#include <RunwayTakeoff.h>

Inheritance diagram for runwaytakeoff::RunwayTakeoff:

Collaboration diagram for runwaytakeoff::RunwayTakeoff:

Public Member Functions
	RunwayTakeoff (ModuleParams *parent)

	~RunwayTakeoff ()=default

void	init (float yaw, double current_lat, double current_lon)

void	update (float airspeed, float alt_agl, double current_lat, double current_lon, orb_advert_t *mavlink_log_pub)

RunwayTakeoffState	getState ()

bool	isInitialized ()

bool	runwayTakeoffEnabled ()

float	getMinAirspeedScaling ()

float	getInitYaw ()

bool	controlYaw ()

bool	climbout ()

float	getPitch (float tecsPitch)

float	getRoll (float navigatorRoll)

float	getYaw (float navigatorYaw)

float	getThrottle (float tecsThrottle)

bool	resetIntegrators ()

float	getMinPitch (float sp_min, float climbout_min, float min)

float	getMaxPitch (float max)

matrix::Vector2f	getStartWP ()

void	reset ()

Private Attributes
RunwayTakeoffState	_state
	state variables More...

bool	_initialized

hrt_abstime	_initialized_time

float	_init_yaw

bool	_climbout

matrix::Vector2f	_start_wp

Detailed Description

Definition at line 65 of file RunwayTakeoff.h.

Constructor & Destructor Documentation

◆ RunwayTakeoff()

runwaytakeoff::RunwayTakeoff::RunwayTakeoff ( ModuleParams * parent )

Definition at line 54 of file RunwayTakeoff.cpp.

◆ ~RunwayTakeoff()

runwaytakeoff::RunwayTakeoff::~RunwayTakeoff ( )

default

Member Function Documentation

◆ climbout()

bool runwaytakeoff::RunwayTakeoff::climbout ( )

inline

Definition at line 82 of file RunwayTakeoff.h.

References math::max(), math::min(), and lps22hb::reset().

Referenced by FixedwingPositionControl::control_takeoff().

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◆ controlYaw()

bool runwaytakeoff::RunwayTakeoff::controlYaw ( )

Definition at line 130 of file RunwayTakeoff.cpp.

References _state, and runwaytakeoff::CLIMBOUT.

Referenced by FixedwingPositionControl::control_takeoff().

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◆ getInitYaw()

float runwaytakeoff::RunwayTakeoff::getInitYaw ( )

inline

Definition at line 79 of file RunwayTakeoff.h.

◆ getMaxPitch()

float runwaytakeoff::RunwayTakeoff::getMaxPitch ( float max )

Definition at line 241 of file RunwayTakeoff.cpp.

References _state, runwaytakeoff::FLY, and math::max().

Referenced by FixedwingPositionControl::control_takeoff().

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◆ getMinAirspeedScaling()

float runwaytakeoff::RunwayTakeoff::getMinAirspeedScaling ( )

inline

Definition at line 78 of file RunwayTakeoff.h.

Referenced by FixedwingPositionControl::control_takeoff().

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◆ getMinPitch()

float runwaytakeoff::RunwayTakeoff::getMinPitch	(	float	sp_min,
		float	climbout_min,
		float	min
	)

Definition at line 225 of file RunwayTakeoff.cpp.

References _state, runwaytakeoff::FLY, math::max(), and math::min().

Referenced by FixedwingPositionControl::control_takeoff().

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◆ getPitch()

float runwaytakeoff::RunwayTakeoff::getPitch ( float tecsPitch )

Definition at line 142 of file RunwayTakeoff.cpp.

References _state, runwaytakeoff::CLAMPED_TO_RUNWAY, and math::radians().

Referenced by FixedwingPositionControl::control_takeoff().

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◆ getRoll()

float runwaytakeoff::RunwayTakeoff::getRoll ( float navigatorRoll )

Definition at line 154 of file RunwayTakeoff.cpp.

References _state, runwaytakeoff::CLIMBOUT, math::constrain(), runwaytakeoff::FLY, and math::radians().

Referenced by FixedwingPositionControl::control_takeoff().

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◆ getStartWP()

Vector2f runwaytakeoff::RunwayTakeoff::getStartWP ( )

Definition at line 256 of file RunwayTakeoff.cpp.

References _start_wp.

Referenced by FixedwingPositionControl::control_takeoff().

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◆ getState()

RunwayTakeoffState runwaytakeoff::RunwayTakeoff::getState ( )

inline

Definition at line 74 of file RunwayTakeoff.h.

◆ getThrottle()

float runwaytakeoff::RunwayTakeoff::getThrottle ( float tecsThrottle )

Definition at line 193 of file RunwayTakeoff.cpp.

References _initialized_time, _state, runwaytakeoff::CLAMPED_TO_RUNWAY, hrt_elapsed_time(), and runwaytakeoff::THROTTLE_RAMP.

