Inheritance diagram for MulticopterPositionControl:

Collaboration diagram for MulticopterPositionControl:

Public Member Functions
	MulticopterPositionControl ()

	~MulticopterPositionControl () override

void	Run () override

bool	init ()

int	print_status () override

Public Member Functions inherited from control::SuperBlock
	SuperBlock (SuperBlock parent, const char name)

	~SuperBlock ()=default

	SuperBlock (const SuperBlock &)=delete

SuperBlock &	operator= (const SuperBlock &)=delete

	SuperBlock (SuperBlock &&)=delete

SuperBlock &	operator= (SuperBlock &&)=delete

void	setDt (float dt) override

void	updateParams () override

Public Member Functions inherited from control::Block
	Block (SuperBlock parent, const char name)

virtual	~Block ()=default

	Block (const Block &)=delete

Block &	operator= (const Block &)=delete

	Block (Block &&)=delete

Block &	operator= (Block &&)=delete

void	getName (char *name, size_t n)

float	getDt ()

Public Member Functions inherited from ListNode< Block *>
void	setSibling (Block * sibling)

const Block *	getSibling () const

Static Public Member Functions
static int	task_spawn (int argc, char *argv[])

static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

Private Member Functions
	DEFINE_PARAMETERS ((ParamFloat< px4::params::MPC_XY_P >) _param_mpc_xy_p,(ParamFloat< px4::params::MPC_Z_P >) _param_mpc_z_p,(ParamFloat< px4::params::MPC_XY_VEL_P >) _param_mpc_xy_vel_p,(ParamFloat< px4::params::MPC_XY_VEL_I >) _param_mpc_xy_vel_i,(ParamFloat< px4::params::MPC_XY_VEL_D >) _param_mpc_xy_vel_d,(ParamFloat< px4::params::MPC_Z_VEL_P >) _param_mpc_z_vel_p,(ParamFloat< px4::params::MPC_Z_VEL_I >) _param_mpc_z_vel_i,(ParamFloat< px4::params::MPC_Z_VEL_D >) _param_mpc_z_vel_d,(ParamFloat< px4::params::MPC_XY_VEL_MAX >) _param_mpc_xy_vel_max,(ParamFloat< px4::params::MPC_Z_VEL_MAX_UP >) _param_mpc_z_vel_max_up,(ParamFloat< px4::params::MPC_Z_VEL_MAX_DN >) _param_mpc_z_vel_max_dn,(ParamFloat< px4::params::MPC_TILTMAX_AIR >) _param_mpc_tiltmax_air,(ParamFloat< px4::params::MPC_THR_HOVER >) _param_mpc_thr_hover,(ParamFloat< px4::params::MPC_SPOOLUP_TIME >) _param_mpc_spoolup_time,(ParamFloat< px4::params::MPC_TKO_RAMP_T >) _param_mpc_tko_ramp_t,(ParamFloat< px4::params::MPC_TKO_SPEED >) _param_mpc_tko_speed,(ParamFloat< px4::params::MPC_LAND_SPEED >) _param_mpc_land_speed,(ParamFloat< px4::params::MPC_VEL_MANUAL >) _param_mpc_vel_manual,(ParamFloat< px4::params::MPC_XY_CRUISE >) _param_mpc_xy_cruise,(ParamFloat< px4::params::MPC_LAND_ALT2 >) _param_mpc_land_alt2,(ParamInt< px4::params::MPC_POS_MODE >) _param_mpc_pos_mode,(ParamInt< px4::params::MPC_AUTO_MODE >) _param_mpc_auto_mode,(ParamInt< px4::params::MPC_ALT_MODE >) _param_mpc_alt_mode,(ParamFloat< px4::params::MPC_TILTMAX_LND >) _param_mpc_tiltmax_lnd,(ParamFloat< px4::params::MPC_THR_MIN >) _param_mpc_thr_min,(ParamFloat< px4::params::MPC_THR_MAX >) _param_mpc_thr_max)

int	parameters_update (bool force)
	Update our local parameter cache. More...

void	poll_subscriptions ()
	Check for changes in subscribed topics. More...

void	set_vehicle_states (const float &vel_sp_z)
	Check for validity of positon/velocity states. More...

void	limit_altitude (vehicle_local_position_setpoint_s &setpoint)
	Limit altitude based on land-detector. More...

void	warn_rate_limited (const char *str)
	Prints a warning message at a lowered rate. More...

void	publish_attitude ()
	Publish attitude. More...

void	limit_thrust_during_landing (vehicle_attitude_setpoint_s &setpoint)
	Adjust the setpoint during landing. More...

void	start_flight_task ()
	Start flightasks based on navigation state. More...

void	failsafe (vehicle_local_position_setpoint_s &setpoint, const PositionControlStates &states, const bool force, const bool warn)
	Failsafe. More...

void	reset_setpoint_to_nan (vehicle_local_position_setpoint_s &setpoint)
	Reset setpoints to NAN. More...

void	check_failure (bool task_failure, uint8_t nav_state)
	check if task should be switched because of failsafe More...

void	send_vehicle_cmd_do (uint8_t nav_state)
	send vehicle command to inform commander about failsafe More...

