#include <FlightTask.hpp>

Inheritance diagram for FlightTask:

Collaboration diagram for FlightTask:

Public Member Functions
	FlightTask ()

virtual	~FlightTask ()=default

virtual bool	activate (vehicle_local_position_setpoint_s last_setpoint)
	Call once on the event where you switch to the task. More...

virtual void	reActivate ()
	Call this to reset an active Flight Task. More...

virtual bool	applyCommandParameters (const vehicle_command_s &command)
	To be called to adopt parameters from an arrived vehicle command. More...

virtual bool	updateInitialize ()
	Call before activate() or update() to initialize time and input data. More...

virtual bool	update ()=0
	To be called regularly in the control loop cycle to execute the 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...

virtual void	setYawHandler (WeatherVane *ext_yaw_handler)
	Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy. More...

void	updateVelocityControllerIO (const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp)

Static Public Attributes
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...

Protected Member Functions
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...

virtual bool	_checkTakeoff ()
	Determine when to trigger a takeoff (ignored in flight) 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 ()

virtual void	_ekfResetHandlerHeading (float delta_psi)

Protected Attributes
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...

Static Protected Attributes
static constexpr uint64_t	_timeout = 500000
	maximal time in us before a loop or data times out More...

Detailed Description

Definition at line 57 of file FlightTask.hpp.

Constructor & Destructor Documentation

◆ FlightTask()

FlightTask::FlightTask ( )

inline

Definition at line 60 of file FlightTask.hpp.

References _constraints, _resetSetpoints(), activate(), empty_constraints, reActivate(), and ~FlightTask().

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◆ ~FlightTask()

virtual FlightTask::~FlightTask ( )

virtualdefault

Referenced by FlightTask(), and FlightTasks::switchTask().

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Member Function Documentation

◆ _checkEkfResetCounters()

void FlightTask::_checkEkfResetCounters ( )

protected

Definition at line 51 of file FlightTask.cpp.

References _ekfResetHandlerHeading(), _ekfResetHandlerPositionXY(), _ekfResetHandlerPositionZ(), _ekfResetHandlerVelocityXY(), _ekfResetHandlerVelocityZ(), _reset_counters, _sub_attitude, _sub_vehicle_local_position, vehicle_attitude_s::delta_q_reset, uORB::SubscriptionData< T >::get(), vehicle_attitude_s::quat_reset_counter, vehicle_local_position_s::vxy_reset_counter, vehicle_local_position_s::vz_reset_counter, vehicle_local_position_s::xy_reset_counter, and vehicle_local_position_s::z_reset_counter.

Referenced by updateInitialize().

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◆ _checkTakeoff()

bool FlightTask::_checkTakeoff ( )

protectedvirtual

Determine when to trigger a takeoff (ignored in flight)

Reimplemented in FlightTaskAutoLineSmoothVel, and FlightTaskManualAltitude.

Definition at line 174 of file FlightTask.cpp.

References _position, _position_setpoint, _sub_vehicle_local_position, _velocity_setpoint, uORB::SubscriptionData< T >::get(), and vehicle_local_position_s::hagl_min.

Referenced by FlightTaskAuto::updateFinalize().

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◆ _ekfResetHandlerHeading()

virtual void FlightTask::_ekfResetHandlerHeading ( float delta_psi )

inlineprotectedvirtual

Reimplemented in FlightTaskAutoLineSmoothVel, and FlightTaskManualAltitude.

Definition at line 196 of file FlightTask.hpp.

Referenced by _checkEkfResetCounters().

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◆ _ekfResetHandlerPositionXY()

virtual void FlightTask::_ekfResetHandlerPositionXY ( )

inlineprotectedvirtual

Reimplemented in FlightTaskManualPositionSmoothVel, and FlightTaskAutoLineSmoothVel.

Definition at line 192 of file FlightTask.hpp.

Referenced by _checkEkfResetCounters().

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◆ _ekfResetHandlerPositionZ()

virtual void FlightTask::_ekfResetHandlerPositionZ ( )

inlineprotectedvirtual

Reimplemented in FlightTaskManualPositionSmoothVel, FlightTaskAutoLineSmoothVel, and FlightTaskManualAltitudeSmoothVel.

Definition at line 194 of file FlightTask.hpp.

Referenced by _checkEkfResetCounters().

