#include <Takeoff.hpp>

Inheritance diagram for Takeoff:

Collaboration diagram for Takeoff:

Public Member Functions
	Takeoff ()=default

	~Takeoff ()=default

void	setTakeoffRampTime (const float seconds)

void	setSpoolupTime (const float seconds)

void	generateInitialRampValue (const float hover_thrust, const float velocity_p_gain)
	Calculate a vertical velocity to initialize the takeoff ramp that when passed to the velocity controller results in a zero throttle setpoint. More...

void	updateTakeoffState (const bool armed, const bool landed, const bool want_takeoff, const float takeoff_desired_vz, const bool skip_takeoff, const hrt_abstime &now_us)
	Update the state for the takeoff. More...

float	updateRamp (const float dt, const float takeoff_desired_vz)
	Update and return the velocity constraint ramp value during takeoff. More...

TakeoffState	getTakeoffState ()

	Takeoff (Navigator *navigator)

	~Takeoff ()=default

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_inactive ()
	This function is called while the mode is inactive. More...

virtual void	on_inactivation ()
	This function is called one time when mode becomes inactive. More...

Private Member Functions
void	set_takeoff_position ()

Private Attributes
TakeoffState	_takeoff_state = TakeoffState::disarmed

float	_takeoff_ramp_time = 0.f

float	_takeoff_ramp_vz_init = 0.f

float	_takeoff_ramp_vz = 0.f

systemlib::Hysteresis	_spoolup_time_hysteresis {false}
	becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed More...

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 55 of file Takeoff.hpp.

Constructor & Destructor Documentation

◆ Takeoff() [1/2]

Takeoff::Takeoff ( )

default

◆ ~Takeoff() [1/2]

Takeoff::~Takeoff ( )

default

◆ Takeoff() [2/2]

Takeoff::Takeoff ( Navigator * navigator )

Definition at line 44 of file takeoff.cpp.

◆ ~Takeoff() [2/2]

Takeoff::~Takeoff ( )

default

Member Function Documentation

◆ generateInitialRampValue()

void Takeoff::generateInitialRampValue	(	const float	hover_thrust,
		const float	velocity_p_gain
	)

Calculate a vertical velocity to initialize the takeoff ramp that when passed to the velocity controller results in a zero throttle setpoint.

Parameters

hover_thrust	normalized thrsut value with which the vehicle hovers
velocity_p_gain	proportional gain of the velocity controller to calculate the thrust

Definition at line 41 of file Takeoff.cpp.

References _takeoff_ramp_vz_init, f(), and math::max().

Referenced by MulticopterPositionControl::parameters_update().

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◆ getTakeoffState()

TakeoffState Takeoff::getTakeoffState ( )

inline

Definition at line 91 of file Takeoff.hpp.

Referenced by MulticopterPositionControl::Run(), and TEST().

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◆ on_activation()

void Takeoff::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 50 of file takeoff.cpp.

References set_takeoff_position().

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◆ on_active()

void Takeoff::on_active ( )

overridevirtual

This function is called while the mode is active.

Reimplemented from NavigatorMode.

Definition at line 56 of file takeoff.cpp.

References MissionBlock::_mission_item, NavigatorMode::_navigator, position_setpoint_triplet_s::current, mission_result_s::finished, Navigator::get_mission_result(), Navigator::get_position_setpoint_triplet(), Navigator::get_takeoff_triplet(), MissionBlock::is_mission_item_reached(), MissionBlock::mission_apply_limitation(), MissionBlock::mission_item_to_position_setpoint(), MissionBlock::set_loiter_item(), Navigator::set_mission_result_updated(), Navigator::set_position_setpoint_triplet_updated(), set_takeoff_position(), and position_setpoint_s::valid.

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◆ set_takeoff_position()

void Takeoff::set_takeoff_position ( )

private

Definition at line 78 of file takeoff.cpp.

References MissionBlock::_mission_item, NavigatorMode::_navigator, vehicle_global_position_s::alt, position_setpoint_s::alt, position_setpoint_triplet_s::current, f(), mission_result_s::finished, Navigator::get_global_position(), Navigator::get_mavlink_log_pub(), Navigator::get_mission_result(), Navigator::get_position_setpoint_triplet(), Navigator::get_takeoff_min_alt(), Navigator::get_takeoff_triplet(), Navigator::home_position_valid(), position_setpoint_s::lat, position_setpoint_s::lon, mavlink_log_critical, mavlink_log_info, MissionBlock::mission_apply_limitation(), MissionBlock::mission_item_to_position_setpoint(), position_setpoint_triplet_s::next, 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(), MissionBlock::set_takeoff_item(), position_setpoint_s::valid, position_setpoint_s::yaw, and position_setpoint_s::yaw_valid.

