#include <FlightTasks.hpp>

Collaboration diagram for FlightTasks:

Classes
struct	flight_task_t

struct	task_error_t

Public Member Functions
	FlightTasks ()

	~FlightTasks ()

bool	update ()
	Call regularly in the control loop cycle to execute the task. More...

const vehicle_local_position_setpoint_s	getPositionSetpoint ()
	Get the output data from the current task. More...

const vehicle_constraints_s	getConstraints ()
	Get task dependent constraints. More...

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

const vehicle_trajectory_waypoint_s	getAvoidanceWaypoint ()
	Get task avoidance desired waypoints. More...

const vehicle_trajectory_waypoint_s &	getEmptyAvoidanceWaypoint ()
	Get empty avoidance desired waypoints. More...

FlightTaskError	switchTask ()
	Switch to the next task in the available list (for testing) More...

FlightTaskError	switchTask (FlightTaskIndex new_task_index)
	Switch to a specific task (for normal usage) More...

FlightTaskError	switchTask (int new_task_index)

int	getActiveTask () const
	Get the number of the active task. More...

bool	isAnyTaskActive () const
	Check if any task is active. More...

void	handleParameterUpdate ()
	Call this whenever a parameter update notification is received (parameter_update uORB message) More...

const char *	errorToString (const FlightTaskError error)
	Call this method to get the description of a task error. More...

void	setYawHandler (WeatherVane *ext_yaw_handler)
	Sets an external yaw handler. More...

void	reActivate ()
	This method will re-activate current task. More...

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

Private Member Functions
void	_updateCommand ()
	Check for vehicle commands (received via MAVLink), evaluate and acknowledge them. More...

FlightTaskIndex	switchVehicleCommand (const int command)

int	_initTask (FlightTaskIndex task_index)

Private Attributes
TaskUnion	_task_union
	Union with all existing tasks: we use it to make sure that only the memory of the largest existing task is needed, and to avoid using dynamic memory allocations. More...

flight_task_t	_current_task = {nullptr, FlightTaskIndex::None}

task_error_t	_taskError [_numError]
	Map from Error int to user friendly string. More...

uORB::Subscription	_sub_vehicle_command {ORB_ID(vehicle_command)}
	topic handle on which commands are received More...

uORB::PublicationQueued< vehicle_command_ack_s >	_pub_vehicle_command_ack {ORB_ID(vehicle_command_ack)}

Static Private Attributes
static constexpr int	_numError = 3

Detailed Description

Definition at line 60 of file FlightTasks.hpp.

Constructor & Destructor Documentation

◆ FlightTasks()

FlightTasks::FlightTasks ( )

Definition at line 6 of file FlightTasks.cpp.

References _initTask().

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◆ ~FlightTasks()

FlightTasks::~FlightTasks ( )

inline

Definition at line 65 of file FlightTasks.hpp.

Member Function Documentation

◆ _initTask()

int FlightTasks::_initTask ( FlightTaskIndex task_index )

private

Referenced by FlightTasks(), and switchTask().

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◆ _updateCommand()

void FlightTasks::_updateCommand ( )

private

Check for vehicle commands (received via MAVLink), evaluate and acknowledge them.

Definition at line 127 of file FlightTasks.cpp.

References _current_task, _pub_vehicle_command_ack, _sub_vehicle_command, FlightTask::applyCommandParameters(), command, uORB::Subscription::copy(), hrt_absolute_time(), isAnyTaskActive(), NoError, uORB::PublicationQueued< T >::publish(), switchTask(), switchVehicleCommand(), FlightTasks::flight_task_t::task, vehicle_command_ack_s::timestamp, and uORB::Subscription::updated().

Referenced by update().

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◆ errorToString()

const char * FlightTasks::errorToString ( const FlightTaskError error )

Call this method to get the description of a task error.

Definition at line 109 of file FlightTasks.cpp.

References _taskError.

Referenced by MulticopterPositionControl::start_flight_task().

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◆ getActiveTask()

int FlightTasks::getActiveTask ( ) const

inline

Get the number of the active task.

