#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_s &	getConstraints ()
	Get vehicle constraints. More...

const landing_gear_s &	getGear ()
	Get landing gear position. More...

const vehicle_trajectory_waypoint_s &	getAvoidanceWaypoint ()
	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

state of 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:

src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlightTaskManualPosition()

◆ ~FlightTaskManualPosition()

Member Function Documentation

◆ _scaleSticks()

◆ _updateSetpoints()

◆ _updateXYlock()

◆ activate()

◆ setYawHandler()

◆ updateInitialize()

Member Data Documentation

◆ _collision_prevention

◆ _reset_counter

◆ _weathervane_yaw_handler