#include <FixedwingPositionControl.hpp>

Inheritance diagram for FixedwingPositionControl:

Collaboration diagram for FixedwingPositionControl:

Public Member Functions
	FixedwingPositionControl ()

	~FixedwingPositionControl () override

void	Run () override

bool	init ()

int	print_status () override

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Types
enum	FW_POSCTRL_MODE { FW_POSCTRL_MODE_AUTO, FW_POSCTRL_MODE_POSITION, FW_POSCTRL_MODE_ALTITUDE, FW_POSCTRL_MODE_OTHER }

Private Member Functions
	DEFINE_PARAMETERS ((ParamFloat< px4::params::FW_GND_SPD_MIN >) _groundspeed_min) int parameters_update()

void	airspeed_poll ()

void	control_update ()

void	vehicle_attitude_poll ()

void	vehicle_command_poll ()

void	vehicle_control_mode_poll ()

void	vehicle_status_poll ()

void	status_publish ()

void	landing_status_publish ()

void	tecs_status_publish ()

void	abort_landing (bool abort)

void	get_waypoint_heading_distance (float heading, position_setpoint_s &waypoint_prev, position_setpoint_s &waypoint_next, bool flag_init)
	Get a new waypoint based on heading and distance from current position. More...

float	get_terrain_altitude_takeoff (float takeoff_alt, const vehicle_global_position_s &global_pos)
	Return the terrain estimate during takeoff or takeoff_alt if terrain estimate is not available. More...

bool	in_takeoff_situation ()
	Check if we are in a takeoff situation. More...

void	do_takeoff_help (float hold_altitude, float pitch_limit_min)
	Do takeoff help when in altitude controlled modes. More...

bool	update_desired_altitude (float dt)
	Update desired altitude base on user pitch stick input. More...

bool	control_position (const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next)

void	control_takeoff (const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)

void	control_landing (const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)

float	get_tecs_pitch ()

float	get_tecs_thrust ()

float	get_demanded_airspeed ()

float	calculate_target_airspeed (float airspeed_demand, const Vector2f &ground_speed)

void	handle_command ()
	Handle incoming vehicle commands. More...

void	reset_takeoff_state (bool force=false)

void	reset_landing_state ()

void	tecs_update_pitch_throttle (float alt_sp, float airspeed_sp, float pitch_min_rad, float pitch_max_rad, float throttle_min, float throttle_max, float throttle_cruise, bool climbout_mode, float climbout_pitch_min_rad, uint8_t mode=tecs_status_s::TECS_MODE_NORMAL)

Private Attributes
orb_advert_t	_mavlink_log_pub {nullptr}

uORB::SubscriptionCallbackWorkItem	_global_pos_sub {this, ORB_ID(vehicle_global_position)}

uORB::Subscription	_control_mode_sub {ORB_ID(vehicle_control_mode)}
	control mode subscription More...

uORB::Subscription	_local_pos_sub {ORB_ID(vehicle_local_position)}

uORB::Subscription	_manual_control_sub {ORB_ID(manual_control_setpoint)}
	notification of manual control updates More...

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
	notification of parameter updates More...

uORB::Subscription	_pos_sp_triplet_sub {ORB_ID(position_setpoint_triplet)}

uORB::Subscription	_sensor_baro_sub {ORB_ID(sensor_baro)}

uORB::Subscription	_vehicle_attitude_sub {ORB_ID(vehicle_attitude)}
	vehicle attitude subscription More...

uORB::Subscription	_vehicle_command_sub {ORB_ID(vehicle_command)}
	vehicle command subscription More...

uORB::Subscription	_vehicle_land_detected_sub {ORB_ID(vehicle_land_detected)}
	vehicle land detected subscription More...

uORB::Subscription	_vehicle_status_sub {ORB_ID(vehicle_status)}
	vehicle status subscription More...

uORB::SubscriptionData< vehicle_angular_velocity_s >	_vehicle_rates_sub {ORB_ID(vehicle_angular_velocity)}

orb_advert_t	_attitude_sp_pub {nullptr}
	attitude setpoint More...

orb_id_t	_attitude_setpoint_id {nullptr}

uORB::Publication< position_controller_status_s >	_pos_ctrl_status_pub {ORB_ID(position_controller_status)}
	navigation capabilities publication More...

uORB::Publication< position_controller_landing_status_s >	_pos_ctrl_landing_status_pub {ORB_ID(position_controller_landing_status)}
	landing status publication More...

uORB::Publication< tecs_status_s >	_tecs_status_pub {ORB_ID(tecs_status)}
	TECS status publication. More...

manual_control_setpoint_s	_manual {}
	r/c channel data More...

position_setpoint_triplet_s	_pos_sp_triplet {}
	triplet of mission items More...

vehicle_attitude_s	_att {}
	vehicle attitude setpoint More...

vehicle_attitude_setpoint_s	_att_sp {}
	vehicle attitude setpoint More...

vehicle_command_s	_vehicle_command {}
	vehicle commands More...

vehicle_control_mode_s	_control_mode {}
	control mode More...

vehicle_global_position_s	_global_pos {}
	global vehicle position More...

vehicle_local_position_s	_local_pos {}
	vehicle local position More...

vehicle_land_detected_s	_vehicle_land_detected {}
	vehicle land detected More...

vehicle_status_s	_vehicle_status {}
	vehicle status More...

SubscriptionData< airspeed_validated_s >	_airspeed_validated_sub {ORB_ID(airspeed_validated)}

SubscriptionData< vehicle_acceleration_s >	_vehicle_acceleration_sub {ORB_ID(vehicle_acceleration)}

perf_counter_t	_loop_perf
	loop performance counter More...

float	_hold_alt {0.0f}
	hold altitude for altitude mode More...

float	_takeoff_ground_alt {0.0f}
	ground altitude at which plane was launched More...

float	_hdg_hold_yaw {0.0f}
	hold heading for velocity mode More...

bool	_hdg_hold_enabled {false}
	heading hold enabled More...

bool	_yaw_lock_engaged {false}
	yaw is locked for heading hold More...

float	_althold_epv {0.0f}
	the position estimate accuracy when engaging alt hold More...

bool	_was_in_deadband {false}
	wether the last stick input was in althold deadband More...

position_setpoint_s	_hdg_hold_prev_wp {}
	position where heading hold started More...

position_setpoint_s	_hdg_hold_curr_wp {}
	position to which heading hold flies More...

hrt_abstime	_control_position_last_called {0}
	last call of control_position More...

bool	_land_noreturn_horizontal {false}

bool	_land_noreturn_vertical {false}

bool	_land_stayonground {false}

bool	_land_motor_lim {false}

bool	_land_onslope {false}

bool	_land_abort {false}

Landingslope	_landingslope

hrt_abstime	_time_started_landing {0}
	time at which landing started More...

float	_t_alt_prev_valid {0}
	last terrain estimate which was valid More...

hrt_abstime	_time_last_t_alt {0}
	time at which we had last valid terrain alt More...

float	_flare_height {0.0f}
	estimated height to ground at which flare started More...

float	_flare_pitch_sp {0.0f}
	Current forced (i.e. not determined using TECS) flare pitch setpoint. More...

float	_flare_curve_alt_rel_last {0.0f}

float	_target_bearing {0.0f}
	estimated height to ground at which flare started More...

bool	_was_in_air {false}
	indicated wether the plane was in the air in the previous interation*/ More...

hrt_abstime	_time_went_in_air {0}
	time at which the plane went in the air More...

LaunchDetector	_launchDetector

LaunchDetectionResult	_launch_detection_state {LAUNCHDETECTION_RES_NONE}

hrt_abstime	_launch_detection_notify {0}

RunwayTakeoff	_runway_takeoff

bool	_last_manual {false}
	true if the last iteration was in manual mode (used to determine when a reset is needed) More...

bool	_airspeed_valid {false}
	flag if a valid airspeed estimate exists More...

hrt_abstime	_airspeed_last_valid {0}
	last time airspeed was received. Used to detect timeouts. More...

float	_airspeed {0.0f}

float	_eas2tas {1.0f}

float	_groundspeed_undershoot {0.0f}
	ground speed error to min. speed in m/s More...

Dcmf	_R_nb
	current attitude More...

float	_roll {0.0f}

float	_pitch {0.0f}

float	_yaw {0.0f}

bool	_reinitialize_tecs {true}
	indicates if the TECS states should be reinitialized (used for VTOL) More...

bool	_is_tecs_running {false}

hrt_abstime	_last_tecs_update {0}

float	_asp_after_transition {0.0f}

bool	_was_in_transition {false}

uint8_t	_pos_reset_counter {0}
	captures the number of times the estimator has reset the horizontal position More...

uint8_t	_alt_reset_counter {0}
	captures the number of times the estimator has reset the altitude state More...