Private Attributes
Takeoff	_takeoff
	state machine and ramp to bring the vehicle off the ground without jumps More...

orb_id_t	_attitude_setpoint_id {nullptr}
	orb metadata to publish attitude setpoint dependent if VTOL or not More...

orb_advert_t	_vehicle_attitude_setpoint_pub {nullptr}
	attitude setpoint publication handle More...

uORB::PublicationQueued< vehicle_command_s >	_pub_vehicle_command {ORB_ID(vehicle_command)}
	vehicle command publication More...

orb_advert_t	_mavlink_log_pub {nullptr}

uORB::Publication< landing_gear_s >	_landing_gear_pub {ORB_ID(landing_gear)}

uORB::Publication< vehicle_local_position_setpoint_s >	_local_pos_sp_pub {ORB_ID(vehicle_local_position_setpoint)}
	vehicle local position setpoint publication More...

uORB::Publication< vehicle_local_position_setpoint_s >	_traj_sp_pub {ORB_ID(trajectory_setpoint)}
	trajectory setpoints publication More...

uORB::SubscriptionCallbackWorkItem	_local_pos_sub {this, ORB_ID(vehicle_local_position)}
	vehicle local position More...

uORB::Subscription	_vehicle_status_sub {ORB_ID(vehicle_status)}
	vehicle status subscription More...

uORB::Subscription	_vehicle_land_detected_sub {ORB_ID(vehicle_land_detected)}
	vehicle land detected subscription More...

uORB::Subscription	_control_mode_sub {ORB_ID(vehicle_control_mode)}
	vehicle control mode subscription More...

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}
	notification of parameter updates More...

uORB::Subscription	_att_sub {ORB_ID(vehicle_attitude)}
	vehicle attitude More...

uORB::Subscription	_home_pos_sub {ORB_ID(home_position)}
	home position More...

hrt_abstime	_time_stamp_last_loop {0}
	time stamp of last loop iteration More...

int	_task_failure_count {0}
	counter for task failures More...

vehicle_status_s	_vehicle_status {}
	vehicle status More...

vehicle_land_detected_s	_vehicle_land_detected

vehicle_control_mode_s	_control_mode {}
	vehicle control mode More...

vehicle_local_position_s	_local_pos {}
	vehicle local position More...

home_position_s	_home_pos {}
	home position More...

landing_gear_s	_landing_gear {}

int8_t	_old_landing_gear_position {landing_gear_s::GEAR_KEEP}

control::BlockDerivative	_vel_x_deriv
	velocity derivative in x More...

control::BlockDerivative	_vel_y_deriv
	velocity derivative in y More...

control::BlockDerivative	_vel_z_deriv
	velocity derivative in z More...

FlightTasks	_flight_tasks
	class generating position controller setpoints depending on vehicle task More...

PositionControl	_control
	class for core PID position control More...

PositionControlStates	_states {}
	structure containing vehicle state information for position control More...

hrt_abstime	_last_warn = 0
	timer when the last warn message was sent out More...

bool	_in_failsafe = false
	true if failsafe was entered within current cycle More...

systemlib::Hysteresis	_failsafe_land_hysteresis {false}
	becomes true if task did not update correctly for LOITER_TIME_BEFORE_DESCEND More...

WeatherVane *	_wv_controller {nullptr}

Vector3f	_wv_dcm_z_sp_prev {0, 0, 1}

perf_counter_t	_cycle_perf

Static Private Attributes
static constexpr uint64_t	TRAJECTORY_STREAM_TIMEOUT_US = 500_ms
	Timeout in us for trajectory data to get considered invalid. More...

static constexpr int	NUM_FAILURE_TRIES = 10
	number of tries before switching to a failsafe flight task More...

static constexpr uint64_t	LOITER_TIME_BEFORE_DESCEND = 200_ms
	If Flighttask fails, keep 0.2 seconds the current setpoint before going into failsafe land. More...

static constexpr float	ALTITUDE_THRESHOLD = 0.3f
	During smooth-takeoff, below ALTITUDE_THRESHOLD the yaw-control is turned off ant tilt is limited. More...

