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

#include <FlightTaskManualPosition.hpp>

Inheritance diagram for FlightTaskManualPosition:
Collaboration diagram for FlightTaskManualPosition:

Public Member Functions

 FlightTaskManualPosition ()
 
virtual ~FlightTaskManualPosition ()=default
 
bool activate (vehicle_local_position_setpoint_s last_setpoint) override
 Call once on the event where you switch to the task. More...
 
bool updateInitialize () override
 Call before activate() or update() to initialize time and input data. More...
 
void setYawHandler (WeatherVane *yaw_handler) override
 Sets an external yaw handler which can be used to implement a different yaw control strategy. More...
 
- Public Member Functions inherited from FlightTaskManualAltitude
 FlightTaskManualAltitude ()=default
 
virtual ~FlightTaskManualAltitude ()=default
 
bool update () override
 To be called regularly in the control loop cycle to execute the task. More...
 
- Public Member Functions inherited from FlightTaskManual
 FlightTaskManual ()=default
 
virtual ~FlightTaskManual ()=default
 
bool applyCommandParameters (const vehicle_command_s &command) override
 To be called to adopt parameters from an arrived vehicle command. More...
 
- Public Member Functions inherited from FlightTask
 FlightTask ()
 
virtual ~FlightTask ()=default
 
virtual void reActivate ()
 Call this to reset an active Flight Task. More...
 
virtual bool updateFinalize ()
 Call after update() to constrain the generated setpoints in order to comply with the constraints of the current mode. More...
 
const vehicle_local_position_setpoint_s getPositionSetpoint ()
 Get the output data. More...
 
const vehicle_constraints_sgetConstraints ()
 Get vehicle constraints. More...
 
const landing_gear_sgetGear ()
 Get landing gear position. More...
 
const vehicle_trajectory_waypoint_sgetAvoidanceWaypoint ()
 Get avoidance desired waypoint. More...
 
void handleParameterUpdate ()
 Call this whenever a parameter update notification is received (parameter_update uORB message) More...
 
void updateVelocityControllerIO (const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp)
 

Protected Member Functions

void _updateXYlock ()
 applies position lock based on stick and velocity More...
 
void _updateSetpoints () override
 updates all setpoints More...
 
void _scaleSticks () override
 scales sticks to velocity in z More...
 
- Protected Member Functions inherited from FlightTaskManualAltitude
void _updateHeadingSetpoints ()
 sets yaw or yaw speed More...
 
void _ekfResetHandlerHeading (float delta_psi) override
 adjust heading setpoint in case of EKF reset event More...
 
bool _checkTakeoff () override
 Determine when to trigger a takeoff (ignored in flight) More...
 
void _rotateIntoHeadingFrame (matrix::Vector2f &vec)
 rotates vector into local frame More...
 
void _updateAltitudeLock ()
 Check and sets for position lock. More...
 
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,(ParamFloat< px4::params::MPC_HOLD_MAX_Z >) _param_mpc_hold_max_z,(ParamInt< px4::params::MPC_ALT_MODE >) _param_mpc_alt_mode,(ParamFloat< px4::params::MPC_HOLD_MAX_XY >) _param_mpc_hold_max_xy,(ParamFloat< px4::params::MPC_Z_P >) _param_mpc_z_p,(ParamFloat< px4::params::MPC_MAN_Y_MAX >) _param_mpc_man_y_max,(ParamFloat< px4::params::MPC_MAN_Y_TAU >) _param_mpc_man_y_tau,(ParamFloat< px4::params::MPC_MAN_TILT_MAX >) _param_mpc_man_tilt_max,(ParamFloat< px4::params::MPC_LAND_ALT1 >) _param_mpc_land_alt1,(ParamFloat< px4::params::MPC_LAND_ALT2 >) _param_mpc_land_alt2,(ParamFloat< px4::params::MPC_LAND_SPEED >) _param_mpc_land_speed,(ParamFloat< px4::params::MPC_TKO_SPEED >) _param_mpc_tko_speed) private void _unlockYaw ()
 
void _lockYaw ()
 
float _applyYawspeedFilter (float yawspeed_target)
 Filter between stick input and yaw setpoint. More...
 
void _terrainFollowing (bool apply_brake, bool stopped)
 Terrain following. More...
 
void _respectMinAltitude ()
 Minimum Altitude during range sensor operation. More...
 
void _respectMaxAltitude ()
 
void _respectGroundSlowdown ()
 Sets downwards velocity constraint based on the distance to ground. More...
 