ECL_L1_Pos_Controller	_l1_control

TECS	_tecs

enum FixedwingPositionControl::FW_POSCTRL_MODE	FW_POSCTRL_MODE_OTHER
	used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode. More...

struct {
float climbout_diff

float max_climb_rate

float max_sink_rate

float speed_weight

float time_const_throt

float airspeed_min

float airspeed_trim

float airspeed_max

int32_t airspeed_disabled

float pitch_limit_min

float pitch_limit_max

float throttle_min

float throttle_max

float throttle_idle

float throttle_cruise

float throttle_alt_scale

float man_roll_max_rad

float man_pitch_max_rad

float rollsp_offset_rad

float pitchsp_offset_rad

float throttle_land_max

float loiter_radius

float land_heading_hold_horizontal_distance

float land_flare_pitch_min_deg

float land_flare_pitch_max_deg

int32_t land_use_terrain_estimate

int32_t land_early_config_change

float land_airspeed_scale

float land_throtTC_scale

float airspeed_trans

int32_t vtol_type

}	_parameters
	local copies of interesting parameters More...

struct {
param_t climbout_diff

param_t l1_period

param_t l1_damping

param_t roll_limit

param_t roll_slew_deg_sec

param_t time_const

param_t time_const_throt

param_t min_sink_rate

param_t max_sink_rate

param_t max_climb_rate

param_t heightrate_p

param_t heightrate_ff

param_t speedrate_p

param_t throttle_damp

param_t integrator_gain

param_t vertical_accel_limit

param_t height_comp_filter_omega

param_t speed_comp_filter_omega

param_t roll_throttle_compensation

param_t speed_weight

param_t pitch_damping

param_t airspeed_min

param_t airspeed_trim

param_t airspeed_max

param_t airspeed_trans

param_t airspeed_disabled

param_t pitch_limit_min

param_t pitch_limit_max

param_t throttle_min

param_t throttle_max

param_t throttle_idle

param_t throttle_cruise

param_t throttle_slew_max

param_t throttle_alt_scale

param_t man_roll_max_deg

param_t man_pitch_max_deg

param_t rollsp_offset_deg

param_t pitchsp_offset_deg

param_t throttle_land_max

param_t land_slope_angle

param_t land_H1_virt

param_t land_flare_alt_relative

param_t land_thrust_lim_alt_relative

param_t land_heading_hold_horizontal_distance

param_t land_flare_pitch_min_deg

param_t land_flare_pitch_max_deg

param_t land_use_terrain_estimate

param_t land_early_config_change

param_t land_airspeed_scale

param_t land_throtTC_scale

param_t loiter_radius

param_t vtol_type

}	_parameter_handles
	handles for interesting parameters More...

Detailed Description

Definition at line 128 of file FixedwingPositionControl.hpp.

Member Enumeration Documentation

◆ FW_POSCTRL_MODE

enum FixedwingPositionControl::FW_POSCTRL_MODE

private

Enumerator
FW_POSCTRL_MODE_AUTO
FW_POSCTRL_MODE_POSITION
FW_POSCTRL_MODE_ALTITUDE
FW_POSCTRL_MODE_OTHER

Definition at line 263 of file FixedwingPositionControl.hpp.

Constructor & Destructor Documentation

◆ FixedwingPositionControl()

FixedwingPositionControl::FixedwingPositionControl ( )

Definition at line 36 of file FixedwingPositionControl.cpp.

References _global_pos_sub, _parameter_handles, _parameters, param_find(), PARAM_INVALID, mpu9x50::parameters_update(), and uORB::SubscriptionInterval::set_interval_ms().

Referenced by task_spawn().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ~FixedwingPositionControl()

FixedwingPositionControl::~FixedwingPositionControl ( )

override

Definition at line 112 of file FixedwingPositionControl.cpp.

References _loop_perf, and perf_free().

Here is the call graph for this function:

Member Function Documentation

◆ abort_landing()

void FixedwingPositionControl::abort_landing ( bool abort )

private

Definition at line 576 of file FixedwingPositionControl.cpp.

References _land_abort, _mavlink_log_pub, landing_status_publish(), and mavlink_log_critical.

Referenced by control_landing(), control_position(), handle_command(), and reset_landing_state().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ airspeed_poll()

void FixedwingPositionControl::airspeed_poll ( )

private

Definition at line 358 of file FixedwingPositionControl.cpp.

References _airspeed, _airspeed_last_valid, _airspeed_valid, _airspeed_validated_sub, _eas2tas, _parameters, _tecs, math::constrain(), TECS::enable_airspeed(), airspeed_validated_s::equivalent_airspeed_m_s, uORB::SubscriptionData< T >::get(), hrt_elapsed_time(), airspeed_validated_s::timestamp, airspeed_validated_s::true_airspeed_m_s, and uORB::SubscriptionData< T >::update().

Referenced by Run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ calculate_target_airspeed()

float FixedwingPositionControl::calculate_target_airspeed	(	float	airspeed_demand,
		const Vector2f &	ground_speed
	)

private

Definition at line 437 of file FixedwingPositionControl.cpp.

References _airspeed_valid, _att_sp, _l1_control, _parameters, _R_nb, ECL_L1_Pos_Controller::circle_mode(), math::constrain(), math::max(), and vehicle_attitude_setpoint_s::roll_body.

Referenced by control_landing(), control_position(), and control_takeoff().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ control_landing()

void FixedwingPositionControl::control_landing	(	const Vector2f &	curr_pos,
		const Vector2f &	ground_speed,
		const position_setpoint_s &	pos_sp_prev,
		const position_setpoint_s &	pos_sp_curr
	)

private

Definition at line 1353 of file FixedwingPositionControl.cpp.

References _att_sp, _flare_curve_alt_rel_last, _flare_height, _flare_pitch_sp, _global_pos, _l1_control, _land_motor_lim, _land_noreturn_horizontal, _land_noreturn_vertical, _land_onslope, _land_stayonground, _landingslope, _mavlink_log_pub, _parameters, _t_alt_prev_valid, _target_bearing, _tecs, _time_last_t_alt, _time_started_landing, _yaw, abort_landing(), vehicle_global_position_s::alt, position_setpoint_s::alt, vehicle_attitude_setpoint_s::apply_flaps, calculate_target_airspeed(), math::constrain(), create_waypoint_from_line_and_dist(), f(), Landingslope::flare_length(), Landingslope::flare_relative_alt(), vehicle_attitude_setpoint_s::fw_control_yaw, get_bearing_to_next_waypoint(), get_distance_to_next_waypoint(), ECL_L1_Pos_Controller::get_roll_setpoint(), Landingslope::getFlareCurveRelativeAltitudeSave(), Landingslope::getLandingSlopeRelativeAltitudeSave(), hrt_absolute_time(), hrt_elapsed_time(), position_setpoint_s::lat, position_setpoint_s::lon, mavlink_log_info, math::min(), Landingslope::motor_lim_relative_alt(), ECL_L1_Pos_Controller::nav_bearing(), ECL_L1_Pos_Controller::navigate_heading(), ECL_L1_Pos_Controller::navigate_waypoints(), vehicle_attitude_setpoint_s::pitch_body, math::radians(), reset_landing_state(), vehicle_attitude_setpoint_s::roll_body, TECS::set_time_const_throt(), T_ALT_TIMEOUT, tecs_update_pitch_throttle(), vehicle_global_position_s::terrain_alt, vehicle_global_position_s::terrain_alt_valid, throttle_max, position_setpoint_s::valid, vehicle_global_position_s::vel_d, matrix::wrap_pi(), and vehicle_attitude_setpoint_s::yaw_body.

Referenced by control_position().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ control_position()

bool FixedwingPositionControl::control_position	(	const Vector2f &	curr_pos,
		const Vector2f &	ground_speed,
		const position_setpoint_s &	pos_sp_prev,
		const position_setpoint_s &	pos_sp_curr,
		const position_setpoint_s &	pos_sp_next
	)

private

Definition at line 728 of file FixedwingPositionControl.cpp.

Referenced by Run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ control_takeoff()

void FixedwingPositionControl::control_takeoff	(	const Vector2f &	curr_pos,
		const Vector2f &	ground_speed,
		const position_setpoint_s &	pos_sp_prev,
		const position_setpoint_s &	pos_sp_curr
	)

private

Definition at line 1183 of file FixedwingPositionControl.cpp.