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◆ _ekfResetHandlerVelocityXY()

virtual void FlightTask::_ekfResetHandlerVelocityXY ( )

inlineprotectedvirtual

Reimplemented in FlightTaskManualPositionSmoothVel, and FlightTaskAutoLineSmoothVel.

Definition at line 193 of file FlightTask.hpp.

Referenced by _checkEkfResetCounters().

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◆ _ekfResetHandlerVelocityZ()

virtual void FlightTask::_ekfResetHandlerVelocityZ ( )

inlineprotectedvirtual

Reimplemented in FlightTaskManualPositionSmoothVel, FlightTaskAutoLineSmoothVel, and FlightTaskManualAltitudeSmoothVel.

Definition at line 195 of file FlightTask.hpp.

Referenced by _checkEkfResetCounters().

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◆ _evaluateVehicleLocalPosition()

void FlightTask::_evaluateVehicleLocalPosition ( )

protected

Check and update local position.

Definition at line 114 of file FlightTask.cpp.

Referenced by updateInitialize().

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◆ _initEkfResetCounters()

void FlightTask::_initEkfResetCounters ( )

protected

Monitor the EKF reset counters and call the appropriate handling functions in case of a reset event.

Definition at line 42 of file FlightTask.cpp.

References _reset_counters, _sub_attitude, _sub_vehicle_local_position, uORB::SubscriptionData< T >::get(), vehicle_attitude_s::quat_reset_counter, vehicle_local_position_s::vxy_reset_counter, vehicle_local_position_s::vz_reset_counter, vehicle_local_position_s::xy_reset_counter, and vehicle_local_position_s::z_reset_counter.

Referenced by activate().

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◆ _resetSetpoints()

void FlightTask::_resetSetpoints ( )

protected

Reset all setpoints to NAN.

Definition at line 104 of file FlightTask.cpp.

References _acceleration_setpoint, _jerk_setpoint, _position_setpoint, _thrust_setpoint, _velocity_setpoint, _yaw_setpoint, _yawspeed_setpoint, and matrix::Matrix< Type, M, N >::setAll().

Referenced by activate(), and FlightTask().

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◆ _setDefaultConstraints()

void FlightTask::_setDefaultConstraints ( )

protectedvirtual

Set constraints to default values.

Reimplemented in FlightTaskAuto.

Definition at line 163 of file FlightTask.cpp.

References _constraints, vehicle_constraints_s::max_distance_to_ground, vehicle_constraints_s::min_distance_to_ground, math::radians(), vehicle_constraints_s::speed_down, vehicle_constraints_s::speed_up, vehicle_constraints_s::speed_xy, vehicle_constraints_s::tilt, and vehicle_constraints_s::want_takeoff.

Referenced by FlightTaskAuto::_setDefaultConstraints(), and activate().

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◆ activate()

bool FlightTask::activate ( vehicle_local_position_setpoint_s last_setpoint )

virtual

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 in FlightTaskAuto, FlightTaskManualPositionSmoothVel, FlightTaskOrbit, FlightTaskSport, FlightTaskAutoLineSmoothVel, FlightTaskManualPosition, FlightTaskManualAltitudeSmoothVel, FlightTaskOffboard, FlightTaskAutoMapper, FlightTaskAutoMapper2, FlightTaskFailsafe, FlightTaskManualAltitude, FlightTaskTransition, and FlightTaskDescend.

Definition at line 12 of file FlightTask.cpp.

References _gear, _initEkfResetCounters(), _resetSetpoints(), _setDefaultConstraints(), _time_stamp_activate, empty_landing_gear_default_keep, and hrt_absolute_time().

Referenced by FlightTaskDescend::activate(), FlightTaskFailsafe::activate(), FlightTaskTransition::activate(), FlightTaskManualAltitude::activate(), FlightTaskOffboard::activate(), FlightTaskAuto::activate(), FlightTask(), reActivate(), and FlightTasks::switchTask().

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◆ applyCommandParameters()

virtual bool FlightTask::applyCommandParameters ( const vehicle_command_s & command )

inlinevirtual

To be called to adopt parameters from an arrived vehicle command.

Parameters

command received command message containing the parameters

Returns: true if accepted, false if declined

Reimplemented in FlightTaskOrbit, and FlightTaskManual.

Definition at line 86 of file FlightTask.hpp.

References update(), and updateInitialize().

Referenced by FlightTasks::_updateCommand(), and FlightTaskManual::applyCommandParameters().