- Protected Member Functions inherited from FlightTaskManual
float stickDeadzone () const
 
- Protected Member Functions inherited from FlightTask
void _resetSetpoints ()
 Reset all setpoints to NAN. More...
 
void _evaluateVehicleLocalPosition ()
 Check and update local position. More...
 
virtual void _setDefaultConstraints ()
 Set constraints to default values. More...
 
void _initEkfResetCounters ()
 Monitor the EKF reset counters and call the appropriate handling functions in case of a reset event. More...
 
void _checkEkfResetCounters ()
 
virtual void _ekfResetHandlerPositionXY ()
 
virtual void _ekfResetHandlerVelocityXY ()
 
virtual void _ekfResetHandlerPositionZ ()
 
virtual void _ekfResetHandlerVelocityZ ()
 

Protected Attributes

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...
 
WeatherVane_weathervane_yaw_handler
 external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind More...
 
CollisionPrevention _collision_prevention
 collision avoidance setpoint amendment More...
 
- Protected Attributes inherited from FlightTaskManualAltitude
uORB::SubscriptionData< home_position_s_sub_home_position {ORB_ID(home_position)}
 
float _yawspeed_filter_state {}
 state of low-pass filter in rad/s More...
 
uint8_t _reset_counter = 0
 counter for estimator resets in z-direction More...
 
float _max_speed_up = 10.0f
 
float _min_speed_down = 1.0f
 
bool _terrain_follow {false}
 true when the vehicle is following the terrain height More...
 
bool _terrain_hold {false}
 true when vehicle is controlling height above a static ground position More...
 
float _dist_to_ground_lock = NAN
 Distance to ground during terrain following. More...
 
- Protected Attributes inherited from FlightTaskManual
bool _sticks_data_required = true
 let inherited task-class define if it depends on stick data More...
 
matrix::Vector< float, 4 > _sticks
 unmodified manual stick inputs More...
 
matrix::Vector< float, 4 > _sticks_expo
 modified manual sticks using expo function More...
 
int _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE
 old switch state More...
 
- Protected Attributes inherited from FlightTask
uORB::SubscriptionData< vehicle_local_position_s_sub_vehicle_local_position {ORB_ID(vehicle_local_position)}
 
uORB::SubscriptionData< vehicle_attitude_s_sub_attitude {ORB_ID(vehicle_attitude)}
 
float _time = 0
 passed time in seconds since the task was activated More...
 
float _deltatime = 0
 passed time in seconds since the task was last updated More...
 
hrt_abstime _time_stamp_activate = 0
 time stamp when task was activated More...
 
hrt_abstime _time_stamp_current = 0
 time stamp at the beginning of the current task update More...
 
hrt_abstime _time_stamp_last = 0
 time stamp when task was last updated More...
 
matrix::Vector3f _position
 current vehicle position More...
 
matrix::Vector3f _velocity
 current vehicle velocity More...
 
float _yaw = 0.f
 current vehicle yaw heading More...
 
float _dist_to_bottom = 0.0f
 current height above ground level More...
 
matrix::Vector3f _position_setpoint
 Setpoints which the position controller has to execute. More...
 
matrix::Vector3f _velocity_setpoint
 
matrix::Vector3f _acceleration_setpoint
 
matrix::Vector3f _jerk_setpoint
 
matrix::Vector3f _thrust_setpoint
 
float _yaw_setpoint
 
float _yawspeed_setpoint
 
matrix::Vector3f _velocity_setpoint_feedback
 
matrix::Vector3f _thrust_setpoint_feedback
 
struct {
   uint8_t   xy = 0
 
   uint8_t   vxy = 0
 
   uint8_t   z = 0
 
   uint8_t   vz = 0
 
   uint8_t   quat = 0
 
_reset_counters
 
vehicle_constraints_s _constraints {}
 Vehicle constraints. More...
 
landing_gear_s _gear {}
 
vehicle_trajectory_waypoint_s _desired_waypoint {}
 Desired waypoints. More...
 

Additional Inherited Members

- Static Public Attributes inherited from FlightTask
static const vehicle_local_position_setpoint_s empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {}}
 Empty setpoint. More...
 
static const vehicle_constraints_s empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}}
 Empty constraints. More...
 
static const landing_gear_s empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}}
 default landing gear state More...
 
- Static Protected Attributes inherited from FlightTask
static constexpr uint64_t _timeout = 500000
 maximal time in us before a loop or data times out More...
 

Detailed Description

Definition at line 46 of file FlightTaskManualPosition.hpp.

Constructor & Destructor Documentation

◆ FlightTaskManualPosition()

FlightTaskManualPosition::FlightTaskManualPosition ( )

Definition at line 44 of file FlightTaskManualPosition.cpp.

◆ ~FlightTaskManualPosition()

virtual FlightTaskManualPosition::~FlightTaskManualPosition ( )
virtualdefault

Member Function Documentation

◆ _scaleSticks()

void FlightTaskManualPosition::_scaleSticks ( )
overrideprotectedvirtual

scales sticks to velocity in z

Reimplemented from FlightTaskManualAltitude.