Referenced by control_position().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ control_update()

void FixedwingPositionControl::control_update ( )

private

◆ custom_command()

int FixedwingPositionControl::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 1968 of file FixedwingPositionControl.cpp.

References print_usage().

Here is the call graph for this function:

◆ DEFINE_PARAMETERS()

FixedwingPositionControl::DEFINE_PARAMETERS ( (ParamFloat< px4::params::FW_GND_SPD_MIN >) _groundspeed_min )

private

◆ do_takeoff_help()

void FixedwingPositionControl::do_takeoff_help	(	float *	hold_altitude,
		float *	pitch_limit_min
	)

private

Do takeoff help when in altitude controlled modes.

Parameters

hold_altitude	altitude setpoint for controller
pitch_limit_min	minimum pitch allowed

Definition at line 718 of file FixedwingPositionControl.cpp.

References _parameters, _takeoff_ground_alt, f(), in_takeoff_situation(), and math::radians().

Referenced by control_position().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_demanded_airspeed()

float FixedwingPositionControl::get_demanded_airspeed ( )

private

Definition at line 415 of file FixedwingPositionControl.cpp.

References _manual, _parameters, and manual_control_setpoint_s::z.

Referenced by control_position().

Here is the caller graph for this function:

◆ get_tecs_pitch()

float FixedwingPositionControl::get_tecs_pitch ( )

private

Definition at line 1622 of file FixedwingPositionControl.cpp.

References _is_tecs_running, _tecs, and TECS::get_pitch_setpoint().

Referenced by control_position(), and control_takeoff().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_tecs_thrust()

float FixedwingPositionControl::get_tecs_thrust ( )

private

Definition at line 1633 of file FixedwingPositionControl.cpp.

References _is_tecs_running, _tecs, and TECS::get_throttle_setpoint().

Referenced by control_position().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ get_terrain_altitude_takeoff()

float FixedwingPositionControl::get_terrain_altitude_takeoff	(	float	takeoff_alt,
		const vehicle_global_position_s &	global_pos
	)

private

Return the terrain estimate during takeoff or takeoff_alt if terrain estimate is not available.

Definition at line 625 of file FixedwingPositionControl.cpp.

References vehicle_global_position_s::terrain_alt, and vehicle_global_position_s::terrain_alt_valid.

Referenced by control_takeoff().

Here is the caller graph for this function:

◆ get_waypoint_heading_distance()

void FixedwingPositionControl::get_waypoint_heading_distance	(	float	heading,
		position_setpoint_s &	waypoint_prev,
		position_setpoint_s &	waypoint_next,
		bool	flag_init
	)

private

Get a new waypoint based on heading and distance from current position.

Parameters

heading	the heading to fly to
distance	the distance of the generated waypoint
waypoint_prev	the waypoint at the current position
waypoint_next	the waypoint in the heading direction

Definition at line 588 of file FixedwingPositionControl.cpp.

References _global_pos, _hold_alt, position_setpoint_s::alt, create_waypoint_from_line_and_dist(), f(), HDG_HOLD_DIST_NEXT, HDG_HOLD_REACHED_DIST, HDG_HOLD_SET_BACK_DIST, vehicle_global_position_s::lat, position_setpoint_s::lat, vehicle_global_position_s::lon, position_setpoint_s::lon, math::radians(), position_setpoint_s::valid, and waypoint_from_heading_and_distance().

Referenced by control_position().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ handle_command()

void FixedwingPositionControl::handle_command ( )

private

Handle incoming vehicle commands.

Definition at line 1644 of file FixedwingPositionControl.cpp.

References _control_mode, _pos_sp_triplet, _vehicle_command, abort_landing(), vehicle_command_s::command, position_setpoint_triplet_s::current, vehicle_control_mode_s::flag_control_auto_enabled, position_setpoint_s::type, and position_setpoint_s::valid.

Referenced by vehicle_command_poll().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ in_takeoff_situation()

bool FixedwingPositionControl::in_takeoff_situation ( )

private

Check if we are in a takeoff situation.

Definition at line 703 of file FixedwingPositionControl.cpp.

References _global_pos, _parameters, _takeoff_ground_alt, _time_went_in_air, _vehicle_status, vehicle_global_position_s::alt, hrt_abstime, hrt_elapsed_time(), and vehicle_status_s::is_vtol.

Referenced by control_position(), and do_takeoff_help().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ init()

bool FixedwingPositionControl::init ( )

Definition at line 118 of file FixedwingPositionControl.cpp.

References _global_pos_sub, _l1_control, _landingslope, _mavlink_log_pub, _parameter_handles, _parameters, _tecs, f(), land_flare_alt_relative, land_H1_virt, land_slope_angle, land_thrust_lim_alt_relative, landing_status_publish(), mavlink_log_critical, param_get(), PARAM_INVALID, mpu9x50::parameters_update(), math::radians(), uORB::SubscriptionCallback::registerCallback(), TECS::set_height_comp_filter_omega(), TECS::set_heightrate_ff(), TECS::set_heightrate_p(), TECS::set_indicated_airspeed_max(), TECS::set_indicated_airspeed_min(), TECS::set_integrator_gain(), ECL_L1_Pos_Controller::set_l1_damping(), ECL_L1_Pos_Controller::set_l1_period(), ECL_L1_Pos_Controller::set_l1_roll_limit(), TECS::set_max_climb_rate(), TECS::set_max_sink_rate(), TECS::set_min_sink_rate(), TECS::set_pitch_damping(), ECL_L1_Pos_Controller::set_roll_slew_rate(), TECS::set_roll_throttle_compensation(), TECS::set_speed_comp_filter_omega(), TECS::set_speed_weight(), TECS::set_speedrate_p(), TECS::set_throttle_damp(), TECS::set_throttle_slewrate(), TECS::set_time_const(), TECS::set_time_const_throt(), TECS::set_vertical_accel_limit(), and Landingslope::update().

Referenced by task_spawn().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ landing_status_publish()

void FixedwingPositionControl::landing_status_publish ( )

private

Definition at line 560 of file FixedwingPositionControl.cpp.

References _land_abort, _landingslope, _pos_ctrl_landing_status_pub, position_controller_landing_status_s::abort_landing, position_controller_landing_status_s::flare_length, Landingslope::flare_length(), position_controller_landing_status_s::horizontal_slope_displacement, Landingslope::horizontal_slope_displacement(), hrt_absolute_time(), Landingslope::landing_slope_angle_rad(), uORB::Publication< T >::publish(), position_controller_landing_status_s::slope_angle_rad, and position_controller_landing_status_s::timestamp.

Referenced by abort_landing(), and init().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ print_status()

int FixedwingPositionControl::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 1973 of file FixedwingPositionControl.cpp.

References _loop_perf, and perf_print_counter().

Here is the call graph for this function:

◆ print_usage()

int FixedwingPositionControl::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 1980 of file FixedwingPositionControl.cpp.

Referenced by custom_command().

Here is the caller graph for this function:

◆ reset_landing_state()

void FixedwingPositionControl::reset_landing_state ( )

private

Definition at line 1796 of file FixedwingPositionControl.cpp.

References _land_abort, _land_motor_lim, _land_noreturn_horizontal, _land_noreturn_vertical, _land_onslope, _land_stayonground, _pos_sp_triplet, _time_last_t_alt, _time_started_landing, abort_landing(), position_setpoint_triplet_s::current, and position_setpoint_s::type.

Referenced by control_landing(), control_position(), and vehicle_control_mode_poll().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ reset_takeoff_state()

void FixedwingPositionControl::reset_takeoff_state ( bool force = false )

private

Definition at line 1779 of file FixedwingPositionControl.cpp.

References _control_mode, _launch_detection_notify, _launch_detection_state, _launchDetector, _runway_takeoff, _vehicle_land_detected, _was_in_air, vehicle_control_mode_s::flag_armed, vehicle_land_detected_s::landed, launchdetection::LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS, launchdetection::LAUNCHDETECTION_RES_NONE, launchdetection::LaunchDetector::reset(), and runwaytakeoff::RunwayTakeoff::reset().

Referenced by control_position(), and vehicle_control_mode_poll().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ Run()

void FixedwingPositionControl::Run ( )

override

Definition at line 1658 of file FixedwingPositionControl.cpp.

Here is the call graph for this function:

◆ status_publish()

void FixedwingPositionControl::status_publish ( )

private

Definition at line 536 of file FixedwingPositionControl.cpp.

Referenced by Run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ task_spawn()

int FixedwingPositionControl::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 1945 of file FixedwingPositionControl.cpp.

