PX4 Firmware
PX4 Autopilot Software http://px4.io
DataLinkLoss Class Reference

#include <datalinkloss.h>

Inheritance diagram for DataLinkLoss:
Collaboration diagram for DataLinkLoss:

Public Member Functions

 DataLinkLoss (Navigator *navigator)
 
 ~DataLinkLoss ()=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...
 
- Public Member Functions inherited from MissionBlock
 MissionBlock (Navigator *navigator)
 Constructor. More...
 
virtual ~MissionBlock ()=default
 
 MissionBlock (const MissionBlock &)=delete
 
MissionBlockoperator= (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 Member Functions

 DEFINE_PARAMETERS ((ParamFloat< px4::params::NAV_DLL_CH_T >) _param_nav_dll_ch_t,(ParamInt< px4::params::NAV_DLL_CH_LAT >) _param_nav_dll_ch_lat,(ParamInt< px4::params::NAV_DLL_CH_LON >) _param_nav_dll_ch_lon,(ParamFloat< px4::params::NAV_DLL_CH_ALT >) _param_nav_dll_ch_alt,(ParamInt< px4::params::NAV_AH_LAT >) _param_nav_ah_lat,(ParamInt< px4::params::NAV_AH_LON >) _param_nav_ah_lon,(ParamFloat< px4::params::NAV_AH_ALT >) _param_nav_ah_alt,(ParamFloat< px4::params::NAV_DLL_AH_T >) _param_nav_dll_ah_t,(ParamInt< px4::params::NAV_DLL_N >) _param_nav_dll_n,(ParamInt< px4::params::NAV_DLL_CHSK >) _param_nav_dll_chsk) enum DLLState
 
void set_dll_item ()
 Set the DLL item. More...
 
void advance_dll ()
 Move to next DLL item. More...
 

Private Attributes

 _dll_state {DLL_STATE_NONE}
 

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 49 of file datalinkloss.h.

Constructor & Destructor Documentation

◆ DataLinkLoss()

DataLinkLoss::DataLinkLoss ( Navigator navigator)

Definition at line 57 of file datalinkloss.cpp.

◆ ~DataLinkLoss()

DataLinkLoss::~DataLinkLoss ( )
default

Member Function Documentation

◆ advance_dll()

void DataLinkLoss::advance_dll ( )
private

Move to next DLL item.

Definition at line 159 of file datalinkloss.cpp.

References _dll_state, NavigatorMode::_navigator, vehicle_status_s::data_link_lost_counter, Navigator::get_mavlink_log_pub(), Navigator::get_mission_result(), Navigator::get_vstatus(), mavlink_log_critical, MissionBlock::reset_mission_item_reached(), Navigator::set_mission_result_updated(), mission_result_s::stay_in_failsafe, and warnx.

Referenced by on_activation(), and on_active().

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◆ DEFINE_PARAMETERS()

DataLinkLoss::DEFINE_PARAMETERS ( (ParamFloat< px4::params::NAV_DLL_CH_T >)  _param_nav_dll_ch_t,
(ParamInt< px4::params::NAV_DLL_CH_LAT >)  _param_nav_dll_ch_lat,
(ParamInt< px4::params::NAV_DLL_CH_LON >)  _param_nav_dll_ch_lon,
(ParamFloat< px4::params::NAV_DLL_CH_ALT >)  _param_nav_dll_ch_alt,
(ParamInt< px4::params::NAV_AH_LAT >)  _param_nav_ah_lat,
(ParamInt< px4::params::NAV_AH_LON >)  _param_nav_ah_lon,
(ParamFloat< px4::params::NAV_AH_ALT >)  _param_nav_ah_alt,
(ParamFloat< px4::params::NAV_DLL_AH_T >)  _param_nav_dll_ah_t,
(ParamInt< px4::params::NAV_DLL_N >)  _param_nav_dll_n,
(ParamInt< px4::params::NAV_DLL_CHSK >)  _param_nav_dll_chsk 
)
inlineprivate

Definition at line 61 of file datalinkloss.h.

◆ on_activation()

void DataLinkLoss::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 74 of file datalinkloss.cpp.

References _dll_state, advance_dll(), and set_dll_item().

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◆ on_active()

void DataLinkLoss::on_active ( )
overridevirtual

This function is called while the mode is active.

Reimplemented from NavigatorMode.

Definition at line 82 of file datalinkloss.cpp.

References advance_dll(), MissionBlock::is_mission_item_reached(), and set_dll_item().

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◆ on_inactive()

void DataLinkLoss::on_inactive ( )
overridevirtual

This function is called while the mode is inactive.

Reimplemented from NavigatorMode.

Definition at line 65 of file datalinkloss.cpp.

References _dll_state, NavigatorMode::_navigator, and Navigator::get_can_loiter_at_sp().

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◆ set_dll_item()

Member Data Documentation

◆ _dll_state

DataLinkLoss::_dll_state {DLL_STATE_NONE}
private

Definition at line 80 of file datalinkloss.h.

Referenced by advance_dll(), on_activation(), on_inactive(), and set_dll_item().


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