Definition at line 81 of file FlightTaskManualPosition.cpp.

References _collision_prevention, FlightTask::_constraints, FlightTask::_deltatime, FlightTask::_position, FlightTaskManualAltitude::_rotateIntoHeadingFrame(), FlightTaskManualAltitude::_scaleSticks(), FlightTaskManual::_sticks_expo, FlightTask::_sub_vehicle_local_position, FlightTask::_velocity, FlightTask::_velocity_setpoint, math::constrain(), f(), FLT_EPSILON, uORB::SubscriptionData< T >::get(), CollisionPrevention::is_active(), matrix::Vector< Type, M >::length(), CollisionPrevention::modifySetpoint(), matrix::Vector< Type, M >::normalized(), vehicle_constraints_s::speed_xy, and vehicle_local_position_s::vxy_max.

Referenced by setYawHandler().

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◆ _updateSetpoints()

void FlightTaskManualPosition::_updateSetpoints ( )
overrideprotectedvirtual

updates all setpoints

Reimplemented from FlightTaskManualAltitude.

Reimplemented in FlightTaskManualPositionSmoothVel, and FlightTaskManualPositionSmooth.

Definition at line 159 of file FlightTaskManualPosition.cpp.

References FlightTask::_thrust_setpoint, FlightTaskManualAltitude::_updateSetpoints(), _updateXYlock(), _weathervane_yaw_handler, FlightTask::_yaw_setpoint, FlightTask::_yawspeed_setpoint, WeatherVane::get_weathervane_yawrate(), WeatherVane::is_active(), and matrix::Matrix< Type, M, N >::setAll().

Referenced by FlightTaskManualPositionSmooth::_updateSetpoints(), FlightTaskManualPositionSmoothVel::_updateSetpoints(), and setYawHandler().

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◆ _updateXYlock()

void FlightTaskManualPosition::_updateXYlock ( )
protected

applies position lock based on stick and velocity

Definition at line 132 of file FlightTaskManualPosition.cpp.

References FlightTask::_position, FlightTask::_position_setpoint, _reset_counter, FlightTask::_sub_vehicle_local_position, FlightTask::_velocity, FlightTask::_velocity_setpoint, FLT_EPSILON, uORB::SubscriptionData< T >::get(), and vehicle_local_position_s::xy_reset_counter.

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

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◆ activate()

bool FlightTaskManualPosition::activate ( vehicle_local_position_setpoint_s  last_setpoint)
overridevirtual

Call once on the event where you switch to the task.

Parameters
stateof the previous task
Returns
true on success, false on error

Reimplemented from FlightTaskManualAltitude.

Reimplemented in FlightTaskManualPositionSmoothVel, and FlightTaskSport.

Definition at line 59 of file FlightTaskManualPosition.cpp.

References FlightTask::_constraints, FlightTask::_position, FlightTask::_position_setpoint, FlightTask::_velocity_setpoint, FlightTaskManualAltitude::activate(), math::radians(), vehicle_constraints_s::speed_xy, and vehicle_constraints_s::tilt.

Referenced by FlightTaskSport::activate(), and FlightTaskManualPositionSmoothVel::activate().

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◆ setYawHandler()

void FlightTaskManualPosition::setYawHandler ( WeatherVane yaw_handler)
inlineoverridevirtual

Sets an external yaw handler which can be used to implement a different yaw control strategy.

Reimplemented from FlightTask.

Definition at line 58 of file FlightTaskManualPosition.hpp.

References _scaleSticks(), _updateSetpoints(), _updateXYlock(), and _weathervane_yaw_handler.

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◆ updateInitialize()

bool FlightTaskManualPosition::updateInitialize ( )
overridevirtual

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

Returns
true on success, false on error

Reimplemented from FlightTaskManualAltitude.

Definition at line 49 of file FlightTaskManualPosition.cpp.

References FlightTask::_position, FlightTask::_velocity, and FlightTaskManualAltitude::updateInitialize().

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Member Data Documentation

◆ _collision_prevention

CollisionPrevention FlightTaskManualPosition::_collision_prevention
protected

collision avoidance setpoint amendment

Definition at line 79 of file FlightTaskManualPosition.hpp.

Referenced by _scaleSticks().

◆ _reset_counter

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 FlightTaskManualPosition::_reset_counter {0}
protected

counter for estimator resets in xy-direction

Definition at line 74 of file FlightTaskManualPosition.hpp.

Referenced by _updateXYlock().

◆ _weathervane_yaw_handler

WeatherVane* FlightTaskManualPosition::_weathervane_yaw_handler
protected
Initial value:
=
nullptr

external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind

Definition at line 76 of file FlightTaskManualPosition.hpp.

Referenced by _updateSetpoints(), and setYawHandler().


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