References FixedwingPositionControl(), init(), and ll40ls::instance.

Here is the call graph for this function:

◆ tecs_status_publish()

void FixedwingPositionControl::tecs_status_publish ( )

private

Definition at line 487 of file FixedwingPositionControl.cpp.

References _tecs, _tecs_status_pub, tecs_status_s::airspeed_derivative, tecs_status_s::airspeed_derivative_sp, tecs_status_s::airspeed_filtered, tecs_status_s::airspeed_sp, tecs_status_s::altitude_filtered, tecs_status_s::altitude_sp, TECS::ECL_TECS_MODE_BAD_DESCENT, TECS::ECL_TECS_MODE_CLIMBOUT, TECS::ECL_TECS_MODE_NORMAL, TECS::ECL_TECS_MODE_UNDERSPEED, tecs_status_s::energy_distribution_error, tecs_status_s::energy_distribution_rate_error, tecs_status_s::height_rate, tecs_status_s::height_rate_setpoint, TECS::hgt_rate_setpoint(), TECS::hgt_setpoint_adj(), hrt_absolute_time(), tecs_status_s::mode, tecs_status_s::pitch_integ, TECS::pitch_integ_state(), uORB::Publication< T >::publish(), TECS::SEB_error(), TECS::SEB_rate_error(), TECS::speed_derivative(), TECS::STE_error(), TECS::STE_rate_error(), TECS::TAS_rate_setpoint(), TECS::TAS_setpoint_adj(), TECS::tas_state(), TECS::tecs_mode(), tecs_status_s::throttle_integ, TECS::throttle_integ_state(), tecs_status_s::timestamp, tecs_status_s::total_energy_error, tecs_status_s::total_energy_rate_error, TECS::vert_pos_state(), and TECS::vert_vel_state().

Referenced by tecs_update_pitch_throttle().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ tecs_update_pitch_throttle()

void FixedwingPositionControl::tecs_update_pitch_throttle	(	float	alt_sp,
		float	airspeed_sp,
		float	pitch_min_rad,
		float	pitch_max_rad,
		float	throttle_min,
		float	throttle_max,
		float	throttle_cruise,
		bool	climbout_mode,
		float	climbout_pitch_min_rad,
		uint8_t	mode = `tecs_status_s::TECS_MODE_NORMAL`
	)

private

Definition at line 1817 of file FixedwingPositionControl.cpp.

References _airspeed, _asp_after_transition, _control_mode, _eas2tas, _global_pos, _is_tecs_running, _last_tecs_update, _local_pos, _parameters, _pitch, _R_nb, _reinitialize_tecs, _sensor_baro_sub, _tecs, _vehicle_acceleration_sub, _vehicle_land_detected, _vehicle_status, _was_in_transition, vehicle_global_position_s::alt, vehicle_local_position_s::az, CONSTANTS_STD_PRESSURE_MBAR, math::constrain(), dt, vehicle_status_s::engine_failure, f(), vehicle_control_mode_s::flag_control_altitude_enabled, vehicle_control_mode_s::flag_control_auto_enabled, vehicle_control_mode_s::flag_control_offboard_enabled, vehicle_control_mode_s::flag_control_velocity_enabled, FLT_EPSILON, uORB::SubscriptionData< T >::get(), hrt_absolute_time(), hrt_elapsed_time(), vehicle_status_s::in_transition_mode, vehicle_status_s::is_vtol, vehicle_land_detected_s::landed, math::max(), TECS::reset_state(), TECS::set_detect_underspeed_enabled(), TAILSITTER, tecs_status_publish(), vehicle_global_position_s::timestamp, uORB::Subscription::update(), TECS::update_pitch_throttle(), TECS::update_vehicle_state_estimates(), vehicle_local_position_s::v_z_valid, vehicle_status_s::vehicle_type, vehicle_local_position_s::vz, and vehicle_acceleration_s::xyz.

Referenced by control_landing(), control_position(), and control_takeoff().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ update_desired_altitude()

bool FixedwingPositionControl::update_desired_altitude ( float dt )

private

Update desired altitude base on user pitch stick input.

Parameters

dt Time step

Returns: true if climbout mode was requested by user (climb with max rate and min airspeed)

Definition at line 636 of file FixedwingPositionControl.cpp.

References _althold_epv, _global_pos, _hold_alt, _manual, _parameters, _vehicle_status, _was_in_deadband, vehicle_global_position_s::alt, ALTHOLD_EPV_RESET_THRESH, dt, vehicle_global_position_s::epv, vehicle_status_s::in_transition_mode, vehicle_status_s::is_vtol, MANUAL_THROTTLE_CLIMBOUT_THRESH, vehicle_status_s::vehicle_type, and manual_control_setpoint_s::x.

Referenced by control_position().

Here is the caller graph for this function:

◆ vehicle_attitude_poll()

void FixedwingPositionControl::vehicle_attitude_poll ( )

private

Definition at line 394 of file FixedwingPositionControl.cpp.

References _att, _parameters, _pitch, _R_nb, _roll, _vehicle_attitude_sub, _vehicle_status, _yaw, vehicle_status_s::is_vtol, vehicle_attitude_s::q, TAILSITTER, and uORB::Subscription::update().

Referenced by Run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ vehicle_command_poll()

void FixedwingPositionControl::vehicle_command_poll ( )

private

Definition at line 328 of file FixedwingPositionControl.cpp.

References _vehicle_command, _vehicle_command_sub, uORB::Subscription::copy(), handle_command(), and uORB::Subscription::updated().

Referenced by Run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ vehicle_control_mode_poll()

void FixedwingPositionControl::vehicle_control_mode_poll ( )

private

Definition at line 311 of file FixedwingPositionControl.cpp.

References _control_mode, _control_mode_sub, uORB::Subscription::copy(), vehicle_control_mode_s::flag_armed, reset_landing_state(), reset_takeoff_state(), and uORB::Subscription::updated().

Referenced by Run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ vehicle_status_poll()

void FixedwingPositionControl::vehicle_status_poll ( )

private

Definition at line 337 of file FixedwingPositionControl.cpp.

References _attitude_setpoint_id, _parameter_handles, _vehicle_status, _vehicle_status_sub, vehicle_status_s::is_vtol, ORB_ID, param_find(), mpu9x50::parameters_update(), and uORB::Subscription::update().

Referenced by Run().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _airspeed

float FixedwingPositionControl::_airspeed {0.0f}

private

Definition at line 239 of file FixedwingPositionControl.hpp.

Referenced by airspeed_poll(), control_position(), control_takeoff(), and tecs_update_pitch_throttle().

◆ _airspeed_last_valid

hrt_abstime FixedwingPositionControl::_airspeed_last_valid {0}

private

last time airspeed was received. Used to detect timeouts.

Definition at line 238 of file FixedwingPositionControl.hpp.

Referenced by airspeed_poll().

◆ _airspeed_valid

bool FixedwingPositionControl::_airspeed_valid {false}

private

flag if a valid airspeed estimate exists

Definition at line 237 of file FixedwingPositionControl.hpp.

Referenced by airspeed_poll(), calculate_target_airspeed(), and control_position().

◆ _airspeed_validated_sub

SubscriptionData<airspeed_validated_s> FixedwingPositionControl::_airspeed_validated_sub {ORB_ID(airspeed_validated)}

private

Definition at line 186 of file FixedwingPositionControl.hpp.

Referenced by airspeed_poll().

◆ _alt_reset_counter

uint8_t FixedwingPositionControl::_alt_reset_counter {0}

private

captures the number of times the estimator has reset the altitude state

Definition at line 258 of file FixedwingPositionControl.hpp.

Referenced by Run().

◆ _althold_epv

float FixedwingPositionControl::_althold_epv {0.0f}

private

the position estimate accuracy when engaging alt hold

Definition at line 196 of file FixedwingPositionControl.hpp.

Referenced by update_desired_altitude().

◆ _asp_after_transition

float FixedwingPositionControl::_asp_after_transition {0.0f}

private

Definition at line 253 of file FixedwingPositionControl.hpp.

Referenced by tecs_update_pitch_throttle().

◆ _att

vehicle_attitude_s FixedwingPositionControl::_att {}

private

vehicle attitude setpoint

Definition at line 177 of file FixedwingPositionControl.hpp.

Referenced by control_takeoff(), and vehicle_attitude_poll().

◆ _att_sp

vehicle_attitude_setpoint_s FixedwingPositionControl::_att_sp {}

private

vehicle attitude setpoint

Definition at line 178 of file FixedwingPositionControl.hpp.

