#include <rtl.h>

Inheritance diagram for RTL:

Collaboration diagram for RTL:

Classes
struct	RTLPosition

Public Types
enum	RTLType { RTL_HOME = 0, RTL_LAND, RTL_MISSION, RTL_CLOSEST }

enum	RTLDestinationType { RTL_DESTINATION_HOME = 0, RTL_DESTINATION_MISSION_LANDING, RTL_DESTINATION_SAFE_POINT }

Public Member Functions
	RTL (Navigator *navigator)

	~RTL ()=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...

void	find_RTL_destination ()

void	set_return_alt_min (bool min)

int	rtl_type () const

int	rtl_destination ()

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 Types
enum	RTLState { RTL_STATE_NONE = 0, RTL_STATE_CLIMB, RTL_STATE_RETURN, RTL_STATE_TRANSITION_TO_MC, RTL_STATE_DESCEND, RTL_STATE_LOITER, RTL_STATE_LAND, RTL_STATE_LANDED }

Private Member Functions
void	set_rtl_item ()
	Set the RTL item. More...

void	advance_rtl ()
	Move to next RTL item. More...

float	calculate_return_alt_from_cone_half_angle (float cone_half_angle_deg)

Private Attributes
enum RTL::RTLState	RTL_STATE_NONE

RTLPosition	_destination {}
	the RTL position to fly to (typically the home position or a safe point) More...

float	_rtl_alt {0.0f}

bool	_rtl_alt_min {false}

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 53 of file rtl.h.

Member Enumeration Documentation

◆ RTLDestinationType

enum RTL::RTLDestinationType

Enumerator
RTL_DESTINATION_HOME
RTL_DESTINATION_MISSION_LANDING
RTL_DESTINATION_SAFE_POINT

Definition at line 63 of file rtl.h.

◆ RTLState

enum RTL::RTLState

private

Enumerator
RTL_STATE_NONE
RTL_STATE_CLIMB
RTL_STATE_RETURN
RTL_STATE_TRANSITION_TO_MC
RTL_STATE_DESCEND
RTL_STATE_LOITER
RTL_STATE_LAND
RTL_STATE_LANDED

Definition at line 99 of file rtl.h.

◆ RTLType

enum RTL::RTLType

Enumerator
RTL_HOME
RTL_LAND
RTL_MISSION
RTL_CLOSEST

Definition at line 56 of file rtl.h.

Constructor & Destructor Documentation

◆ RTL()

RTL::RTL ( Navigator * navigator )

Definition at line 49 of file rtl.cpp.

◆ ~RTL()

RTL::~RTL ( )

default

Member Function Documentation

◆ advance_rtl()

void RTL::advance_rtl ( )

private

Move to next RTL item.

Definition at line 423 of file rtl.cpp.

References NavigatorMode::_navigator, DELAY_SIGMA, Navigator::get_vstatus(), vehicle_status_s::is_vtol, RTL_STATE_CLIMB, RTL_STATE_DESCEND, RTL_STATE_LAND, RTL_STATE_LANDED, RTL_STATE_LOITER, RTL_STATE_RETURN, RTL_STATE_TRANSITION_TO_MC, vehicle_status_s::vehicle_type, and VEHICLE_TYPE_FIXED_WING.

Referenced by on_active().

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◆ calculate_return_alt_from_cone_half_angle()

float RTL::calculate_return_alt_from_cone_half_angle ( float cone_half_angle_deg )

private

Definition at line 477 of file rtl.cpp.

References _destination, NavigatorMode::_navigator, vehicle_global_position_s::alt, RTL::RTLPosition::alt, math::constrain(), f(), get_distance_to_next_waypoint(), Navigator::get_global_position(), vehicle_global_position_s::lat, RTL::RTLPosition::lat, vehicle_global_position_s::lon, RTL::RTLPosition::lon, math::max(), and math::radians().

Referenced by on_activation().

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◆ find_RTL_destination()

void RTL::find_RTL_destination ( )

Definition at line 66 of file rtl.cpp.

References _destination, NavigatorMode::_navigator, home_position_s::alt, RTL::RTLPosition::alt, DM_KEY_SAFE_POINTS, dm_read(), Navigator::get_global_position(), Navigator::get_home_position(), Navigator::get_mavlink_log_pub(), Navigator::get_mission_landing_alt(), Navigator::get_mission_landing_lat(), Navigator::get_mission_landing_lon(), Navigator::get_mission_start_land_available(), home_position_s::lat, vehicle_global_position_s::lat, RTL::RTLPosition::lat, mission_safe_point_s::lat, home_position_s::lon, vehicle_global_position_s::lon, RTL::RTLPosition::lon, mission_safe_point_s::lon, mavlink_log_critical, mission_stats_entry_s::num_items, RTL_CLOSEST, RTL_DESTINATION_HOME, RTL_DESTINATION_MISSION_LANDING, RTL_DESTINATION_SAFE_POINT, RTL_HOME, RTL_MISSION, rtl_type(), RTL::RTLPosition::set(), RTL::RTLPosition::type, home_position_s::yaw, and RTL::RTLPosition::yaw.

Referenced by on_inactive().

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◆ on_activation()

void RTL::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 177 of file rtl.cpp.

