#include <FlightTaskManualAltitude.hpp>

Inheritance diagram for FlightTaskManualAltitude:

Collaboration diagram for FlightTaskManualAltitude:

Public Member Functions
	FlightTaskManualAltitude ()=default

virtual	~FlightTaskManualAltitude ()=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	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 void	reActivate ()
	Call this to reset an active Flight Task. More...

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...

virtual void	setYawHandler (WeatherVane *ext_yaw_handler)
	Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy. More...

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

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

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

virtual void	_updateSetpoints ()
	updates all setpoints More...

virtual void	_scaleSticks ()
	scales sticks to velocity in z 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 ()

virtual void	_ekfResetHandlerPositionXY ()

virtual void	_ekfResetHandlerVelocityXY ()

virtual void	_ekfResetHandlerPositionZ ()

virtual void	_ekfResetHandlerVelocityZ ()

Protected Attributes
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...

Detailed Description

Definition at line 45 of file FlightTaskManualAltitude.hpp.

Constructor & Destructor Documentation

◆ FlightTaskManualAltitude()

FlightTaskManualAltitude::FlightTaskManualAltitude ( )

default

◆ ~FlightTaskManualAltitude()

virtual FlightTaskManualAltitude::~FlightTaskManualAltitude ( )

virtualdefault

Member Function Documentation

◆ _applyYawspeedFilter()

float FlightTaskManualAltitude::_applyYawspeedFilter ( float yawspeed_target )

protected

Filter between stick input and yaw setpoint.

Parameters

yawspeed_target yaw setpoint desired by the stick

Returns: filtered value from independent filter state

Definition at line 97 of file FlightTaskManualAltitude.cpp.

References math::max().

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◆ _checkTakeoff()

bool FlightTaskManualAltitude::_checkTakeoff ( )

overrideprotectedvirtual

Determine when to trigger a takeoff (ignored in flight)

Reimplemented from FlightTask.

Definition at line 366 of file FlightTaskManualAltitude.cpp.

◆ _ekfResetHandlerHeading()

void FlightTaskManualAltitude::_ekfResetHandlerHeading ( float delta_psi )

overrideprotectedvirtual

adjust heading setpoint in case of EKF reset event

Reimplemented from FlightTask.

Definition at line 334 of file FlightTaskManualAltitude.cpp.

◆ _lockYaw()

void FlightTaskManualAltitude::_lockYaw ( )

protected

Definition at line 326 of file FlightTaskManualAltitude.cpp.

◆ _respectGroundSlowdown()

void FlightTaskManualAltitude::_respectGroundSlowdown ( )

protected

Sets downwards velocity constraint based on the distance to ground.

To ensure a slowdown to land speed before hitting the ground.

Definition at line 268 of file FlightTaskManualAltitude.cpp.

References math::constrain(), and math::gradual().

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◆ _respectMaxAltitude()

void FlightTaskManualAltitude::_respectMaxAltitude ( )

protected

Definition at line 238 of file FlightTaskManualAltitude.cpp.

References math::constrain(), f(), and math::min().

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◆ _respectMinAltitude()

void FlightTaskManualAltitude::_respectMinAltitude ( )

protected

Minimum Altitude during range sensor operation.

If a range sensor is used for altitude estimates, for best operation a minimum altitude is required. The minimum altitude is only enforced during altitude lock.

Definition at line 199 of file FlightTaskManualAltitude.cpp.

◆ _rotateIntoHeadingFrame()

void FlightTaskManualAltitude::_rotateIntoHeadingFrame ( matrix::Vector2f & vec )

protected

rotates vector into local frame

Definition at line 292 of file FlightTaskManualAltitude.cpp.

References f().

Referenced by FlightTaskManualPosition::_scaleSticks().

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◆ _scaleSticks()

void FlightTaskManualAltitude::_scaleSticks ( )

protectedvirtual

scales sticks to velocity in z

Reimplemented in FlightTaskManualPosition.

Definition at line 86 of file FlightTaskManualAltitude.cpp.

References math::radians().

Referenced by FlightTaskManualPosition::_scaleSticks().

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◆ _terrainFollowing()

void FlightTaskManualAltitude::_terrainFollowing	(	bool	apply_brake,
		bool	stopped
	)

protected

Terrain following.

During terrain following, the position setpoint is adjusted such that the distance to ground is kept constant.

Parameters

apply_brake	is true if user wants to break
stopped	is true if vehicle has stopped moving in D-direction

Definition at line 212 of file FlightTaskManualAltitude.cpp.

◆ _unlockYaw()

void FlightTaskManualAltitude::_unlockYaw ( )

protected

Definition at line 320 of file FlightTaskManualAltitude.cpp.

◆ _updateAltitudeLock()

void FlightTaskManualAltitude::_updateAltitudeLock ( )

protected

Check and sets for position lock.

If sticks are at center position, the vehicle will exit velocity control and enter position control.

Definition at line 105 of file FlightTaskManualAltitude.cpp.

References FLT_EPSILON.