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◆ getAvoidanceWaypoint()

const vehicle_trajectory_waypoint_s& FlightTask::getAvoidanceWaypoint ( )

inline

Get avoidance desired waypoint.

Returns: desired waypoints

Definition at line 133 of file FlightTask.hpp.

References _desired_waypoint.

◆ getConstraints()

const vehicle_constraints_s& FlightTask::getConstraints ( )

inline

Get vehicle constraints.

The constraints can vary with task.

Returns: constraints

Definition at line 120 of file FlightTask.hpp.

References _constraints.

Referenced by FlightTasks::getConstraints().

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◆ getGear()

const landing_gear_s& FlightTask::getGear ( )

inline

Get landing gear position.

The constraints can vary with task.

Returns: landing gear

Definition at line 127 of file FlightTask.hpp.

References _gear.

Referenced by FlightTasks::getGear().

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◆ getPositionSetpoint()

const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint ( )

Get the output data.

Returns: task output setpoints that get executed by the positon controller

Definition at line 81 of file FlightTask.cpp.

Referenced by FlightTasks::getPositionSetpoint(), reActivate(), and updateFinalize().

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◆ handleParameterUpdate()

void FlightTask::handleParameterUpdate ( )

inline

Call this whenever a parameter update notification is received (parameter_update uORB message)

Definition at line 155 of file FlightTask.hpp.

Referenced by FlightTasks::handleParameterUpdate().

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◆ reActivate()

void FlightTask::reActivate ( )

virtual

Call this to reset an active Flight Task.

Reimplemented in FlightTaskManualPositionSmoothVel, FlightTaskAutoLineSmoothVel, and FlightTaskManualAltitudeSmoothVel.

Definition at line 22 of file FlightTask.cpp.

References activate(), and getPositionSetpoint().

Referenced by FlightTask(), and FlightTasks::reActivate().

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◆ setYawHandler()

virtual void FlightTask::setYawHandler ( WeatherVane * ext_yaw_handler )

inlinevirtual

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

This method does nothing, each flighttask which wants to use the yaw handler needs to override this method.

Reimplemented in FlightTaskAuto, and FlightTaskManualPosition.

Definition at line 164 of file FlightTask.hpp.

◆ update()

virtual bool FlightTask::update ( )

pure virtual

To be called regularly in the control loop cycle to execute the task.

Returns: true on success, false on error

Implemented in FlightTaskOrbit, FlightTaskManualAltitude, FlightTaskTransition, FlightTaskAutoMapper, FlightTaskAutoMapper2, FlightTaskOffboard, FlightTaskAutoFollowMe, FlightTaskFailsafe, and FlightTaskDescend.

Referenced by applyCommandParameters(), and FlightTasks::update().

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◆ updateFinalize()

virtual bool FlightTask::updateFinalize ( )

inlinevirtual

Call after update() to constrain the generated setpoints in order to comply with the constraints of the current mode.

Returns: true on success, false on error

Reimplemented in FlightTaskAuto.

Definition at line 107 of file FlightTask.hpp.

References getPositionSetpoint().

Referenced by FlightTasks::update().

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◆ updateInitialize()

bool FlightTask::updateInitialize ( )

virtual

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

Returns: true on success, false on error

Reimplemented in FlightTaskAuto, FlightTaskManual, FlightTaskManualPosition, FlightTaskOffboard, FlightTaskManualAltitude, and FlightTaskTransition.

Definition at line 27 of file FlightTask.cpp.

References _checkEkfResetCounters(), _deltatime, _evaluateVehicleLocalPosition(), _sub_attitude, _sub_vehicle_local_position, _time, _time_stamp_activate, _time_stamp_current, _time_stamp_last, _timeout, hrt_absolute_time(), math::min(), and uORB::SubscriptionData< T >::update().

Referenced by applyCommandParameters(), FlightTasks::switchTask(), FlightTasks::update(), FlightTaskTransition::updateInitialize(), FlightTaskOffboard::updateInitialize(), FlightTaskManual::updateInitialize(), and FlightTaskAuto::updateInitialize().

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◆ updateVelocityControllerIO()

void FlightTask::updateVelocityControllerIO	(	const matrix::Vector3f &	vel_sp,
		const matrix::Vector3f &	thrust_sp
	)

inline

Definition at line 166 of file FlightTask.hpp.

References _thrust_setpoint_feedback, and _velocity_setpoint_feedback.