Additional Inherited Members
Protected Member Functions inherited from control::SuperBlock
List< Block * > &	getChildren ()

void	updateChildParams ()

Protected Member Functions inherited from control::Block
virtual void	updateParamsSubclass ()

SuperBlock *	getParent ()

List< BlockParamBase * > &	getParams ()

Protected Attributes inherited from control::SuperBlock
List< Block * >	_children

Protected Attributes inherited from control::Block
const char *	_name

SuperBlock *	_parent

float	_dt {0.0f}

List< BlockParamBase * >	_params

Protected Attributes inherited from ListNode< Block *>
Block *	_list_node_sibling

Detailed Description

Definition at line 82 of file mc_pos_control_main.cpp.

Constructor & Destructor Documentation

◆ MulticopterPositionControl()

MulticopterPositionControl::MulticopterPositionControl ( )

Definition at line 283 of file mc_pos_control_main.cpp.

References _failsafe_land_hysteresis, LOITER_TIME_BEFORE_DESCEND, parameters_update(), and systemlib::Hysteresis::set_hysteresis_time_from().

Referenced by task_spawn().

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◆ ~MulticopterPositionControl()

MulticopterPositionControl::~MulticopterPositionControl ( )

override

Definition at line 299 of file mc_pos_control_main.cpp.

References _cycle_perf, _wv_controller, and perf_free().

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Member Function Documentation

◆ check_failure()

void MulticopterPositionControl::check_failure	(	bool	task_failure,
		uint8_t	nav_state
	)

private

check if task should be switched because of failsafe

Definition at line 1028 of file mc_pos_control_main.cpp.

References _task_failure_count, NUM_FAILURE_TRIES, and send_vehicle_cmd_do().

Referenced by start_flight_task().

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◆ custom_command()

int MulticopterPositionControl::custom_command	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 1103 of file mc_pos_control_main.cpp.

References print_usage().

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◆ DEFINE_PARAMETERS()

MulticopterPositionControl::DEFINE_PARAMETERS	(	(ParamFloat< px4::params::MPC_XY_P >)	_param_mpc_xy_p,
		(ParamFloat< px4::params::MPC_Z_P >)	_param_mpc_z_p,
		(ParamFloat< px4::params::MPC_XY_VEL_P >)	_param_mpc_xy_vel_p,
		(ParamFloat< px4::params::MPC_XY_VEL_I >)	_param_mpc_xy_vel_i,
		(ParamFloat< px4::params::MPC_XY_VEL_D >)	_param_mpc_xy_vel_d,
		(ParamFloat< px4::params::MPC_Z_VEL_P >)	_param_mpc_z_vel_p,
		(ParamFloat< px4::params::MPC_Z_VEL_I >)	_param_mpc_z_vel_i,
		(ParamFloat< px4::params::MPC_Z_VEL_D >)	_param_mpc_z_vel_d,
		(ParamFloat< px4::params::MPC_XY_VEL_MAX >)	_param_mpc_xy_vel_max,
		(ParamFloat< px4::params::MPC_Z_VEL_MAX_UP >)	_param_mpc_z_vel_max_up,
		(ParamFloat< px4::params::MPC_Z_VEL_MAX_DN >)	_param_mpc_z_vel_max_dn,
		(ParamFloat< px4::params::MPC_TILTMAX_AIR >)	_param_mpc_tiltmax_air,
		(ParamFloat< px4::params::MPC_THR_HOVER >)	_param_mpc_thr_hover,
		(ParamFloat< px4::params::MPC_SPOOLUP_TIME >)	_param_mpc_spoolup_time,
		(ParamFloat< px4::params::MPC_TKO_RAMP_T >)	_param_mpc_tko_ramp_t,
		(ParamFloat< px4::params::MPC_TKO_SPEED >)	_param_mpc_tko_speed,
		(ParamFloat< px4::params::MPC_LAND_SPEED >)	_param_mpc_land_speed,
		(ParamFloat< px4::params::MPC_VEL_MANUAL >)	_param_mpc_vel_manual,
		(ParamFloat< px4::params::MPC_XY_CRUISE >)	_param_mpc_xy_cruise,
		(ParamFloat< px4::params::MPC_LAND_ALT2 >)	_param_mpc_land_alt2,
		(ParamInt< px4::params::MPC_POS_MODE >)	_param_mpc_pos_mode,
		(ParamInt< px4::params::MPC_AUTO_MODE >)	_param_mpc_auto_mode,
		(ParamInt< px4::params::MPC_ALT_MODE >)	_param_mpc_alt_mode,
		(ParamFloat< px4::params::MPC_TILTMAX_LND >)	_param_mpc_tiltmax_lnd,
		(ParamFloat< px4::params::MPC_THR_MIN >)	_param_mpc_thr_min,
		(ParamFloat< px4::params::MPC_THR_MAX >)	_param_mpc_thr_max
	)