Referenced by calculate_target_airspeed(), control_landing(), control_position(), control_takeoff(), Run(), and status_publish().

◆ _attitude_setpoint_id

orb_id_t FixedwingPositionControl::_attitude_setpoint_id {nullptr}

private

Definition at line 169 of file FixedwingPositionControl.hpp.

Referenced by Run(), and vehicle_status_poll().

◆ _attitude_sp_pub

orb_advert_t FixedwingPositionControl::_attitude_sp_pub {nullptr}

private

attitude setpoint

Definition at line 168 of file FixedwingPositionControl.hpp.

Referenced by Run().

◆ _control_mode

vehicle_control_mode_s FixedwingPositionControl::_control_mode {}

private

control mode

Definition at line 180 of file FixedwingPositionControl.hpp.

Referenced by control_position(), control_takeoff(), handle_command(), reset_takeoff_state(), Run(), tecs_update_pitch_throttle(), and vehicle_control_mode_poll().

◆ _control_mode_sub

uORB::Subscription FixedwingPositionControl::_control_mode_sub {ORB_ID(vehicle_control_mode)}

private

control mode subscription

Definition at line 156 of file FixedwingPositionControl.hpp.

Referenced by vehicle_control_mode_poll().

◆ _control_position_last_called

hrt_abstime FixedwingPositionControl::_control_position_last_called {0}

private

last call of control_position

Definition at line 202 of file FixedwingPositionControl.hpp.

Referenced by control_position().

◆ _eas2tas

float FixedwingPositionControl::_eas2tas {1.0f}

private

Definition at line 240 of file FixedwingPositionControl.hpp.

Referenced by airspeed_poll(), and tecs_update_pitch_throttle().

◆ _flare_curve_alt_rel_last

float FixedwingPositionControl::_flare_curve_alt_rel_last {0.0f}

private

Definition at line 221 of file FixedwingPositionControl.hpp.

Referenced by control_landing().

◆ _flare_height

float FixedwingPositionControl::_flare_height {0.0f}

private

estimated height to ground at which flare started

Definition at line 219 of file FixedwingPositionControl.hpp.

Referenced by control_landing().

◆ _flare_pitch_sp

float FixedwingPositionControl::_flare_pitch_sp {0.0f}

private

Current forced (i.e. not determined using TECS) flare pitch setpoint.

Definition at line 220 of file FixedwingPositionControl.hpp.

Referenced by control_landing().

◆ _global_pos

vehicle_global_position_s FixedwingPositionControl::_global_pos {}

private

global vehicle position

Definition at line 181 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), control_position(), control_takeoff(), get_waypoint_heading_distance(), in_takeoff_situation(), Run(), status_publish(), tecs_update_pitch_throttle(), and update_desired_altitude().

◆ _global_pos_sub

uORB::SubscriptionCallbackWorkItem FixedwingPositionControl::_global_pos_sub {this, ORB_ID(vehicle_global_position)}

private

Definition at line 154 of file FixedwingPositionControl.hpp.

Referenced by FixedwingPositionControl(), init(), and Run().

◆ _groundspeed_undershoot

float FixedwingPositionControl::_groundspeed_undershoot {0.0f}

private

ground speed error to min. speed in m/s

Definition at line 242 of file FixedwingPositionControl.hpp.

◆ _hdg_hold_curr_wp

position_setpoint_s FixedwingPositionControl::_hdg_hold_curr_wp {}

private

position to which heading hold flies

Definition at line 200 of file FixedwingPositionControl.hpp.

Referenced by control_position().

◆ _hdg_hold_enabled

bool FixedwingPositionControl::_hdg_hold_enabled {false}

private

heading hold enabled

Definition at line 194 of file FixedwingPositionControl.hpp.

Referenced by control_position(), and Run().

◆ _hdg_hold_prev_wp

position_setpoint_s FixedwingPositionControl::_hdg_hold_prev_wp {}

private

position where heading hold started

Definition at line 199 of file FixedwingPositionControl.hpp.

Referenced by control_position().

◆ _hdg_hold_yaw

float FixedwingPositionControl::_hdg_hold_yaw {0.0f}

private

hold heading for velocity mode

Definition at line 193 of file FixedwingPositionControl.hpp.

Referenced by control_position().

◆ _hold_alt

float FixedwingPositionControl::_hold_alt {0.0f}

private

hold altitude for altitude mode

Definition at line 191 of file FixedwingPositionControl.hpp.

Referenced by control_position(), get_waypoint_heading_distance(), Run(), and update_desired_altitude().

◆ _is_tecs_running

bool FixedwingPositionControl::_is_tecs_running {false}

private

Definition at line 250 of file FixedwingPositionControl.hpp.

Referenced by get_tecs_pitch(), get_tecs_thrust(), and tecs_update_pitch_throttle().

◆ _l1_control

ECL_L1_Pos_Controller FixedwingPositionControl::_l1_control

private

Definition at line 260 of file FixedwingPositionControl.hpp.

Referenced by calculate_target_airspeed(), control_landing(), control_position(), control_takeoff(), init(), and status_publish().

◆ _land_abort

bool FixedwingPositionControl::_land_abort {false}

private

Definition at line 210 of file FixedwingPositionControl.hpp.

Referenced by abort_landing(), control_position(), landing_status_publish(), and reset_landing_state().

◆ _land_motor_lim

bool FixedwingPositionControl::_land_motor_lim {false}

private

Definition at line 208 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), and reset_landing_state().

◆ _land_noreturn_horizontal

bool FixedwingPositionControl::_land_noreturn_horizontal {false}

private

Definition at line 205 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), and reset_landing_state().

◆ _land_noreturn_vertical

bool FixedwingPositionControl::_land_noreturn_vertical {false}

private

Definition at line 206 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), control_position(), and reset_landing_state().

◆ _land_onslope

bool FixedwingPositionControl::_land_onslope {false}

private

Definition at line 209 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), and reset_landing_state().

◆ _land_stayonground

bool FixedwingPositionControl::_land_stayonground {false}

private

Definition at line 207 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), and reset_landing_state().

◆ _landingslope

Landingslope FixedwingPositionControl::_landingslope

private

Definition at line 212 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), init(), and landing_status_publish().

◆ _last_manual

bool FixedwingPositionControl::_last_manual {false}

private

true if the last iteration was in manual mode (used to determine when a reset is needed)

Definition at line 234 of file FixedwingPositionControl.hpp.

Referenced by control_position().

◆ _last_tecs_update

hrt_abstime FixedwingPositionControl::_last_tecs_update {0}

private

Definition at line 251 of file FixedwingPositionControl.hpp.

Referenced by tecs_update_pitch_throttle().

◆ _launch_detection_notify

hrt_abstime FixedwingPositionControl::_launch_detection_notify {0}

private

Definition at line 230 of file FixedwingPositionControl.hpp.

Referenced by control_takeoff(), and reset_takeoff_state().

◆ _launch_detection_state

LaunchDetectionResult FixedwingPositionControl::_launch_detection_state {LAUNCHDETECTION_RES_NONE}

private

Definition at line 229 of file FixedwingPositionControl.hpp.

Referenced by control_position(), control_takeoff(), and reset_takeoff_state().

◆ _launchDetector

LaunchDetector FixedwingPositionControl::_launchDetector

private

Definition at line 228 of file FixedwingPositionControl.hpp.

Referenced by control_takeoff(), and reset_takeoff_state().

◆ _local_pos

vehicle_local_position_s FixedwingPositionControl::_local_pos {}

private

vehicle local position

Definition at line 182 of file FixedwingPositionControl.hpp.

Referenced by Run(), and tecs_update_pitch_throttle().

◆ _local_pos_sub

uORB::Subscription FixedwingPositionControl::_local_pos_sub {ORB_ID(vehicle_local_position)}

private

Definition at line 157 of file FixedwingPositionControl.hpp.

Referenced by Run().

◆ _loop_perf

perf_counter_t FixedwingPositionControl::_loop_perf

private

loop performance counter

Definition at line 189 of file FixedwingPositionControl.hpp.

Referenced by print_status(), Run(), and ~FixedwingPositionControl().

◆ _manual

manual_control_setpoint_s FixedwingPositionControl::_manual {}

private

r/c channel data

Definition at line 175 of file FixedwingPositionControl.hpp.

Referenced by control_position(), get_demanded_airspeed(), Run(), and update_desired_altitude().

◆ _manual_control_sub

uORB::Subscription FixedwingPositionControl::_manual_control_sub {ORB_ID(manual_control_setpoint)}

private

notification of manual control updates

Definition at line 158 of file FixedwingPositionControl.hpp.

