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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...
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static const vehicle_constraints_s | empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}} |
| Empty constraints. More...
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static const landing_gear_s | empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}} |
| default landing gear state More...
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void | _updateXYlock () |
| applies position lock based on stick and velocity More...
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void | _updateSetpoints () override |
| updates all setpoints More...
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void | _scaleSticks () override |
| scales sticks to velocity in z More...
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void | _updateHeadingSetpoints () |
| sets yaw or yaw speed More...
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void | _ekfResetHandlerHeading (float delta_psi) override |
| adjust heading setpoint in case of EKF reset event More...
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bool | _checkTakeoff () override |
| Determine when to trigger a takeoff (ignored in flight) More...
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void | _rotateIntoHeadingFrame (matrix::Vector2f &vec) |
| rotates vector into local frame More...
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void | _updateAltitudeLock () |
| Check and sets for position lock. More...
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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 () |
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void | _lockYaw () |
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float | _applyYawspeedFilter (float yawspeed_target) |
| Filter between stick input and yaw setpoint. More...
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void | _terrainFollowing (bool apply_brake, bool stopped) |
| Terrain following. More...
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void | _respectMinAltitude () |
| Minimum Altitude during range sensor operation. More...
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void | _respectMaxAltitude () |
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void | _respectGroundSlowdown () |
| Sets downwards velocity constraint based on the distance to ground. More...
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float | stickDeadzone () const |
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void | _resetSetpoints () |
| Reset all setpoints to NAN. More...
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void | _evaluateVehicleLocalPosition () |
| Check and update local position. More...
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virtual void | _setDefaultConstraints () |
| Set constraints to default values. More...
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void | _initEkfResetCounters () |
| Monitor the EKF reset counters and call the appropriate handling functions in case of a reset event. More...
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void | _checkEkfResetCounters () |
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virtual void | _ekfResetHandlerPositionXY () |
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virtual void | _ekfResetHandlerVelocityXY () |
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virtual void | _ekfResetHandlerPositionZ () |
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virtual void | _ekfResetHandlerVelocityZ () |
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,(ParamFloat< px4::params::MPC_VEL_MANUAL >) _param_mpc_vel_manual,(ParamFloat< px4::params::MPC_ACC_HOR_MAX >) _param_mpc_acc_hor_max,(ParamFloat< px4::params::MPC_HOLD_MAX_XY >) _param_mpc_hold_max_xy,(ParamFloat< px4::params::MPC_ACC_HOR_ESTM >) _param_mpc_acc_hor_estm) private uint8_t | _reset_counter {0} |
| counter for estimator resets in xy-direction More...
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WeatherVane * | _weathervane_yaw_handler |
| external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind More...
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CollisionPrevention | _collision_prevention |
| collision avoidance setpoint amendment More...
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uORB::SubscriptionData< home_position_s > | _sub_home_position {ORB_ID(home_position)} |
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float | _yawspeed_filter_state {} |
| state of low-pass filter in rad/s More...
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uint8_t | _reset_counter = 0 |
| counter for estimator resets in z-direction More...
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float | _max_speed_up = 10.0f |
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float | _min_speed_down = 1.0f |
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bool | _terrain_follow {false} |
| true when the vehicle is following the terrain height More...
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bool | _terrain_hold {false} |
| true when vehicle is controlling height above a static ground position More...
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float | _dist_to_ground_lock = NAN |
| Distance to ground during terrain following. More...
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bool | _sticks_data_required = true |
| let inherited task-class define if it depends on stick data More...
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matrix::Vector< float, 4 > | _sticks |
| unmodified manual stick inputs More...
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matrix::Vector< float, 4 > | _sticks_expo |
| modified manual sticks using expo function More...
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int | _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE |
| old switch state More...
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uORB::SubscriptionData< vehicle_local_position_s > | _sub_vehicle_local_position {ORB_ID(vehicle_local_position)} |
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uORB::SubscriptionData< vehicle_attitude_s > | _sub_attitude {ORB_ID(vehicle_attitude)} |
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float | _time = 0 |
| passed time in seconds since the task was activated More...
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float | _deltatime = 0 |
| passed time in seconds since the task was last updated More...
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hrt_abstime | _time_stamp_activate = 0 |
| time stamp when task was activated More...
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hrt_abstime | _time_stamp_current = 0 |
| time stamp at the beginning of the current task update More...
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hrt_abstime | _time_stamp_last = 0 |
| time stamp when task was last updated More...
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matrix::Vector3f | _position |
| current vehicle position More...
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matrix::Vector3f | _velocity |
| current vehicle velocity More...
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float | _yaw = 0.f |
| current vehicle yaw heading More...
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float | _dist_to_bottom = 0.0f |
| current height above ground level More...
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matrix::Vector3f | _position_setpoint |
| Setpoints which the position controller has to execute. More...
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matrix::Vector3f | _velocity_setpoint |
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matrix::Vector3f | _acceleration_setpoint |
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matrix::Vector3f | _jerk_setpoint |
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matrix::Vector3f | _thrust_setpoint |
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float | _yaw_setpoint |
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float | _yawspeed_setpoint |
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matrix::Vector3f | _velocity_setpoint_feedback |
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matrix::Vector3f | _thrust_setpoint_feedback |
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struct { |
uint8_t xy = 0 |
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uint8_t vxy = 0 |
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uint8_t z = 0 |
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uint8_t vz = 0 |
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uint8_t quat = 0 |
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} | _reset_counters |
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vehicle_constraints_s | _constraints {} |
| Vehicle constraints. More...
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landing_gear_s | _gear {} |
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vehicle_trajectory_waypoint_s | _desired_waypoint {} |
| Desired waypoints. More...
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static constexpr uint64_t | _timeout = 500000 |
| maximal time in us before a loop or data times out More...
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Definition at line 48 of file FlightTaskSport.hpp.