private

Parameters

_param_mpc_spoolup_time	time to let motors spool up after arming
_param_mpc_tko_ramp_t	time constant for smooth takeoff ramp
_param_mpc_land_alt2	downwards speed limited below this altitude
_param_mpc_tiltmax_lnd	maximum tilt for landing and smooth takeoff

◆ failsafe()

void MulticopterPositionControl::failsafe	(	vehicle_local_position_setpoint_s &	setpoint,
		const PositionControlStates &	states,
		const bool	force,
		const bool	warn
	)

private

Failsafe.

If flighttask fails for whatever reason, then do failsafe. This could occur if the commander fails to switch to a mode in case of invalid states or setpoints. The failsafe will occur after LOITER_TIME_BEFORE_DESCEND. If force is set to true, the failsafe will be initiated immediately.

Definition at line 969 of file mc_pos_control_main.cpp.

References _failsafe_land_hysteresis, _in_failsafe, _states, systemlib::Hysteresis::get_state(), hrt_absolute_time(), reset_setpoint_to_nan(), systemlib::Hysteresis::set_state_and_update(), vehicle_local_position_setpoint_s::thrust, PositionControlStates::velocity, vehicle_local_position_setpoint_s::vx, vehicle_local_position_setpoint_s::vy, and vehicle_local_position_setpoint_s::vz.

Referenced by Run().

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◆ init()

bool MulticopterPositionControl::init ( )

Definition at line 307 of file mc_pos_control_main.cpp.

References _local_pos_sub, _time_stamp_last_loop, hrt_absolute_time(), uORB::SubscriptionCallback::registerCallback(), and uORB::SubscriptionInterval::set_interval_us().

Referenced by task_spawn().

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◆ limit_altitude()

void MulticopterPositionControl::limit_altitude ( vehicle_local_position_setpoint_s & setpoint )

private

Limit altitude based on land-detector.

Parameters

setpoint needed to detect vehicle intention.

Definition at line 429 of file mc_pos_control_main.cpp.

References _home_pos, _local_pos, _states, _vehicle_land_detected, vehicle_land_detected_s::alt_max, math::max(), PositionControlStates::position, vehicle_local_position_s::v_z_valid, home_position_s::valid_alt, vehicle_local_position_setpoint_s::vz, vehicle_local_position_setpoint_s::z, and home_position_s::z.

Referenced by Run().

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◆ limit_thrust_during_landing()

void MulticopterPositionControl::limit_thrust_during_landing ( vehicle_attitude_setpoint_s & setpoint )

private

Adjust the setpoint during landing.

Thrust is adjusted to support the land-detector during detection.

Parameters

setpoint gets adjusted based on land-detector state

Definition at line 953 of file mc_pos_control_main.cpp.

References _control, _states, _vehicle_land_detected, vehicle_land_detected_s::ground_contact, vehicle_land_detected_s::maybe_landed, vehicle_attitude_setpoint_s::q_d, PositionControl::resetIntegralXY(), PositionControl::resetIntegralZ(), vehicle_attitude_setpoint_s::thrust_body, PositionControlStates::yaw, and vehicle_attitude_setpoint_s::yaw_sp_move_rate.

Referenced by Run().

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◆ parameters_update()

int MulticopterPositionControl::parameters_update ( bool force )

private

Update our local parameter cache.

Parameter update can be forced when argument is true.

Parameters

force forces parameter update.

Definition at line 333 of file mc_pos_control_main.cpp.

References _control, _flight_tasks, _mavlink_log_pub, _parameter_update_sub, _takeoff, _wv_controller, math::constrain(), uORB::Subscription::copy(), Takeoff::generateInitialRampValue(), FlightTasks::handleParameterUpdate(), mavlink_log_critical, math::min(), OK, PositionControl::setHoverThrust(), PositionControl::setPositionGains(), Takeoff::setSpoolupTime(), Takeoff::setTakeoffRampTime(), PositionControl::setThrustLimits(), PositionControl::setTiltLimit(), PositionControl::setVelocityGains(), PositionControl::setVelocityLimits(), WeatherVane::update_parameters(), and uORB::Subscription::updated().