Referenced by Run().

◆ _mavlink_log_pub

orb_advert_t FixedwingPositionControl::_mavlink_log_pub {nullptr}

private

Definition at line 152 of file FixedwingPositionControl.hpp.

Referenced by abort_landing(), control_landing(), control_takeoff(), and init().

◆ _parameter_handles

struct { ... } FixedwingPositionControl::_parameter_handles

handles for interesting parameters

Referenced by FixedwingPositionControl(), init(), and vehicle_status_poll().

◆ _parameter_update_sub

uORB::Subscription FixedwingPositionControl::_parameter_update_sub {ORB_ID(parameter_update)}

private

notification of parameter updates

Definition at line 159 of file FixedwingPositionControl.hpp.

Referenced by Run().

◆ _parameters

struct { ... } FixedwingPositionControl::_parameters

local copies of interesting parameters

Referenced by airspeed_poll(), calculate_target_airspeed(), control_landing(), control_position(), control_takeoff(), do_takeoff_help(), FixedwingPositionControl(), get_demanded_airspeed(), in_takeoff_situation(), init(), Run(), tecs_update_pitch_throttle(), update_desired_altitude(), and vehicle_attitude_poll().

◆ _pitch

float FixedwingPositionControl::_pitch {0.0f}

private

Definition at line 246 of file FixedwingPositionControl.hpp.

Referenced by tecs_update_pitch_throttle(), and vehicle_attitude_poll().

◆ _pos_ctrl_landing_status_pub

uORB::Publication<position_controller_landing_status_s> FixedwingPositionControl::_pos_ctrl_landing_status_pub {ORB_ID(position_controller_landing_status)}

private

landing status publication

Definition at line 172 of file FixedwingPositionControl.hpp.

Referenced by landing_status_publish().

◆ _pos_ctrl_status_pub

uORB::Publication<position_controller_status_s> FixedwingPositionControl::_pos_ctrl_status_pub {ORB_ID(position_controller_status)}

private

navigation capabilities publication

Definition at line 171 of file FixedwingPositionControl.hpp.

Referenced by status_publish().

◆ _pos_reset_counter

uint8_t FixedwingPositionControl::_pos_reset_counter {0}

private

captures the number of times the estimator has reset the horizontal position

Definition at line 257 of file FixedwingPositionControl.hpp.

Referenced by Run().

◆ _pos_sp_triplet

position_setpoint_triplet_s FixedwingPositionControl::_pos_sp_triplet {}

private

triplet of mission items

Definition at line 176 of file FixedwingPositionControl.hpp.

Referenced by handle_command(), reset_landing_state(), Run(), and status_publish().

◆ _pos_sp_triplet_sub

uORB::Subscription FixedwingPositionControl::_pos_sp_triplet_sub {ORB_ID(position_setpoint_triplet)}

private

Definition at line 160 of file FixedwingPositionControl.hpp.

Referenced by Run().

◆ _R_nb

Dcmf FixedwingPositionControl::_R_nb

private

current attitude

Definition at line 244 of file FixedwingPositionControl.hpp.

Referenced by calculate_target_airspeed(), tecs_update_pitch_throttle(), and vehicle_attitude_poll().

◆ _reinitialize_tecs

bool FixedwingPositionControl::_reinitialize_tecs {true}

private

indicates if the TECS states should be reinitialized (used for VTOL)

Definition at line 249 of file FixedwingPositionControl.hpp.

Referenced by tecs_update_pitch_throttle().

◆ _roll

float FixedwingPositionControl::_roll {0.0f}

private

Definition at line 245 of file FixedwingPositionControl.hpp.

Referenced by vehicle_attitude_poll().

◆ _runway_takeoff

RunwayTakeoff FixedwingPositionControl::_runway_takeoff

private

Definition at line 232 of file FixedwingPositionControl.hpp.

Referenced by control_position(), control_takeoff(), and reset_takeoff_state().

◆ _sensor_baro_sub

uORB::Subscription FixedwingPositionControl::_sensor_baro_sub {ORB_ID(sensor_baro)}

private

Definition at line 161 of file FixedwingPositionControl.hpp.

Referenced by tecs_update_pitch_throttle().

◆ _t_alt_prev_valid

float FixedwingPositionControl::_t_alt_prev_valid {0}

private

last terrain estimate which was valid

Definition at line 216 of file FixedwingPositionControl.hpp.

Referenced by control_landing().

◆ _takeoff_ground_alt

float FixedwingPositionControl::_takeoff_ground_alt {0.0f}

private

ground altitude at which plane was launched

Definition at line 192 of file FixedwingPositionControl.hpp.

Referenced by control_position(), control_takeoff(), do_takeoff_help(), and in_takeoff_situation().

◆ _target_bearing

float FixedwingPositionControl::_target_bearing {0.0f}

private

estimated height to ground at which flare started

Definition at line 222 of file FixedwingPositionControl.hpp.

Referenced by control_landing().

◆ _tecs

TECS FixedwingPositionControl::_tecs

private

Definition at line 261 of file FixedwingPositionControl.hpp.

Referenced by airspeed_poll(), control_landing(), control_position(), get_tecs_pitch(), get_tecs_thrust(), init(), Run(), tecs_status_publish(), and tecs_update_pitch_throttle().

◆ _tecs_status_pub

uORB::Publication<tecs_status_s> FixedwingPositionControl::_tecs_status_pub {ORB_ID(tecs_status)}

private

TECS status publication.

Definition at line 173 of file FixedwingPositionControl.hpp.

Referenced by tecs_status_publish().

◆ _time_last_t_alt

hrt_abstime FixedwingPositionControl::_time_last_t_alt {0}

private

time at which we had last valid terrain alt

Definition at line 217 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), and reset_landing_state().

◆ _time_started_landing

hrt_abstime FixedwingPositionControl::_time_started_landing {0}

private

time at which landing started

Definition at line 214 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), and reset_landing_state().

◆ _time_went_in_air

hrt_abstime FixedwingPositionControl::_time_went_in_air {0}

private

time at which the plane went in the air

Definition at line 225 of file FixedwingPositionControl.hpp.

Referenced by control_position(), and in_takeoff_situation().

◆ _vehicle_acceleration_sub

SubscriptionData<vehicle_acceleration_s> FixedwingPositionControl::_vehicle_acceleration_sub {ORB_ID(vehicle_acceleration)}

private

Definition at line 187 of file FixedwingPositionControl.hpp.

Referenced by control_takeoff(), Run(), and tecs_update_pitch_throttle().

◆ _vehicle_attitude_sub

uORB::Subscription FixedwingPositionControl::_vehicle_attitude_sub {ORB_ID(vehicle_attitude)}

private

vehicle attitude subscription

Definition at line 162 of file FixedwingPositionControl.hpp.

Referenced by vehicle_attitude_poll().

◆ _vehicle_command

vehicle_command_s FixedwingPositionControl::_vehicle_command {}

private

vehicle commands

Definition at line 179 of file FixedwingPositionControl.hpp.

Referenced by handle_command(), and vehicle_command_poll().

◆ _vehicle_command_sub

uORB::Subscription FixedwingPositionControl::_vehicle_command_sub {ORB_ID(vehicle_command)}

private

vehicle command subscription

Definition at line 163 of file FixedwingPositionControl.hpp.

Referenced by vehicle_command_poll().

◆ _vehicle_land_detected

vehicle_land_detected_s FixedwingPositionControl::_vehicle_land_detected {}

private

vehicle land detected

Definition at line 183 of file FixedwingPositionControl.hpp.

Referenced by control_position(), reset_takeoff_state(), Run(), and tecs_update_pitch_throttle().

◆ _vehicle_land_detected_sub

uORB::Subscription FixedwingPositionControl::_vehicle_land_detected_sub {ORB_ID(vehicle_land_detected)}

private

vehicle land detected subscription

Definition at line 164 of file FixedwingPositionControl.hpp.

Referenced by Run().

◆ _vehicle_rates_sub

uORB::SubscriptionData<vehicle_angular_velocity_s> FixedwingPositionControl::_vehicle_rates_sub {ORB_ID(vehicle_angular_velocity)}

private

Definition at line 166 of file FixedwingPositionControl.hpp.

Referenced by control_position(), and Run().

◆ _vehicle_status

vehicle_status_s FixedwingPositionControl::_vehicle_status {}

private

vehicle status

Definition at line 184 of file FixedwingPositionControl.hpp.

Referenced by control_position(), in_takeoff_situation(), Run(), tecs_update_pitch_throttle(), update_desired_altitude(), vehicle_attitude_poll(), and vehicle_status_poll().