Referenced by FlightTaskManualAltitudeSmooth::_updateSetpoints(), and FlightTaskManualPositionSmooth::_updateSetpoints().

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◆ _updateHeadingSetpoints()

void FlightTaskManualAltitude::_updateHeadingSetpoints ( )

protected

sets yaw or yaw speed

Definition at line 300 of file FlightTaskManualAltitude.cpp.

◆ _updateSetpoints()

void FlightTaskManualAltitude::_updateSetpoints ( )

protectedvirtual

updates all setpoints

Reimplemented in FlightTaskManualPosition, FlightTaskManualPositionSmoothVel, FlightTaskManualAltitudeSmoothVel, FlightTaskManualPositionSmooth, and FlightTaskManualAltitudeSmooth.

Definition at line 342 of file FlightTaskManualAltitude.cpp.

References matrix::Vector< Type, M >::length(), and matrix::Vector< Type, M >::normalize().

Referenced by FlightTaskManualAltitudeSmooth::_updateSetpoints(), FlightTaskManualAltitudeSmoothVel::_updateSetpoints(), and FlightTaskManualPosition::_updateSetpoints().

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◆ activate()

bool FlightTaskManualAltitude::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 FlightTaskManualPositionSmoothVel, FlightTaskOrbit, FlightTaskSport, FlightTaskManualPosition, and FlightTaskManualAltitudeSmoothVel.

Definition at line 54 of file FlightTaskManualAltitude.cpp.

References FlightTask::activate(), f(), and math::radians().

Referenced by FlightTaskManualAltitudeSmoothVel::activate(), FlightTaskManualPosition::activate(), and FlightTaskOrbit::activate().

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◆ update()

bool FlightTaskManualAltitude::update ( )

overridevirtual

To be called regularly in the control loop cycle to execute the task.

Returns: true on success, false on error

Implements FlightTask.

Reimplemented in FlightTaskOrbit.

Definition at line 372 of file FlightTaskManualAltitude.cpp.

Referenced by FlightTaskOrbit::update().

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◆ updateInitialize()

bool FlightTaskManualAltitude::updateInitialize ( )

overridevirtual

Call before activate() or update() to initialize time and input data.

Returns: true on success, false on error

Reimplemented from FlightTaskManual.

Reimplemented in FlightTaskManualPosition.

Definition at line 44 of file FlightTaskManualAltitude.cpp.

References FlightTaskManual::updateInitialize().

Referenced by FlightTaskManualPosition::updateInitialize().

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Member Data Documentation

◆ _dist_to_ground_lock

float FlightTaskManualAltitude::_dist_to_ground_lock = NAN

protected

Distance to ground during terrain following.

If user does not demand velocity change in D-direction and the vehcile is in terrain-following mode, then height to ground will be locked to _dist_to_ground_lock.

Definition at line 141 of file FlightTaskManualAltitude.hpp.

◆ _max_speed_up

float FlightTaskManualAltitude::_max_speed_up = 10.0f

protected

Definition at line 130 of file FlightTaskManualAltitude.hpp.

◆ _min_speed_down

float FlightTaskManualAltitude::_min_speed_down = 1.0f

protected

Definition at line 131 of file FlightTaskManualAltitude.hpp.

◆ _reset_counter

uint8_t FlightTaskManualAltitude::_reset_counter = 0

protected

counter for estimator resets in z-direction

Definition at line 129 of file FlightTaskManualAltitude.hpp.

◆ _sub_home_position

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

protected

Definition at line 126 of file FlightTaskManualAltitude.hpp.

◆ _terrain_follow

bool FlightTaskManualAltitude::_terrain_follow {false}

protected

true when the vehicle is following the terrain height

Definition at line 132 of file FlightTaskManualAltitude.hpp.

◆ _terrain_hold

bool FlightTaskManualAltitude::_terrain_hold {false}

protected

true when vehicle is controlling height above a static ground position

Definition at line 133 of file FlightTaskManualAltitude.hpp.

◆ _yawspeed_filter_state

float FlightTaskManualAltitude::_yawspeed_filter_state {}

protected

state of low-pass filter in rad/s

Definition at line 128 of file FlightTaskManualAltitude.hpp.

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

src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlightTaskManualAltitude()

◆ ~FlightTaskManualAltitude()

Member Function Documentation

◆ _applyYawspeedFilter()

◆ _checkTakeoff()

◆ _ekfResetHandlerHeading()

◆ _lockYaw()

◆ _respectGroundSlowdown()

◆ _respectMaxAltitude()

◆ _respectMinAltitude()

◆ _rotateIntoHeadingFrame()

◆ _scaleSticks()

◆ _terrainFollowing()

◆ _unlockYaw()

◆ _updateAltitudeLock()

◆ _updateHeadingSetpoints()

◆ _updateSetpoints()

◆ activate()

◆ update()

◆ updateInitialize()

Member Data Documentation

◆ _dist_to_ground_lock

◆ _max_speed_up

◆ _min_speed_down

◆ _reset_counter

◆ _sub_home_position

◆ _terrain_follow

◆ _terrain_hold

◆ _yawspeed_filter_state