Member Data Documentation

◆ _acceleration_setpoint

matrix::Vector3f FlightTask::_acceleration_setpoint

protected

Definition at line 222 of file FlightTask.hpp.

Referenced by _resetSetpoints(), FlightTaskTransition::activate(), getPositionSetpoint(), and FlightTaskTransition::updateAccelerationEstimate().

◆ _constraints

vehicle_constraints_s FlightTask::_constraints {}

protected

Vehicle constraints.

The constraints can vary with tasks.

Definition at line 244 of file FlightTask.hpp.

Referenced by FlightTaskAuto::_evaluateTriplets(), FlightTaskManualPosition::_scaleSticks(), FlightTaskAuto::_setDefaultConstraints(), _setDefaultConstraints(), FlightTaskManualPositionSmooth::_updateSetpoints(), FlightTaskManualPosition::activate(), FlightTask(), getConstraints(), and FlightTaskAuto::updateFinalize().

◆ _deltatime

float FlightTask::_deltatime = 0

protected

passed time in seconds since the task was last updated

Definition at line 201 of file FlightTask.hpp.

Referenced by FlightTaskAuto::_limitYawRate(), FlightTaskManualPosition::_scaleSticks(), FlightTaskManualAltitudeSmooth::_updateSetpoints(), FlightTaskManualPositionSmooth::_updateSetpoints(), FlightTaskOrbit::update(), FlightTaskTransition::updateAccelerationEstimate(), and updateInitialize().

◆ _desired_waypoint

vehicle_trajectory_waypoint_s FlightTask::_desired_waypoint {}

protected

Desired waypoints.

Goals set by the FCU to be sent to the obstacle avoidance system.

Definition at line 252 of file FlightTask.hpp.

Referenced by getAvoidanceWaypoint().

◆ _dist_to_bottom

float FlightTask::_dist_to_bottom = 0.0f

protected

current height above ground level

Definition at line 210 of file FlightTask.hpp.

Referenced by _evaluateVehicleLocalPosition().

◆ _gear

landing_gear_s FlightTask::_gear {}

protected

Definition at line 246 of file FlightTask.hpp.

Referenced by activate(), and getGear().

◆ _jerk_setpoint

matrix::Vector3f FlightTask::_jerk_setpoint

protected

Definition at line 223 of file FlightTask.hpp.

Referenced by _resetSetpoints(), and getPositionSetpoint().

◆ _position

matrix::Vector3f FlightTask::_position

protected

◆ _position_setpoint

matrix::Vector3f FlightTask::_position_setpoint

protected

Setpoints which the position controller has to execute.

Setpoints that are set to NAN are not controlled. Not all setpoints can be set at the same time. If more than one type of setpoint is set, then order of control is a as follow: position, velocity, acceleration, thrust. The exception is _position_setpoint together with _velocity_setpoint, where the _velocity_setpoint is used as feedforward. _acceleration_setpoint and _jerk_setpoint are currently not supported.

Definition at line 220 of file FlightTask.hpp.

Referenced by _checkTakeoff(), _resetSetpoints(), FlightTaskManualPosition::_updateXYlock(), FlightTaskFailsafe::activate(), FlightTaskManualPosition::activate(), FlightTaskAuto::activate(), FlightTaskOrbit::applyCommandParameters(), FlightTaskOrbit::generate_circle_approach_setpoints(), FlightTaskOrbit::generate_circle_setpoints(), getPositionSetpoint(), FlightTaskOrbit::sendTelemetry(), FlightTaskFailsafe::update(), and FlightTaskTransition::update().

◆ _reset_counters

struct { ... } FlightTask::_reset_counters

Referenced by _checkEkfResetCounters(), and _initEkfResetCounters().

◆ _sub_attitude

uORB::SubscriptionData<vehicle_attitude_s> FlightTask::_sub_attitude {ORB_ID(vehicle_attitude)}

protected

Definition at line 172 of file FlightTask.hpp.

Referenced by _checkEkfResetCounters(), _evaluateVehicleLocalPosition(), _initEkfResetCounters(), and updateInitialize().

◆ _sub_vehicle_local_position

uORB::SubscriptionData<vehicle_local_position_s> FlightTask::_sub_vehicle_local_position {ORB_ID(vehicle_local_position)}

protected

Definition at line 171 of file FlightTask.hpp.