◆ _vehicle_status_sub

uORB::Subscription FixedwingPositionControl::_vehicle_status_sub {ORB_ID(vehicle_status)}

private

vehicle status subscription

Definition at line 165 of file FixedwingPositionControl.hpp.

Referenced by vehicle_status_poll().

◆ _was_in_air

bool FixedwingPositionControl::_was_in_air {false}

private

indicated wether the plane was in the air in the previous interation*/

Definition at line 224 of file FixedwingPositionControl.hpp.

Referenced by control_position(), and reset_takeoff_state().

◆ _was_in_deadband

bool FixedwingPositionControl::_was_in_deadband {false}

private

wether the last stick input was in althold deadband

Definition at line 197 of file FixedwingPositionControl.hpp.

Referenced by update_desired_altitude().

◆ _was_in_transition

bool FixedwingPositionControl::_was_in_transition {false}

private

Definition at line 254 of file FixedwingPositionControl.hpp.

Referenced by tecs_update_pitch_throttle().

◆ _yaw

float FixedwingPositionControl::_yaw {0.0f}

private

Definition at line 247 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), control_position(), and vehicle_attitude_poll().

◆ _yaw_lock_engaged

bool FixedwingPositionControl::_yaw_lock_engaged {false}

private

yaw is locked for heading hold

Definition at line 195 of file FixedwingPositionControl.hpp.

Referenced by control_position().

◆ airspeed_disabled [1/2]

int32_t FixedwingPositionControl::airspeed_disabled

Definition at line 281 of file FixedwingPositionControl.hpp.

◆ airspeed_disabled [2/2]

param_t FixedwingPositionControl::airspeed_disabled

Definition at line 342 of file FixedwingPositionControl.hpp.

◆ airspeed_max [1/2]

float FixedwingPositionControl::airspeed_max

Definition at line 280 of file FixedwingPositionControl.hpp.

◆ airspeed_max [2/2]

param_t FixedwingPositionControl::airspeed_max

Definition at line 340 of file FixedwingPositionControl.hpp.

◆ airspeed_min [1/2]

float FixedwingPositionControl::airspeed_min

Definition at line 278 of file FixedwingPositionControl.hpp.

◆ airspeed_min [2/2]

param_t FixedwingPositionControl::airspeed_min

Definition at line 338 of file FixedwingPositionControl.hpp.

◆ airspeed_trans [1/2]

float FixedwingPositionControl::airspeed_trans

Definition at line 309 of file FixedwingPositionControl.hpp.

◆ airspeed_trans [2/2]

param_t FixedwingPositionControl::airspeed_trans

Definition at line 341 of file FixedwingPositionControl.hpp.

◆ airspeed_trim [1/2]

float FixedwingPositionControl::airspeed_trim

Definition at line 279 of file FixedwingPositionControl.hpp.

◆ airspeed_trim [2/2]

param_t FixedwingPositionControl::airspeed_trim

Definition at line 339 of file FixedwingPositionControl.hpp.

◆ climbout_diff [1/2]

float FixedwingPositionControl::climbout_diff

Definition at line 271 of file FixedwingPositionControl.hpp.

◆ climbout_diff [2/2]

param_t FixedwingPositionControl::climbout_diff

Definition at line 314 of file FixedwingPositionControl.hpp.

◆ FW_POSCTRL_MODE_OTHER

enum FixedwingPositionControl::FW_POSCTRL_MODE FixedwingPositionControl::FW_POSCTRL_MODE_OTHER

private

used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.

Referenced by control_position().

◆ height_comp_filter_omega

param_t FixedwingPositionControl::height_comp_filter_omega

Definition at line 332 of file FixedwingPositionControl.hpp.

◆ heightrate_ff

param_t FixedwingPositionControl::heightrate_ff

Definition at line 327 of file FixedwingPositionControl.hpp.

◆ heightrate_p

param_t FixedwingPositionControl::heightrate_p

Definition at line 326 of file FixedwingPositionControl.hpp.

◆ integrator_gain

param_t FixedwingPositionControl::integrator_gain

Definition at line 330 of file FixedwingPositionControl.hpp.

◆ l1_damping

param_t FixedwingPositionControl::l1_damping

Definition at line 317 of file FixedwingPositionControl.hpp.

◆ l1_period

param_t FixedwingPositionControl::l1_period

Definition at line 316 of file FixedwingPositionControl.hpp.

◆ land_airspeed_scale [1/2]

float FixedwingPositionControl::land_airspeed_scale

Definition at line 305 of file FixedwingPositionControl.hpp.

◆ land_airspeed_scale [2/2]

param_t FixedwingPositionControl::land_airspeed_scale

Definition at line 370 of file FixedwingPositionControl.hpp.

◆ land_early_config_change [1/2]

int32_t FixedwingPositionControl::land_early_config_change

Definition at line 304 of file FixedwingPositionControl.hpp.

◆ land_early_config_change [2/2]

param_t FixedwingPositionControl::land_early_config_change

Definition at line 369 of file FixedwingPositionControl.hpp.

◆ land_flare_alt_relative

param_t FixedwingPositionControl::land_flare_alt_relative

Definition at line 363 of file FixedwingPositionControl.hpp.

Referenced by init().

◆ land_flare_pitch_max_deg [1/2]

float FixedwingPositionControl::land_flare_pitch_max_deg

Definition at line 302 of file FixedwingPositionControl.hpp.

◆ land_flare_pitch_max_deg [2/2]

param_t FixedwingPositionControl::land_flare_pitch_max_deg

Definition at line 367 of file FixedwingPositionControl.hpp.

◆ land_flare_pitch_min_deg [1/2]

float FixedwingPositionControl::land_flare_pitch_min_deg

Definition at line 301 of file FixedwingPositionControl.hpp.

◆ land_flare_pitch_min_deg [2/2]

param_t FixedwingPositionControl::land_flare_pitch_min_deg

Definition at line 366 of file FixedwingPositionControl.hpp.

◆ land_H1_virt

param_t FixedwingPositionControl::land_H1_virt

Definition at line 362 of file FixedwingPositionControl.hpp.

Referenced by init().

◆ land_heading_hold_horizontal_distance [1/2]

float FixedwingPositionControl::land_heading_hold_horizontal_distance

Definition at line 300 of file FixedwingPositionControl.hpp.

◆ land_heading_hold_horizontal_distance [2/2]

param_t FixedwingPositionControl::land_heading_hold_horizontal_distance

Definition at line 365 of file FixedwingPositionControl.hpp.

◆ land_slope_angle

param_t FixedwingPositionControl::land_slope_angle

Definition at line 361 of file FixedwingPositionControl.hpp.

Referenced by init().

◆ land_throtTC_scale [1/2]

float FixedwingPositionControl::land_throtTC_scale

Definition at line 306 of file FixedwingPositionControl.hpp.

◆ land_throtTC_scale [2/2]

param_t FixedwingPositionControl::land_throtTC_scale

Definition at line 371 of file FixedwingPositionControl.hpp.

◆ land_thrust_lim_alt_relative

param_t FixedwingPositionControl::land_thrust_lim_alt_relative

Definition at line 364 of file FixedwingPositionControl.hpp.

Referenced by init().

◆ land_use_terrain_estimate [1/2]

int32_t FixedwingPositionControl::land_use_terrain_estimate

Definition at line 303 of file FixedwingPositionControl.hpp.

◆ land_use_terrain_estimate [2/2]

param_t FixedwingPositionControl::land_use_terrain_estimate

Definition at line 368 of file FixedwingPositionControl.hpp.

◆ loiter_radius [1/2]

float FixedwingPositionControl::loiter_radius

Definition at line 298 of file FixedwingPositionControl.hpp.

Referenced by control_position().

◆ loiter_radius [2/2]

param_t FixedwingPositionControl::loiter_radius

Definition at line 372 of file FixedwingPositionControl.hpp.

◆ man_pitch_max_deg

param_t FixedwingPositionControl::man_pitch_max_deg

Definition at line 355 of file FixedwingPositionControl.hpp.

◆ man_pitch_max_rad

float FixedwingPositionControl::man_pitch_max_rad

Definition at line 293 of file FixedwingPositionControl.hpp.

◆ man_roll_max_deg

param_t FixedwingPositionControl::man_roll_max_deg

Definition at line 354 of file FixedwingPositionControl.hpp.

◆ man_roll_max_rad

float FixedwingPositionControl::man_roll_max_rad

Definition at line 292 of file FixedwingPositionControl.hpp.