Referenced by MulticopterPositionControl(), and Run().

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◆ poll_subscriptions()

void MulticopterPositionControl::poll_subscriptions ( )

private

Check for changes in subscribed topics.

Definition at line 395 of file mc_pos_control_main.cpp.

References _att_sub, _attitude_setpoint_id, _control_mode, _control_mode_sub, _home_pos, _home_pos_sub, _states, _vehicle_land_detected, _vehicle_land_detected_sub, _vehicle_status, _vehicle_status_sub, _wv_controller, uORB::Subscription::copy(), vehicle_status_s::is_vtol, ORB_ID, vehicle_attitude_s::q, uORB::Subscription::update(), uORB::Subscription::updated(), and PositionControlStates::yaw.

Referenced by Run().

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◆ print_status()

int MulticopterPositionControl::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 511 of file mc_pos_control_main.cpp.

References _cycle_perf, _flight_tasks, FlightTasks::getActiveTask(), FlightTasks::isAnyTaskActive(), and perf_print_counter().

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◆ print_usage()

int MulticopterPositionControl::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 1108 of file mc_pos_control_main.cpp.

Referenced by custom_command().

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◆ publish_attitude()

void MulticopterPositionControl::publish_attitude ( )

private

Publish attitude.

◆ reset_setpoint_to_nan()

void MulticopterPositionControl::reset_setpoint_to_nan ( vehicle_local_position_setpoint_s & setpoint )

private

Reset setpoints to NAN.

Definition at line 1019 of file mc_pos_control_main.cpp.

References vehicle_local_position_setpoint_s::acceleration, vehicle_local_position_setpoint_s::thrust, vehicle_local_position_setpoint_s::vx, vehicle_local_position_setpoint_s::vy, vehicle_local_position_setpoint_s::vz, vehicle_local_position_setpoint_s::x, vehicle_local_position_setpoint_s::y, vehicle_local_position_setpoint_s::yaw, vehicle_local_position_setpoint_s::yawspeed, and vehicle_local_position_setpoint_s::z.

Referenced by failsafe(), and Run().

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◆ Run()

void MulticopterPositionControl::Run ( )

override

Definition at line 526 of file mc_pos_control_main.cpp.

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◆ send_vehicle_cmd_do()

void MulticopterPositionControl::send_vehicle_cmd_do ( uint8_t nav_state )

private

send vehicle command to inform commander about failsafe

Definition at line 1042 of file mc_pos_control_main.cpp.

References _pub_vehicle_command, command, hrt_absolute_time(), uORB::PublicationQueued< T >::publish(), PX4_CUSTOM_MAIN_MODE_ALTCTL, PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_MAIN_MODE_POSCTL, PX4_CUSTOM_MAIN_MODE_STABILIZED, and PX4_CUSTOM_SUB_MODE_AUTO_LOITER.

Referenced by check_failure().

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◆ set_vehicle_states()

void MulticopterPositionControl::set_vehicle_states ( const float & vel_sp_z )

private

Check for validity of positon/velocity states.

Parameters

vel_sp_z velocity setpoint in z-direction

Definition at line 447 of file mc_pos_control_main.cpp.

Referenced by Run().

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◆ start_flight_task()

void MulticopterPositionControl::start_flight_task ( )

private

Start flightasks based on navigation state.

This methods activates a task based on the navigation state.

Definition at line 735 of file mc_pos_control_main.cpp.

References _control_mode, _flight_tasks, _task_failure_count, _vehicle_status, check_failure(), FlightTasks::errorToString(), vehicle_control_mode_s::flag_control_acceleration_enabled, vehicle_control_mode_s::flag_control_altitude_enabled, vehicle_control_mode_s::flag_control_auto_enabled, vehicle_control_mode_s::flag_control_climb_rate_enabled, vehicle_control_mode_s::flag_control_position_enabled, vehicle_control_mode_s::flag_control_velocity_enabled, vehicle_status_s::in_transition_mode, vehicle_status_s::nav_state, NoError, FlightTasks::switchTask(), vehicle_status_s::vehicle_type, and VEHICLE_TYPE_FIXED_WING.

Referenced by Run().

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◆ task_spawn()

int MulticopterPositionControl::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase

Definition at line 1080 of file mc_pos_control_main.cpp.

References init(), ll40ls::instance, and MulticopterPositionControl().