Referenced by on_activation(), and on_active().

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◆ setSpoolupTime()

void Takeoff::setSpoolupTime ( const float seconds )

inline

Definition at line 63 of file Takeoff.hpp.

References armed, dt, and hrt_abstime.

Referenced by MulticopterPositionControl::parameters_update().

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◆ setTakeoffRampTime()

void Takeoff::setTakeoffRampTime ( const float seconds )

inline

Definition at line 62 of file Takeoff.hpp.

Referenced by MulticopterPositionControl::parameters_update().

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◆ updateRamp()

float Takeoff::updateRamp	(	const float	dt,
		const float	takeoff_desired_vz
	)

Update and return the velocity constraint ramp value during takeoff.

By ramping up _takeoff_ramp_vz during the takeoff and using it to constain the maximum climb rate a smooth takeoff behavior is achieved. Returns zero on the ground and takeoff_desired_vz in flight.

Parameters

dt	time in seconds since the last call/loop iteration
takeoff_desired_vz	end value for the velocity ramp

Returns: true if setpoint has updated correctly

Definition at line 111 of file Takeoff.cpp.

References _takeoff_ramp_time, _takeoff_ramp_vz, _takeoff_ramp_vz_init, _takeoff_state, and rampup.

Referenced by MulticopterPositionControl::Run().

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◆ updateTakeoffState()

void Takeoff::updateTakeoffState	(	const bool	armed,
		const bool	landed,
		const bool	want_takeoff,
		const float	takeoff_desired_vz,
		const bool	skip_takeoff,
		const hrt_abstime &	now_us
	)

Update the state for the takeoff.

Parameters

setpoint a vehicle_local_position_setpoint_s structure

Returns: true if setpoint has updated correctly

Definition at line 47 of file Takeoff.cpp.

References _spoolup_time_hysteresis, _takeoff_ramp_vz, _takeoff_ramp_vz_init, _takeoff_state, disarmed, flight, systemlib::Hysteresis::get_state(), rampup, ready_for_takeoff, systemlib::Hysteresis::set_state_and_update(), and spoolup.

Referenced by MulticopterPositionControl::Run().

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Member Data Documentation

◆ _spoolup_time_hysteresis

systemlib::Hysteresis Takeoff::_spoolup_time_hysteresis {false}

private

becomes true MPC_SPOOLUP_TIME seconds after the vehicle was armed

Definition at line 100 of file Takeoff.hpp.

Referenced by updateTakeoffState().

◆ _takeoff_ramp_time

float Takeoff::_takeoff_ramp_time = 0.f

private

Definition at line 96 of file Takeoff.hpp.

Referenced by updateRamp().

◆ _takeoff_ramp_vz

float Takeoff::_takeoff_ramp_vz = 0.f

private

Definition at line 98 of file Takeoff.hpp.

Referenced by updateRamp(), and updateTakeoffState().

◆ _takeoff_ramp_vz_init

float Takeoff::_takeoff_ramp_vz_init = 0.f

private

Definition at line 97 of file Takeoff.hpp.

Referenced by generateInitialRampValue(), updateRamp(), and updateTakeoffState().

◆ _takeoff_state

TakeoffState Takeoff::_takeoff_state = TakeoffState::disarmed

private

Definition at line 94 of file Takeoff.hpp.

Referenced by updateRamp(), and updateTakeoffState().

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

src/modules/mc_pos_control/Takeoff/Takeoff.hpp
src/modules/navigator/takeoff.h
src/modules/mc_pos_control/Takeoff/Takeoff.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Takeoff() [1/2]

◆ ~Takeoff() [1/2]

◆ Takeoff() [2/2]

◆ ~Takeoff() [2/2]

Member Function Documentation

◆ generateInitialRampValue()

◆ getTakeoffState()

◆ on_activation()

◆ on_active()

◆ set_takeoff_position()

◆ setSpoolupTime()

◆ setTakeoffRampTime()

◆ updateRamp()

◆ updateTakeoffState()

Member Data Documentation

◆ _spoolup_time_hysteresis

◆ _takeoff_ramp_time

◆ _takeoff_ramp_vz

◆ _takeoff_ramp_vz_init

◆ _takeoff_state