Returns: number of active task, -1 if there is none

Definition at line 126 of file FlightTasks.hpp.

Referenced by MulticopterPositionControl::print_status().

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◆ getAvoidanceWaypoint()

const vehicle_trajectory_waypoint_s FlightTasks::getAvoidanceWaypoint ( )

Get task avoidance desired waypoints.

Returns: auto triplets in the mc_pos_control

◆ getConstraints()

const vehicle_constraints_s FlightTasks::getConstraints ( )

Get task dependent constraints.

Returns: setpoint constraints that has to be respected by the position controller

Definition at line 39 of file FlightTasks.cpp.

References _current_task, FlightTask::empty_constraints, FlightTask::getConstraints(), isAnyTaskActive(), and FlightTasks::flight_task_t::task.

Referenced by MulticopterPositionControl::Run().

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◆ getEmptyAvoidanceWaypoint()

const vehicle_trajectory_waypoint_s& FlightTasks::getEmptyAvoidanceWaypoint ( )

Get empty avoidance desired waypoints.

Returns: empty triplets in the mc_pos_control

◆ getGear()

const landing_gear_s FlightTasks::getGear ( )

Get landing gear position.

Returns: landing gear

Definition at line 49 of file FlightTasks.cpp.

References _current_task, FlightTask::empty_landing_gear_default_keep, FlightTask::getGear(), isAnyTaskActive(), and FlightTasks::flight_task_t::task.

Referenced by MulticopterPositionControl::Run().

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◆ getPositionSetpoint()

const vehicle_local_position_setpoint_s FlightTasks::getPositionSetpoint ( )

Get the output data from the current task.

Returns: output setpoint, to be executed by position control

Definition at line 29 of file FlightTasks.cpp.

References _current_task, FlightTask::empty_setpoint, FlightTask::getPositionSetpoint(), isAnyTaskActive(), and FlightTasks::flight_task_t::task.

Referenced by MulticopterPositionControl::Run(), and switchTask().

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◆ handleParameterUpdate()

void FlightTasks::handleParameterUpdate ( )

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

Definition at line 102 of file FlightTasks.cpp.

References _current_task, FlightTask::handleParameterUpdate(), isAnyTaskActive(), and FlightTasks::flight_task_t::task.

Referenced by MulticopterPositionControl::parameters_update().

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◆ isAnyTaskActive()

bool FlightTasks::isAnyTaskActive ( ) const

inline

Check if any task is active.

Returns: true if a task is active, false if not

Definition at line 132 of file FlightTasks.hpp.

Referenced by _updateCommand(), getConstraints(), getGear(), getPositionSetpoint(), handleParameterUpdate(), MulticopterPositionControl::print_status(), MulticopterPositionControl::Run(), and update().

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◆ reActivate()

void FlightTasks::reActivate ( )

This method will re-activate current task.

Definition at line 120 of file FlightTasks.cpp.

References _current_task, FlightTask::reActivate(), and FlightTasks::flight_task_t::task.

Referenced by MulticopterPositionControl::Run().

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◆ setYawHandler()

void FlightTasks::setYawHandler ( WeatherVane * ext_yaw_handler )

inline

Sets an external yaw handler.

The active flight task can use the yaw handler to implement a different yaw control strategy.

Definition at line 147 of file FlightTasks.hpp.

Referenced by MulticopterPositionControl::Run().

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◆ switchTask() [1/3]

FlightTaskError FlightTasks::switchTask ( )

inline

Switch to the next task in the available list (for testing)

Returns: 0 on success, <0 on error

Definition at line 112 of file FlightTasks.hpp.

References switchTask().

Referenced by _updateCommand(), MulticopterPositionControl::start_flight_task(), and switchTask().

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◆ switchTask() [2/3]

FlightTaskError FlightTasks::switchTask ( FlightTaskIndex new_task_index )

Switch to a specific task (for normal usage)

Parameters

task	index to switch to

Returns: 0 on success, <0 on error

Definition at line 59 of file FlightTasks.cpp.