◆ max_climb_rate [1/2]

float FixedwingPositionControl::max_climb_rate

Definition at line 273 of file FixedwingPositionControl.hpp.

◆ max_climb_rate [2/2]

param_t FixedwingPositionControl::max_climb_rate

Definition at line 325 of file FixedwingPositionControl.hpp.

◆ max_sink_rate [1/2]

float FixedwingPositionControl::max_sink_rate

Definition at line 274 of file FixedwingPositionControl.hpp.

◆ max_sink_rate [2/2]

param_t FixedwingPositionControl::max_sink_rate

Definition at line 324 of file FixedwingPositionControl.hpp.

◆ min_sink_rate

param_t FixedwingPositionControl::min_sink_rate

Definition at line 323 of file FixedwingPositionControl.hpp.

◆ pitch_damping

param_t FixedwingPositionControl::pitch_damping

Definition at line 336 of file FixedwingPositionControl.hpp.

◆ pitch_limit_max [1/2]

float FixedwingPositionControl::pitch_limit_max

Definition at line 284 of file FixedwingPositionControl.hpp.

◆ pitch_limit_max [2/2]

param_t FixedwingPositionControl::pitch_limit_max

Definition at line 345 of file FixedwingPositionControl.hpp.

◆ pitch_limit_min [1/2]

float FixedwingPositionControl::pitch_limit_min

Definition at line 283 of file FixedwingPositionControl.hpp.

Referenced by control_position().

◆ pitch_limit_min [2/2]

param_t FixedwingPositionControl::pitch_limit_min

Definition at line 344 of file FixedwingPositionControl.hpp.

◆ pitchsp_offset_deg

param_t FixedwingPositionControl::pitchsp_offset_deg

Definition at line 357 of file FixedwingPositionControl.hpp.

◆ pitchsp_offset_rad

float FixedwingPositionControl::pitchsp_offset_rad

Definition at line 295 of file FixedwingPositionControl.hpp.

◆ roll_limit

param_t FixedwingPositionControl::roll_limit

Definition at line 318 of file FixedwingPositionControl.hpp.

◆ roll_slew_deg_sec

param_t FixedwingPositionControl::roll_slew_deg_sec

Definition at line 319 of file FixedwingPositionControl.hpp.

◆ roll_throttle_compensation

param_t FixedwingPositionControl::roll_throttle_compensation

Definition at line 334 of file FixedwingPositionControl.hpp.

◆ rollsp_offset_deg

param_t FixedwingPositionControl::rollsp_offset_deg

Definition at line 356 of file FixedwingPositionControl.hpp.

◆ rollsp_offset_rad

float FixedwingPositionControl::rollsp_offset_rad

Definition at line 294 of file FixedwingPositionControl.hpp.

◆ speed_comp_filter_omega

param_t FixedwingPositionControl::speed_comp_filter_omega

Definition at line 333 of file FixedwingPositionControl.hpp.

◆ speed_weight [1/2]

float FixedwingPositionControl::speed_weight

Definition at line 275 of file FixedwingPositionControl.hpp.

◆ speed_weight [2/2]

param_t FixedwingPositionControl::speed_weight

Definition at line 335 of file FixedwingPositionControl.hpp.

◆ speedrate_p

param_t FixedwingPositionControl::speedrate_p

Definition at line 328 of file FixedwingPositionControl.hpp.

◆ throttle_alt_scale [1/2]

float FixedwingPositionControl::throttle_alt_scale

Definition at line 290 of file FixedwingPositionControl.hpp.

◆ throttle_alt_scale [2/2]

param_t FixedwingPositionControl::throttle_alt_scale

Definition at line 352 of file FixedwingPositionControl.hpp.

◆ throttle_cruise [1/2]

float FixedwingPositionControl::throttle_cruise

Definition at line 289 of file FixedwingPositionControl.hpp.

◆ throttle_cruise [2/2]

param_t FixedwingPositionControl::throttle_cruise

Definition at line 350 of file FixedwingPositionControl.hpp.

◆ throttle_damp

param_t FixedwingPositionControl::throttle_damp

Definition at line 329 of file FixedwingPositionControl.hpp.

◆ throttle_idle [1/2]

float FixedwingPositionControl::throttle_idle

Definition at line 288 of file FixedwingPositionControl.hpp.

◆ throttle_idle [2/2]

param_t FixedwingPositionControl::throttle_idle

Definition at line 349 of file FixedwingPositionControl.hpp.

◆ throttle_land_max [1/2]

float FixedwingPositionControl::throttle_land_max

Definition at line 297 of file FixedwingPositionControl.hpp.

◆ throttle_land_max [2/2]

param_t FixedwingPositionControl::throttle_land_max

Definition at line 359 of file FixedwingPositionControl.hpp.

◆ throttle_max [1/2]

float FixedwingPositionControl::throttle_max

Definition at line 287 of file FixedwingPositionControl.hpp.

Referenced by control_landing(), and control_position().

◆ throttle_max [2/2]

param_t FixedwingPositionControl::throttle_max

Definition at line 348 of file FixedwingPositionControl.hpp.

◆ throttle_min [1/2]

float FixedwingPositionControl::throttle_min

Definition at line 286 of file FixedwingPositionControl.hpp.

◆ throttle_min [2/2]

param_t FixedwingPositionControl::throttle_min

Definition at line 347 of file FixedwingPositionControl.hpp.

◆ throttle_slew_max

param_t FixedwingPositionControl::throttle_slew_max

Definition at line 351 of file FixedwingPositionControl.hpp.

◆ time_const

param_t FixedwingPositionControl::time_const

Definition at line 321 of file FixedwingPositionControl.hpp.

◆ time_const_throt [1/2]

float FixedwingPositionControl::time_const_throt

Definition at line 276 of file FixedwingPositionControl.hpp.

◆ time_const_throt [2/2]

param_t FixedwingPositionControl::time_const_throt

Definition at line 322 of file FixedwingPositionControl.hpp.

◆ vertical_accel_limit

param_t FixedwingPositionControl::vertical_accel_limit

Definition at line 331 of file FixedwingPositionControl.hpp.

◆ vtol_type [1/2]

int32_t FixedwingPositionControl::vtol_type

Definition at line 310 of file FixedwingPositionControl.hpp.

◆ vtol_type [2/2]

param_t FixedwingPositionControl::vtol_type

Definition at line 374 of file FixedwingPositionControl.hpp.

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

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ FW_POSCTRL_MODE

Constructor & Destructor Documentation

◆ FixedwingPositionControl()

◆ ~FixedwingPositionControl()

Member Function Documentation

◆ abort_landing()

◆ airspeed_poll()

◆ calculate_target_airspeed()

◆ control_landing()

◆ control_position()

◆ control_takeoff()

◆ control_update()

◆ custom_command()

◆ DEFINE_PARAMETERS()

◆ do_takeoff_help()

◆ get_demanded_airspeed()

◆ get_tecs_pitch()

◆ get_tecs_thrust()

◆ get_terrain_altitude_takeoff()

◆ get_waypoint_heading_distance()

◆ handle_command()

◆ in_takeoff_situation()

◆ init()

◆ landing_status_publish()

◆ print_status()

◆ print_usage()

◆ reset_landing_state()

◆ reset_takeoff_state()

◆ Run()

◆ status_publish()

◆ task_spawn()

◆ tecs_status_publish()

◆ tecs_update_pitch_throttle()

◆ update_desired_altitude()

◆ vehicle_attitude_poll()

◆ vehicle_command_poll()

◆ vehicle_control_mode_poll()

◆ vehicle_status_poll()

Member Data Documentation

◆ _airspeed

◆ _airspeed_last_valid

◆ _airspeed_valid

◆ _airspeed_validated_sub

◆ _alt_reset_counter

◆ _althold_epv

◆ _asp_after_transition

◆ _att

◆ _att_sp

◆ _attitude_setpoint_id

◆ _attitude_sp_pub

◆ _control_mode

◆ _control_mode_sub

◆ _control_position_last_called

◆ _eas2tas

◆ _flare_curve_alt_rel_last

◆ _flare_height

◆ _flare_pitch_sp

◆ _global_pos

◆ _global_pos_sub

◆ _groundspeed_undershoot

◆ _hdg_hold_curr_wp

◆ _hdg_hold_enabled

◆ _hdg_hold_prev_wp

◆ _hdg_hold_yaw

◆ _hold_alt

◆ _is_tecs_running

◆ _l1_control

◆ _land_abort

◆ _land_motor_lim

◆ _land_noreturn_horizontal

◆ _land_noreturn_vertical

◆ _land_onslope

◆ _land_stayonground