Referenced by FixedwingPositionControl::control_position().

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◆ getYaw()

float runwaytakeoff::RunwayTakeoff::getYaw ( float navigatorYaw )

Definition at line 177 of file RunwayTakeoff.cpp.

References _init_yaw, _state, and runwaytakeoff::CLIMBOUT.

Referenced by FixedwingPositionControl::control_takeoff().

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◆ init()

void runwaytakeoff::RunwayTakeoff::init	(	float	yaw,
		double	current_lat,
		double	current_lon
	)

Definition at line 64 of file RunwayTakeoff.cpp.

References _climbout, _init_yaw, _initialized, _initialized_time, _start_wp, _state, hrt_absolute_time(), and runwaytakeoff::THROTTLE_RAMP.

Referenced by FixedwingPositionControl::control_takeoff().

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◆ isInitialized()

bool runwaytakeoff::RunwayTakeoff::isInitialized ( )

inline

Definition at line 75 of file RunwayTakeoff.h.

Referenced by FixedwingPositionControl::control_takeoff().

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◆ reset()

void runwaytakeoff::RunwayTakeoff::reset ( void )

Definition at line 261 of file RunwayTakeoff.cpp.

References _initialized, _state, and runwaytakeoff::THROTTLE_RAMP.

Referenced by FixedwingPositionControl::reset_takeoff_state().

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◆ resetIntegrators()

bool runwaytakeoff::RunwayTakeoff::resetIntegrators ( )

Definition at line 212 of file RunwayTakeoff.cpp.

References _state, and runwaytakeoff::TAKEOFF.

Referenced by FixedwingPositionControl::control_takeoff().

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◆ runwayTakeoffEnabled()

bool runwaytakeoff::RunwayTakeoff::runwayTakeoffEnabled ( )

inline

Definition at line 77 of file RunwayTakeoff.h.

Referenced by FixedwingPositionControl::control_position(), and FixedwingPositionControl::control_takeoff().

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◆ update()

void runwaytakeoff::RunwayTakeoff::update	(	float	airspeed,
		float	alt_agl,
		double	current_lat,
		double	current_lon,
		orb_advert_t *	mavlink_log_pub
	)

Definition at line 75 of file RunwayTakeoff.cpp.

References _climbout, _initialized_time, _start_wp, _state, runwaytakeoff::CLAMPED_TO_RUNWAY, runwaytakeoff::CLIMBOUT, runwaytakeoff::FLY, hrt_elapsed_time(), mavlink_log_info, runwaytakeoff::TAKEOFF, and runwaytakeoff::THROTTLE_RAMP.

Referenced by FixedwingPositionControl::control_takeoff().

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Member Data Documentation

◆ _climbout

bool runwaytakeoff::RunwayTakeoff::_climbout

private

Definition at line 100 of file RunwayTakeoff.h.

Referenced by init(), and update().

◆ _init_yaw

float runwaytakeoff::RunwayTakeoff::_init_yaw

private

Definition at line 99 of file RunwayTakeoff.h.

Referenced by getYaw(), and init().

◆ _initialized

bool runwaytakeoff::RunwayTakeoff::_initialized

private

Definition at line 97 of file RunwayTakeoff.h.

Referenced by init(), and reset().

◆ _initialized_time

hrt_abstime runwaytakeoff::RunwayTakeoff::_initialized_time

private

Definition at line 98 of file RunwayTakeoff.h.

Referenced by getThrottle(), init(), and update().

◆ _start_wp

matrix::Vector2f runwaytakeoff::RunwayTakeoff::_start_wp

private

Definition at line 101 of file RunwayTakeoff.h.

Referenced by getStartWP(), init(), and update().

◆ _state

RunwayTakeoffState runwaytakeoff::RunwayTakeoff::_state

private

state variables

Definition at line 96 of file RunwayTakeoff.h.

Referenced by controlYaw(), getMaxPitch(), getMinPitch(), getPitch(), getRoll(), getThrottle(), getYaw(), init(), reset(), resetIntegrators(), and update().

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

src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.h
src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RunwayTakeoff()

◆ ~RunwayTakeoff()

Member Function Documentation

◆ climbout()

◆ controlYaw()

◆ getInitYaw()

◆ getMaxPitch()

◆ getMinAirspeedScaling()

◆ getMinPitch()

◆ getPitch()

◆ getRoll()

◆ getStartWP()

◆ getState()

◆ getThrottle()

◆ getYaw()

◆ init()

◆ isInitialized()

◆ reset()

◆ resetIntegrators()

◆ runwayTakeoffEnabled()

◆ update()

Member Data Documentation

◆ _climbout

◆ _init_yaw

◆ _initialized

◆ _initialized_time

◆ _start_wp

◆ _state