References _current_task, _initTask(), FlightTask::activate(), ActivationFailed, getPositionSetpoint(), FlightTasks::flight_task_t::index, InvalidTask, NoError, FlightTasks::flight_task_t::task, FlightTask::updateInitialize(), and FlightTask::~FlightTask().

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◆ switchTask() [3/3]

FlightTaskError FlightTasks::switchTask ( int new_task_index )

Definition at line 90 of file FlightTasks.cpp.

References InvalidTask, and switchTask().

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◆ switchVehicleCommand()

FlightTaskIndex FlightTasks::switchVehicleCommand ( const int command )

private

Referenced by _updateCommand().

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◆ update()

bool FlightTasks::update ( )

Call regularly in the control loop cycle to execute the task.

Returns: true on success, false on error

Definition at line 18 of file FlightTasks.cpp.

References _current_task, _updateCommand(), isAnyTaskActive(), FlightTasks::flight_task_t::task, FlightTask::update(), FlightTask::updateFinalize(), and FlightTask::updateInitialize().

Referenced by MulticopterPositionControl::Run().

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◆ updateVelocityControllerIO()

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

inline

Definition at line 154 of file FlightTasks.hpp.

Referenced by MulticopterPositionControl::Run().

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Member Data Documentation

◆ _current_task

flight_task_t FlightTasks::_current_task = {nullptr, FlightTaskIndex::None}

private

Definition at line 168 of file FlightTasks.hpp.

Referenced by _updateCommand(), getConstraints(), getGear(), getPositionSetpoint(), handleParameterUpdate(), reActivate(), switchTask(), and update().

◆ _numError

constexpr int FlightTasks::_numError = 3

staticprivate

Definition at line 175 of file FlightTasks.hpp.

◆ _pub_vehicle_command_ack

uORB::PublicationQueued<vehicle_command_ack_s> FlightTasks::_pub_vehicle_command_ack {ORB_ID(vehicle_command_ack)}

private

Definition at line 193 of file FlightTasks.hpp.

Referenced by _updateCommand().

◆ _sub_vehicle_command

uORB::Subscription FlightTasks::_sub_vehicle_command {ORB_ID(vehicle_command)}

private

topic handle on which commands are received

Definition at line 191 of file FlightTasks.hpp.

Referenced by _updateCommand().

◆ _task_union

TaskUnion FlightTasks::_task_union

private

Union with all existing tasks: we use it to make sure that only the memory of the largest existing task is needed, and to avoid using dynamic memory allocations.

storage for the currently active task

Definition at line 162 of file FlightTasks.hpp.

◆ _taskError

task_error_t FlightTasks::_taskError[_numError]

private

Initial value:

= {
        {static_cast<int>(FlightTaskError::NoError), "No Error"},
        {static_cast<int>(FlightTaskError::InvalidTask), "Invalid Task "},
        {static_cast<int>(FlightTaskError::ActivationFailed), "Activation Failed"}
    }

Map from Error int to user friendly string.

Definition at line 179 of file FlightTasks.hpp.

Referenced by errorToString().

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

src/lib/flight_tasks/FlightTasks.hpp
src/lib/flight_tasks/FlightTasks.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FlightTasks()

◆ ~FlightTasks()

Member Function Documentation

◆ _initTask()

◆ _updateCommand()

◆ errorToString()

◆ getActiveTask()

◆ getAvoidanceWaypoint()

◆ getConstraints()

◆ getEmptyAvoidanceWaypoint()

◆ getGear()

◆ getPositionSetpoint()

◆ handleParameterUpdate()

◆ isAnyTaskActive()

◆ reActivate()

◆ setYawHandler()

◆ switchTask() [1/3]

◆ switchTask() [2/3]

◆ switchTask() [3/3]

◆ switchVehicleCommand()

◆ update()

◆ updateVelocityControllerIO()

Member Data Documentation

◆ _current_task

◆ _numError

◆ _pub_vehicle_command_ack

◆ _sub_vehicle_command

◆ _task_union

◆ _taskError