References _destination, NavigatorMode::_navigator, _rtl_alt, _rtl_alt_min, vehicle_global_position_s::alt, RTL::RTLPosition::alt, calculate_return_alt_from_cone_half_angle(), Navigator::get_global_position(), Navigator::get_land_detected(), Navigator::get_mavlink_log_pub(), vehicle_land_detected_s::landed, mavlink_and_console_log_info, Navigator::on_mission_landing(), RTL_DESTINATION_HOME, RTL_DESTINATION_MISSION_LANDING, RTL_DESTINATION_SAFE_POINT, RTL_STATE_CLIMB, RTL_STATE_LANDED, RTL_STATE_RETURN, set_rtl_item(), and RTL::RTLPosition::type.

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◆ on_active()

void RTL::on_active ( )

overridevirtual

This function is called while the mode is active.

Reimplemented from NavigatorMode.

Definition at line 221 of file rtl.cpp.

References advance_rtl(), MissionBlock::is_mission_item_reached(), RTL_STATE_LANDED, and set_rtl_item().

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◆ on_inactive()

void RTL::on_inactive ( )

overridevirtual

This function is called while the mode is inactive.

Reimplemented from NavigatorMode.

Definition at line 56 of file rtl.cpp.

References find_RTL_destination(), and RTL_STATE_NONE.

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◆ rtl_destination()

int RTL::rtl_destination ( )

◆ rtl_type()

int RTL::rtl_type ( ) const

Definition at line 171 of file rtl.cpp.

Referenced by find_RTL_destination(), Navigator::mission_landing_required(), and Navigator::rtl_type().

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◆ set_return_alt_min()

void RTL::set_return_alt_min ( bool min )

Definition at line 230 of file rtl.cpp.

References _rtl_alt_min, and math::min().

Referenced by Navigator::check_traffic(), and set_rtl_item().

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◆ set_rtl_item()

void RTL::set_rtl_item ( )

private

Set the RTL item.

Definition at line 236 of file rtl.cpp.

References _destination, MissionBlock::_mission_item, NavigatorMode::_navigator, _rtl_alt, mission_item_s::acceptance_radius, vehicle_global_position_s::alt, RTL::RTLPosition::alt, mission_item_s::altitude, mission_item_s::altitude_is_relative, mission_item_s::autocontinue, position_setpoint_triplet_s::current, FLT_EPSILON, Navigator::get_acceptance_radius(), get_bearing_to_next_waypoint(), get_distance_to_next_waypoint(), Navigator::get_global_position(), Navigator::get_local_position(), Navigator::get_loiter_radius(), Navigator::get_mavlink_log_pub(), Navigator::get_position_setpoint_triplet(), MissionBlock::get_time_inside(), Navigator::get_vstatus(), vehicle_status_s::is_vtol, MissionBlock::issue_command(), MissionBlock::item_contains_position(), vehicle_global_position_s::lat, RTL::RTLPosition::lat, mission_item_s::lat, mission_item_s::loiter_radius, vehicle_global_position_s::lon, RTL::RTLPosition::lon, mission_item_s::lon, mavlink_and_console_log_info, mavlink_log_critical, math::max(), math::min(), MissionBlock::mission_apply_limitation(), MissionBlock::mission_item_to_position_setpoint(), mission_item_s::nav_cmd, NAV_CMD_LAND, NAV_CMD_LOITER_TIME_LIMIT, NAV_CMD_LOITER_UNLIMITED, NAV_CMD_WAYPOINT, mission_item_s::origin, ORIGIN_ONBOARD, position_setpoint_triplet_s::previous, MissionBlock::reset_mission_item_reached(), RTL_DESTINATION_MISSION_LANDING, RTL_STATE_CLIMB, RTL_STATE_DESCEND, RTL_STATE_LAND, RTL_STATE_LANDED, RTL_STATE_LOITER, RTL_STATE_RETURN, RTL_STATE_TRANSITION_TO_MC, Navigator::set_can_loiter_at_sp(), MissionBlock::set_idle_item(), Navigator::set_position_setpoint_triplet_updated(), set_return_alt_min(), MissionBlock::set_vtol_transition_item(), Navigator::start_mission_landing(), mission_item_s::time_inside, RTL::RTLPosition::type, position_setpoint_s::valid, vehicle_local_position_s::yaw, RTL::RTLPosition::yaw, and mission_item_s::yaw.

Referenced by on_activation(), and on_active().

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Member Data Documentation

◆ _destination

RTLPosition RTL::_destination {}

private

the RTL position to fly to (typically the home position or a safe point)

Definition at line 129 of file rtl.h.

Referenced by calculate_return_alt_from_cone_half_angle(), find_RTL_destination(), on_activation(), and set_rtl_item().

◆ _rtl_alt

float RTL::_rtl_alt {0.0f}

private

Definition at line 131 of file rtl.h.

Referenced by on_activation(), and set_rtl_item().

◆ _rtl_alt_min

bool RTL::_rtl_alt_min {false}

private

Definition at line 132 of file rtl.h.

Referenced by on_activation(), and set_return_alt_min().

◆ RTL_STATE_NONE

enum RTL::RTLState RTL::RTL_STATE_NONE

private

Referenced by on_inactive().

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

src/modules/navigator/rtl.h
src/modules/navigator/rtl.cpp

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ RTLDestinationType

◆ RTLState

◆ RTLType

Constructor & Destructor Documentation

◆ RTL()

◆ ~RTL()

Member Function Documentation

◆ advance_rtl()

◆ calculate_return_alt_from_cone_half_angle()

◆ find_RTL_destination()

◆ on_activation()

◆ on_active()

◆ on_inactive()

◆ rtl_destination()

◆ rtl_type()

◆ set_return_alt_min()

◆ set_rtl_item()

Member Data Documentation

◆ _destination

◆ _rtl_alt

◆ _rtl_alt_min

◆ RTL_STATE_NONE