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◆ warn_rate_limited()

void MulticopterPositionControl::warn_rate_limited ( const char * str )

private

Prints a warning message at a lowered rate.

Parameters

str	the message that has to be printed.

Definition at line 322 of file mc_pos_control_main.cpp.

References _last_warn, hrt_absolute_time(), and hrt_abstime.

Referenced by Run().

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Member Data Documentation

◆ _att_sub

uORB::Subscription MulticopterPositionControl::_att_sub {ORB_ID(vehicle_attitude)}

private

vehicle attitude

Definition at line 124 of file mc_pos_control_main.cpp.

Referenced by poll_subscriptions().

◆ _attitude_setpoint_id

orb_id_t MulticopterPositionControl::_attitude_setpoint_id {nullptr}

private

orb metadata to publish attitude setpoint dependent if VTOL or not

Definition at line 109 of file mc_pos_control_main.cpp.

Referenced by poll_subscriptions(), and Run().

◆ _control

PositionControl MulticopterPositionControl::_control

private

class for core PID position control

Definition at line 186 of file mc_pos_control_main.cpp.

Referenced by limit_thrust_during_landing(), parameters_update(), and Run().

◆ _control_mode

vehicle_control_mode_s MulticopterPositionControl::_control_mode {}

private

vehicle control mode

Definition at line 142 of file mc_pos_control_main.cpp.

Referenced by poll_subscriptions(), Run(), and start_flight_task().

◆ _control_mode_sub

uORB::Subscription MulticopterPositionControl::_control_mode_sub {ORB_ID(vehicle_control_mode)}

private

vehicle control mode subscription

Definition at line 122 of file mc_pos_control_main.cpp.

Referenced by poll_subscriptions().

◆ _cycle_perf

perf_counter_t MulticopterPositionControl::_cycle_perf

private

Definition at line 207 of file mc_pos_control_main.cpp.

Referenced by print_status(), Run(), and ~MulticopterPositionControl().

◆ _failsafe_land_hysteresis

systemlib::Hysteresis MulticopterPositionControl::_failsafe_land_hysteresis {false}

private

becomes true if task did not update correctly for LOITER_TIME_BEFORE_DESCEND

Definition at line 202 of file mc_pos_control_main.cpp.

Referenced by failsafe(), MulticopterPositionControl(), and Run().

◆ _flight_tasks

FlightTasks MulticopterPositionControl::_flight_tasks

private

class generating position controller setpoints depending on vehicle task

Definition at line 185 of file mc_pos_control_main.cpp.

Referenced by parameters_update(), print_status(), Run(), and start_flight_task().

◆ _home_pos

home_position_s MulticopterPositionControl::_home_pos {}

private

home position

Definition at line 144 of file mc_pos_control_main.cpp.

Referenced by limit_altitude(), and poll_subscriptions().

◆ _home_pos_sub

uORB::Subscription MulticopterPositionControl::_home_pos_sub {ORB_ID(home_position)}

private

home position

Definition at line 125 of file mc_pos_control_main.cpp.

Referenced by poll_subscriptions().

◆ _in_failsafe

bool MulticopterPositionControl::_in_failsafe = false

private

true if failsafe was entered within current cycle

Definition at line 191 of file mc_pos_control_main.cpp.

Referenced by failsafe(), and Run().

◆ _landing_gear

landing_gear_s MulticopterPositionControl::_landing_gear {}

private

Definition at line 145 of file mc_pos_control_main.cpp.

Referenced by Run().

◆ _landing_gear_pub

uORB::Publication<landing_gear_s> MulticopterPositionControl::_landing_gear_pub {ORB_ID(landing_gear)}

private

Definition at line 114 of file mc_pos_control_main.cpp.

Referenced by Run().

◆ _last_warn

hrt_abstime MulticopterPositionControl::_last_warn = 0

private

timer when the last warn message was sent out

Definition at line 189 of file mc_pos_control_main.cpp.

Referenced by warn_rate_limited().

◆ _local_pos

vehicle_local_position_s MulticopterPositionControl::_local_pos {}

private

vehicle local position

Definition at line 143 of file mc_pos_control_main.cpp.

Referenced by limit_altitude(), Run(), and set_vehicle_states().

◆ _local_pos_sp_pub

uORB::Publication<vehicle_local_position_setpoint_s> MulticopterPositionControl::_local_pos_sp_pub {ORB_ID(vehicle_local_position_setpoint)}

private

vehicle local position setpoint publication

Definition at line 115 of file mc_pos_control_main.cpp.

