#include <land.h>

Inheritance diagram for Land:

Collaboration diagram for Land:

Public Member Functions
	Land (Navigator *navigator)

	~Land ()=default

void	on_activation () override
	This function is called one time when mode becomes active, pos_sp_triplet must be initialized here. More...

void	on_active () override
	This function is called while the mode is active. More...

Public Member Functions inherited from MissionBlock
	MissionBlock (Navigator *navigator)
	Constructor. More...

virtual	~MissionBlock ()=default

	MissionBlock (const MissionBlock &)=delete

MissionBlock &	operator= (const MissionBlock &)=delete

Public Member Functions inherited from NavigatorMode
	NavigatorMode (Navigator *navigator)

virtual	~NavigatorMode ()=default

	NavigatorMode (const NavigatorMode &)=delete

NavigatorMode	operator= (const NavigatorMode &)=delete

void	run (bool active)

virtual void	on_inactive ()
	This function is called while the mode is inactive. More...

virtual void	on_inactivation ()
	This function is called one time when mode becomes inactive. More...

Additional Inherited Members
Static Public Member Functions inherited from MissionBlock
static bool	item_contains_position (const mission_item_s &item)

Protected Member Functions inherited from MissionBlock
bool	is_mission_item_reached ()
	Check if mission item has been reached. More...

void	reset_mission_item_reached ()
	Reset all reached flags. More...

bool	mission_item_to_position_setpoint (const mission_item_s &item, position_setpoint_s *sp)
	Convert a mission item to a position setpoint. More...

void	set_loiter_item (struct mission_item_s *item, float min_clearance=-1.0f)
	Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position. More...

void	set_takeoff_item (struct mission_item_s *item, float abs_altitude, float min_pitch=0.0f)
	Set a takeoff mission item. More...

void	set_land_item (struct mission_item_s *item, bool at_current_location)
	Set a land mission item. More...

void	set_idle_item (struct mission_item_s *item)
	Set idle mission item. More...

void	set_vtol_transition_item (struct mission_item_s *item, const uint8_t new_mode)
	Set vtol transition item. More...

void	mission_apply_limitation (mission_item_s &item)
	General function used to adjust the mission item based on vehicle specific limitations. More...

void	issue_command (const mission_item_s &item)

float	get_time_inside (const mission_item_s &item) const

float	get_absolute_altitude_for_item (const mission_item_s &mission_item) const

Protected Attributes inherited from MissionBlock
mission_item_s	_mission_item {}

bool	_waypoint_position_reached {false}

bool	_waypoint_yaw_reached {false}

bool	_waypoint_position_reached_previously {false}

hrt_abstime	_time_first_inside_orbit {0}

hrt_abstime	_action_start {0}

hrt_abstime	_time_wp_reached {0}

uORB::Publication< actuator_controls_s >	_actuator_pub {ORB_ID(actuator_controls_2)}

Protected Attributes inherited from NavigatorMode
Navigator *	_navigator {nullptr}

Detailed Description

Definition at line 46 of file land.h.

Constructor & Destructor Documentation

◆ Land()

Land::Land ( Navigator * navigator )

Definition at line 44 of file land.cpp.

◆ ~Land()

Land::~Land ( )

default

Member Function Documentation

◆ on_activation()

void Land::on_activation ( )

overridevirtual

This function is called one time when mode becomes active, pos_sp_triplet must be initialized here.

Reimplemented from NavigatorMode.

Definition at line 50 of file land.cpp.

References MissionBlock::_mission_item, NavigatorMode::_navigator, position_setpoint_triplet_s::current, mission_result_s::finished, Navigator::get_mission_result(), Navigator::get_position_setpoint_triplet(), MissionBlock::mission_apply_limitation(), MissionBlock::mission_item_to_position_setpoint(), position_setpoint_triplet_s::next, position_setpoint_triplet_s::previous, MissionBlock::reset_mission_item_reached(), Navigator::set_can_loiter_at_sp(), MissionBlock::set_land_item(), Navigator::set_mission_result_updated(), Navigator::set_position_setpoint_triplet_updated(), and position_setpoint_s::valid.

Here is the call graph for this function:

◆ on_active()

void Land::on_active ( )

overridevirtual

This function is called while the mode is active.

Reimplemented from NavigatorMode.

Definition at line 71 of file land.cpp.

References MissionBlock::_mission_item, NavigatorMode::_navigator, position_setpoint_triplet_s::current, mission_result_s::finished, Navigator::get_global_position(), Navigator::get_land_detected(), Navigator::get_mission_result(), Navigator::get_position_setpoint_triplet(), Navigator::get_vstatus(), vehicle_status_s::in_transition_mode, vehicle_status_s::is_vtol, vehicle_land_detected_s::landed, vehicle_global_position_s::lat, position_setpoint_s::lat, vehicle_global_position_s::lon, position_setpoint_s::lon, MissionBlock::mission_item_to_position_setpoint(), MissionBlock::set_idle_item(), Navigator::set_mission_result_updated(), and Navigator::set_position_setpoint_triplet_updated().