Referenced by _checkEkfResetCounters(), _checkTakeoff(), FlightTaskAuto::_evaluateGlobalReference(), _evaluateVehicleLocalPosition(), _initEkfResetCounters(), FlightTaskManualPosition::_scaleSticks(), FlightTaskManualPosition::_updateXYlock(), and updateInitialize().

◆ _thrust_setpoint

matrix::Vector3f FlightTask::_thrust_setpoint

protected

Definition at line 224 of file FlightTask.hpp.

Referenced by _resetSetpoints(), FlightTaskManualPosition::_updateSetpoints(), FlightTaskDescend::activate(), FlightTaskFailsafe::activate(), getPositionSetpoint(), FlightTaskDescend::update(), FlightTaskFailsafe::update(), and FlightTaskTransition::update().

◆ _thrust_setpoint_feedback

matrix::Vector3f FlightTask::_thrust_setpoint_feedback

protected

Definition at line 229 of file FlightTask.hpp.

Referenced by updateVelocityControllerIO().

◆ _time

float FlightTask::_time = 0

protected

passed time in seconds since the task was activated

Definition at line 200 of file FlightTask.hpp.

Referenced by updateInitialize().

◆ _time_stamp_activate

hrt_abstime FlightTask::_time_stamp_activate = 0

protected

time stamp when task was activated

Definition at line 202 of file FlightTask.hpp.

Referenced by activate(), and updateInitialize().

◆ _time_stamp_current

hrt_abstime FlightTask::_time_stamp_current = 0

protected

time stamp at the beginning of the current task update

Definition at line 203 of file FlightTask.hpp.

Referenced by _evaluateVehicleLocalPosition(), and updateInitialize().

◆ _time_stamp_last

hrt_abstime FlightTask::_time_stamp_last = 0

protected

time stamp when task was last updated

Definition at line 204 of file FlightTask.hpp.

Referenced by updateInitialize().

◆ _timeout

constexpr uint64_t FlightTask::_timeout = 500000

staticprotected

maximal time in us before a loop or data times out

Definition at line 199 of file FlightTask.hpp.

Referenced by _evaluateVehicleLocalPosition(), and updateInitialize().

◆ _velocity

matrix::Vector3f FlightTask::_velocity

protected

current vehicle velocity

Definition at line 208 of file FlightTask.hpp.

Referenced by _evaluateVehicleLocalPosition(), FlightTaskManualPosition::_scaleSticks(), FlightTaskManualPositionSmooth::_updateSetpoints(), FlightTaskManualPosition::_updateXYlock(), FlightTaskTransition::activate(), FlightTaskOrbit::activate(), FlightTaskAuto::activate(), FlightTaskDescend::update(), FlightTaskFailsafe::update(), FlightTaskTransition::updateAccelerationEstimate(), FlightTaskManualPosition::updateInitialize(), and FlightTaskAuto::updateInitialize().

◆ _velocity_setpoint

matrix::Vector3f FlightTask::_velocity_setpoint

protected

Definition at line 221 of file FlightTask.hpp.

Referenced by _checkTakeoff(), _resetSetpoints(), FlightTaskManualPosition::_scaleSticks(), FlightTaskManualAltitudeSmooth::_updateSetpoints(), FlightTaskManualPositionSmooth::_updateSetpoints(), FlightTaskManualPosition::_updateXYlock(), FlightTaskFailsafe::activate(), FlightTaskManualPosition::activate(), FlightTaskAuto::activate(), FlightTaskOrbit::generate_circle_approach_setpoints(), FlightTaskOrbit::generate_circle_setpoints(), getPositionSetpoint(), FlightTaskDescend::update(), FlightTaskFailsafe::update(), and FlightTaskTransition::update().

◆ _velocity_setpoint_feedback

matrix::Vector3f FlightTask::_velocity_setpoint_feedback

protected

Definition at line 228 of file FlightTask.hpp.

Referenced by updateVelocityControllerIO().

◆ _yaw

float FlightTask::_yaw = 0.f

protected

current vehicle yaw heading

Definition at line 209 of file FlightTask.hpp.

Referenced by FlightTaskAuto::_evaluateTriplets(), _evaluateVehicleLocalPosition(), FlightTaskAuto::_set_heading_from_mode(), FlightTaskManualPositionSmooth::_updateSetpoints(), FlightTaskDescend::activate(), FlightTaskFailsafe::activate(), FlightTaskAuto::activate(), and FlightTaskTransition::checkSetpoints().