Referenced by Run().

◆ _local_pos_sub

uORB::SubscriptionCallbackWorkItem MulticopterPositionControl::_local_pos_sub {this, ORB_ID(vehicle_local_position)}

private

vehicle local position

Definition at line 118 of file mc_pos_control_main.cpp.

Referenced by init(), and Run().

◆ _mavlink_log_pub

orb_advert_t MulticopterPositionControl::_mavlink_log_pub {nullptr}

private

Definition at line 112 of file mc_pos_control_main.cpp.

Referenced by parameters_update().

◆ _old_landing_gear_position

int8_t MulticopterPositionControl::_old_landing_gear_position {landing_gear_s::GEAR_KEEP}

private

Definition at line 146 of file mc_pos_control_main.cpp.

Referenced by Run().

◆ _parameter_update_sub

uORB::Subscription MulticopterPositionControl::_parameter_update_sub {ORB_ID(parameter_update)}

private

notification of parameter updates

Definition at line 123 of file mc_pos_control_main.cpp.

Referenced by parameters_update().

◆ _pub_vehicle_command

uORB::PublicationQueued<vehicle_command_s> MulticopterPositionControl::_pub_vehicle_command {ORB_ID(vehicle_command)}

private

vehicle command publication

Definition at line 111 of file mc_pos_control_main.cpp.

Referenced by send_vehicle_cmd_do().

◆ _states

PositionControlStates MulticopterPositionControl::_states {}

private

structure containing vehicle state information for position control

Definition at line 187 of file mc_pos_control_main.cpp.

Referenced by failsafe(), limit_altitude(), limit_thrust_during_landing(), poll_subscriptions(), Run(), and set_vehicle_states().

◆ _takeoff

Takeoff MulticopterPositionControl::_takeoff

private

state machine and ramp to bring the vehicle off the ground without jumps

Definition at line 107 of file mc_pos_control_main.cpp.

Referenced by parameters_update(), and Run().

◆ _task_failure_count

int MulticopterPositionControl::_task_failure_count {0}

private

counter for task failures

Definition at line 129 of file mc_pos_control_main.cpp.

Referenced by check_failure(), and start_flight_task().

◆ _time_stamp_last_loop

hrt_abstime MulticopterPositionControl::_time_stamp_last_loop {0}

private

time stamp of last loop iteration

Definition at line 127 of file mc_pos_control_main.cpp.

Referenced by init(), and Run().

◆ _traj_sp_pub

uORB::Publication<vehicle_local_position_setpoint_s> MulticopterPositionControl::_traj_sp_pub {ORB_ID(trajectory_setpoint)}

private

trajectory setpoints publication

Definition at line 116 of file mc_pos_control_main.cpp.

Referenced by Run().

◆ _vehicle_attitude_setpoint_pub

orb_advert_t MulticopterPositionControl::_vehicle_attitude_setpoint_pub {nullptr}

private

attitude setpoint publication handle

Definition at line 110 of file mc_pos_control_main.cpp.

Referenced by Run().

◆ _vehicle_land_detected

vehicle_land_detected_s MulticopterPositionControl::_vehicle_land_detected

private

Initial value:

= {
        .timestamp = 0,
        .alt_max = -1.0f,
        .freefall = false,
        .ground_contact = true,
        .maybe_landed = true,
        .landed = true,
    }

Definition at line 133 of file mc_pos_control_main.cpp.

Referenced by limit_altitude(), limit_thrust_during_landing(), poll_subscriptions(), and Run().

◆ _vehicle_land_detected_sub

uORB::Subscription MulticopterPositionControl::_vehicle_land_detected_sub {ORB_ID(vehicle_land_detected)}

private

vehicle land detected subscription

Definition at line 121 of file mc_pos_control_main.cpp.

Referenced by poll_subscriptions().

◆ _vehicle_status

vehicle_status_s MulticopterPositionControl::_vehicle_status {}

private

vehicle status

vehicle-land-detection: initialze to landed

Definition at line 131 of file mc_pos_control_main.cpp.

Referenced by poll_subscriptions(), and start_flight_task().

◆ _vehicle_status_sub

uORB::Subscription MulticopterPositionControl::_vehicle_status_sub {ORB_ID(vehicle_status)}

private

vehicle status subscription

Definition at line 120 of file mc_pos_control_main.cpp.

Referenced by poll_subscriptions().

◆ _vel_x_deriv

control::BlockDerivative MulticopterPositionControl::_vel_x_deriv

private

velocity derivative in x

Definition at line 181 of file mc_pos_control_main.cpp.

