Vector2f FlightTaskAuto::_lock_position_xy {NAN, NAN}

private

if no valid triplet is received, lock positition to current position

Definition at line 128 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets().

◆ _mc_cruise_speed

float FlightTaskAuto::_mc_cruise_speed {0.0f}

protected

Requested cruise speed.

If not valid, default cruise speed is used.

Definition at line 99 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), and _getCurrentState().

◆ _mission_gear

int FlightTaskAuto::_mission_gear {landing_gear_s::GEAR_KEEP}

protected

Definition at line 108 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets().

◆ _next_wp

matrix::Vector3f FlightTaskAuto::_next_wp {}

protected

The next waypoint after target (local frame).

If no next setpoint is available, next is set to target.

Definition at line 98 of file FlightTaskAuto.hpp.

Referenced by _updateInternalWaypoints().

◆ _obstacle_avoidance

ObstacleAvoidance FlightTaskAuto::_obstacle_avoidance

protected

class adjusting setpoints according to external avoidance module's input

Definition at line 113 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets().

◆ _prev_prev_wp

matrix::Vector3f FlightTaskAuto::_prev_prev_wp {}

protected

Pre-previous waypoint (local frame).

This will be used for smoothing trajectories -> not used yet.

Definition at line 95 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets().

◆ _prev_wp

matrix::Vector3f FlightTaskAuto::_prev_wp {}

protected

Previous waypoint (local frame).

If no previous triplet is available, the prev_wp is set to current position.

Definition at line 96 of file FlightTaskAuto.hpp.

Referenced by _updateInternalWaypoints().

◆ _reference_altitude

float FlightTaskAuto::_reference_altitude {NAN}

private

Altitude relative to ground.

Definition at line 142 of file FlightTaskAuto.hpp.

Referenced by _evaluateGlobalReference(), and _evaluateTriplets().

◆ _reference_position

map_projection_reference_s FlightTaskAuto::_reference_position {}

private

Structure used to project lat/lon setpoint into local frame.

Definition at line 141 of file FlightTaskAuto.hpp.

Referenced by _evaluateGlobalReference(), and _evaluateTriplets().

◆ _sub_home_position

uORB::SubscriptionData<home_position_s> FlightTaskAuto::_sub_home_position {ORB_ID(home_position)}

protected

Definition at line 102 of file FlightTaskAuto.hpp.

Referenced by _set_heading_from_mode(), and updateInitialize().

◆ _sub_manual_control_setpoint

uORB::SubscriptionData<manual_control_setpoint_s> FlightTaskAuto::_sub_manual_control_setpoint {ORB_ID(manual_control_setpoint)}

protected

Definition at line 103 of file FlightTaskAuto.hpp.

Referenced by updateInitialize().

◆ _sub_triplet_setpoint

uORB::SubscriptionData<position_setpoint_triplet_s> FlightTaskAuto::_sub_triplet_setpoint {ORB_ID(position_setpoint_triplet)}

private

Definition at line 131 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), _getTargetVelocityXY(), and updateInitialize().

◆ _sub_vehicle_status

uORB::SubscriptionData<vehicle_status_s> FlightTaskAuto::_sub_vehicle_status {ORB_ID(vehicle_status)}

protected

Definition at line 104 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), and updateInitialize().

◆ _target

matrix::Vector3f FlightTaskAuto::_target {}

protected

Target waypoint (local frame).

Definition at line 97 of file FlightTaskAuto.hpp.

Referenced by _set_heading_from_mode(), and _updateInternalWaypoints().

◆ _target_acceptance_radius

float FlightTaskAuto::_target_acceptance_radius {0.0f}

protected

Acceptances radius of the target.

Definition at line 107 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), and _set_heading_from_mode().

◆ _time_stamp_reference

hrt_abstime FlightTaskAuto::_time_stamp_reference {0}

private

time stamp when last reference update occured.

Definition at line 143 of file FlightTaskAuto.hpp.

Referenced by _evaluateGlobalReference().

◆ _triplet_next_wp

matrix::Vector3f FlightTaskAuto::_triplet_next_wp

private

next triplet from navigator which may differ from the intenal one (_next_wp) depending on the vehicle state.

Definition at line 138 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), and _updateInternalWaypoints().

◆ _triplet_prev_wp

matrix::Vector3f FlightTaskAuto::_triplet_prev_wp

private

previous triplet from navigator which may differ from the intenal one (_prev_wp) depending on the vehicle state.

Definition at line 136 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), _getCurrentState(), and _updateInternalWaypoints().

◆ _triplet_target

matrix::Vector3f FlightTaskAuto::_triplet_target

private

current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state.

Definition at line 134 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets(), _getCurrentState(), and _updateInternalWaypoints().

◆ _type

WaypointType FlightTaskAuto::_type {WaypointType::idle}

protected

Type of current target triplet.

Definition at line 100 of file FlightTaskAuto.hpp.

Referenced by _evaluateTriplets().

◆ _yaw_lock

bool FlightTaskAuto::_yaw_lock {false}

private

if within acceptance radius, lock yaw to current yaw

Definition at line 129 of file FlightTaskAuto.hpp.

Referenced by _set_heading_from_mode().

◆ _yaw_sp_aligned

bool FlightTaskAuto::_yaw_sp_aligned {false}

protected

Definition at line 111 of file FlightTaskAuto.hpp.

Referenced by _limitYawRate().

◆ _yaw_sp_prev

float FlightTaskAuto::_yaw_sp_prev {NAN}

protected

Definition at line 110 of file FlightTaskAuto.hpp.

Referenced by _limitYawRate(), and activate().

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

src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.hpp
src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlightTaskAuto()

◆ ~FlightTaskAuto()

Member Function Documentation

◆ _compute_heading_from_2D_vector()

◆ _evaluateGlobalReference()

◆ _evaluateTriplets()

◆ _getCurrentState()

◆ _getTargetVelocityXY()

◆ _isFinite()

◆ _limitYawRate()

◆ _set_heading_from_mode()

◆ _setDefaultConstraints()

◆ _updateInternalWaypoints()

◆ activate()

◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

◆ setYawHandler()

◆ updateFinalize()

◆ updateInitialize()

Member Data Documentation

◆ _closest_pt

◆ _current_state

◆ _ext_yaw_handler

◆ _lock_position_xy

◆ _mc_cruise_speed

◆ _mission_gear

◆ _next_wp

◆ _obstacle_avoidance

◆ _prev_prev_wp

◆ _prev_wp

◆ _reference_altitude

◆ _reference_position

◆ _sub_home_position

◆ _sub_manual_control_setpoint

◆ _sub_triplet_setpoint

◆ _sub_vehicle_status

◆ _target

◆ _target_acceptance_radius

◆ _time_stamp_reference

◆ _triplet_next_wp

◆ _triplet_prev_wp

◆ _triplet_target

◆ _type

◆ _yaw_lock

◆ _yaw_sp_aligned

◆ _yaw_sp_prev