◆ _yaw_setpoint

float FlightTask::_yaw_setpoint

protected

Definition at line 225 of file FlightTask.hpp.

Referenced by FlightTaskAuto::_evaluateTriplets(), FlightTaskAuto::_limitYawRate(), _resetSetpoints(), FlightTaskAuto::_set_heading_from_mode(), FlightTaskManualPosition::_updateSetpoints(), FlightTaskDescend::activate(), FlightTaskFailsafe::activate(), FlightTaskAuto::activate(), getPositionSetpoint(), FlightTaskTransition::update(), and FlightTaskOrbit::update().

◆ _yawspeed_setpoint

float FlightTask::_yawspeed_setpoint

protected

Definition at line 226 of file FlightTask.hpp.

Referenced by FlightTaskAuto::_evaluateTriplets(), FlightTaskAuto::_limitYawRate(), _resetSetpoints(), FlightTaskManualPositionSmooth::_updateSetpoints(), FlightTaskManualPosition::_updateSetpoints(), FlightTaskFailsafe::activate(), FlightTaskAuto::activate(), FlightTaskOrbit::generate_circle_approach_setpoints(), FlightTaskOrbit::generate_circle_setpoints(), and getPositionSetpoint().

◆ empty_constraints

const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}}

static

Empty constraints.

All constraints are set to NAN.

Definition at line 145 of file FlightTask.hpp.

Referenced by FlightTask(), FlightTasks::getConstraints(), and MulticopterPositionControl::Run().

◆ empty_landing_gear_default_keep

const landing_gear_s FlightTask::empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}}

static

default landing gear state

Definition at line 150 of file FlightTask.hpp.

Referenced by activate(), and FlightTasks::getGear().

◆ empty_setpoint

const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {}}

static

Empty setpoint.

All setpoints are set to NAN.

Definition at line 139 of file FlightTask.hpp.

Referenced by FlightTasks::getPositionSetpoint(), and MulticopterPositionControl::Run().

◆ quat

uint8_t FlightTask::quat = 0

Definition at line 237 of file FlightTask.hpp.

◆ vxy

uint8_t FlightTask::vxy = 0

Definition at line 234 of file FlightTask.hpp.

◆ vz

uint8_t FlightTask::vz = 0

Definition at line 236 of file FlightTask.hpp.

◆ xy

uint8_t FlightTask::xy = 0

Definition at line 233 of file FlightTask.hpp.

◆ z

uint8_t FlightTask::z = 0

Definition at line 235 of file FlightTask.hpp.

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

src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FlightTask()

◆ ~FlightTask()

Member Function Documentation

◆ _checkEkfResetCounters()

◆ _checkTakeoff()

◆ _ekfResetHandlerHeading()

◆ _ekfResetHandlerPositionXY()

◆ _ekfResetHandlerPositionZ()

◆ _ekfResetHandlerVelocityXY()

◆ _ekfResetHandlerVelocityZ()

◆ _evaluateVehicleLocalPosition()

◆ _initEkfResetCounters()

◆ _resetSetpoints()

◆ _setDefaultConstraints()

◆ activate()

◆ applyCommandParameters()

◆ getAvoidanceWaypoint()

◆ getConstraints()

◆ getGear()

◆ getPositionSetpoint()

◆ handleParameterUpdate()

◆ reActivate()

◆ setYawHandler()

◆ update()

◆ updateFinalize()

◆ updateInitialize()

◆ updateVelocityControllerIO()

Member Data Documentation

◆ _acceleration_setpoint

◆ _constraints

◆ _deltatime

◆ _desired_waypoint

◆ _dist_to_bottom

◆ _gear

◆ _jerk_setpoint

◆ _position

◆ _position_setpoint

◆ _reset_counters

◆ _sub_attitude

◆ _sub_vehicle_local_position

◆ _thrust_setpoint

◆ _thrust_setpoint_feedback

◆ _time

◆ _time_stamp_activate

◆ _time_stamp_current

◆ _time_stamp_last

◆ _timeout

◆ _velocity

◆ _velocity_setpoint

◆ _velocity_setpoint_feedback

◆ _yaw

◆ _yaw_setpoint

◆ _yawspeed_setpoint

◆ empty_constraints

◆ empty_landing_gear_default_keep

◆ empty_setpoint

◆ quat

◆ vxy

◆ vz

◆ xy

◆ z