Referenced by Run(), and set_vehicle_states().

◆ _vel_y_deriv

control::BlockDerivative MulticopterPositionControl::_vel_y_deriv

private

velocity derivative in y

Definition at line 182 of file mc_pos_control_main.cpp.

Referenced by Run(), and set_vehicle_states().

◆ _vel_z_deriv

control::BlockDerivative MulticopterPositionControl::_vel_z_deriv

private

velocity derivative in z

Definition at line 183 of file mc_pos_control_main.cpp.

Referenced by Run(), and set_vehicle_states().

◆ _wv_controller

WeatherVane* MulticopterPositionControl::_wv_controller {nullptr}

private

Definition at line 204 of file mc_pos_control_main.cpp.

Referenced by parameters_update(), poll_subscriptions(), Run(), and ~MulticopterPositionControl().

◆ _wv_dcm_z_sp_prev

Vector3f MulticopterPositionControl::_wv_dcm_z_sp_prev {0, 0, 1}

private

Definition at line 205 of file mc_pos_control_main.cpp.

Referenced by Run().

◆ ALTITUDE_THRESHOLD

constexpr float MulticopterPositionControl::ALTITUDE_THRESHOLD = 0.3f

staticprivate

During smooth-takeoff, below ALTITUDE_THRESHOLD the yaw-control is turned off ant tilt is limited.

Definition at line 200 of file mc_pos_control_main.cpp.

◆ LOITER_TIME_BEFORE_DESCEND

constexpr uint64_t MulticopterPositionControl::LOITER_TIME_BEFORE_DESCEND = 200_ms

staticprivate

If Flighttask fails, keep 0.2 seconds the current setpoint before going into failsafe land.

Definition at line 198 of file mc_pos_control_main.cpp.

Referenced by MulticopterPositionControl().

◆ NUM_FAILURE_TRIES

constexpr int MulticopterPositionControl::NUM_FAILURE_TRIES = 10

staticprivate

number of tries before switching to a failsafe flight task

Definition at line 196 of file mc_pos_control_main.cpp.

Referenced by check_failure().

◆ TRAJECTORY_STREAM_TIMEOUT_US

constexpr uint64_t MulticopterPositionControl::TRAJECTORY_STREAM_TIMEOUT_US = 500_ms

staticprivate

Timeout in us for trajectory data to get considered invalid.

Definition at line 194 of file mc_pos_control_main.cpp.

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

src/modules/mc_pos_control/mc_pos_control_main.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MulticopterPositionControl()

◆ ~MulticopterPositionControl()

Member Function Documentation

◆ check_failure()

◆ custom_command()

◆ DEFINE_PARAMETERS()

◆ failsafe()

◆ init()

◆ limit_altitude()

◆ limit_thrust_during_landing()

◆ parameters_update()

◆ poll_subscriptions()

◆ print_status()

◆ print_usage()

◆ publish_attitude()

◆ reset_setpoint_to_nan()

◆ Run()

◆ send_vehicle_cmd_do()

◆ set_vehicle_states()

◆ start_flight_task()

◆ task_spawn()

◆ warn_rate_limited()

Member Data Documentation

◆ _att_sub

◆ _attitude_setpoint_id

◆ _control

◆ _control_mode

◆ _control_mode_sub

◆ _cycle_perf

◆ _failsafe_land_hysteresis

◆ _flight_tasks

◆ _home_pos

◆ _home_pos_sub

◆ _in_failsafe

◆ _landing_gear

◆ _landing_gear_pub

◆ _last_warn

◆ _local_pos

◆ _local_pos_sp_pub

◆ _local_pos_sub

◆ _mavlink_log_pub

◆ _old_landing_gear_position

◆ _parameter_update_sub

◆ _pub_vehicle_command

◆ _states

◆ _takeoff

◆ _task_failure_count

◆ _time_stamp_last_loop

◆ _traj_sp_pub

◆ _vehicle_attitude_setpoint_pub

◆ _vehicle_land_detected

◆ _vehicle_land_detected_sub

◆ _vehicle_status

◆ _vehicle_status_sub

◆ _vel_x_deriv

◆ _vel_y_deriv

◆ _vel_z_deriv

◆ _wv_controller

◆ _wv_dcm_z_sp_prev

◆ ALTITUDE_THRESHOLD

◆ LOITER_TIME_BEFORE_DESCEND

◆ NUM_FAILURE_TRIES

◆ TRAJECTORY_STREAM_TIMEOUT_US