#include <precland.h>

Inheritance diagram for PrecLand:

Collaboration diagram for PrecLand:

Classes
struct	_map_ref
	reference for local/global projections More...

Public Member Functions
	PrecLand (Navigator *navigator)

	~PrecLand () override=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...

void	set_mode (PrecLandMode mode)

PrecLandMode	get_mode ()

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...

Private Member Functions
void	updateParams () override

void	run_state_start ()

void	run_state_horizontal_approach ()

void	run_state_descend_above_target ()

void	run_state_final_approach ()

void	run_state_search ()

void	run_state_fallback ()

bool	switch_to_state_start ()

bool	switch_to_state_horizontal_approach ()

bool	switch_to_state_descend_above_target ()

bool	switch_to_state_final_approach ()

bool	switch_to_state_search ()

bool	switch_to_state_fallback ()

bool	switch_to_state_done ()

bool	check_state_conditions (PrecLandState state)

void	slewrate (float &sp_x, float &sp_y)

	DEFINE_PARAMETERS ((ParamFloat< px4::params::PLD_BTOUT >) _param_pld_btout,(ParamFloat< px4::params::PLD_HACC_RAD >) _param_pld_hacc_rad,(ParamFloat< px4::params::PLD_FAPPR_ALT >) _param_pld_fappr_alt,(ParamFloat< px4::params::PLD_SRCH_ALT >) _param_pld_srch_alt,(ParamFloat< px4::params::PLD_SRCH_TOUT >) _param_pld_srch_tout,(ParamInt< px4::params::PLD_MAX_SRCH >) _param_pld_max_srch) param_t _handle_param_acceleration_hor

Private Attributes
landing_target_pose_s	_target_pose {}
	precision landing target position More...

uORB::Subscription	_target_pose_sub {ORB_ID(landing_target_pose)}

bool	_target_pose_valid {false}
	whether we have received a landing target position message More...

bool	_target_pose_updated {false}
	wether the landing target position message is updated More...

uint64_t	_state_start_time {0}
	time when we entered current state More...

uint64_t	_last_slewrate_time {0}
	time when we last limited setpoint changes More...

uint64_t	_target_acquired_time {0}
	time when we first saw the landing target during search More...

uint64_t	_point_reached_time {0}
	time when we reached a setpoint More...

int	_search_cnt {0}
	counter of how many times we had to search for the landing target More...

float	_approach_alt {0.0f}
	altitude at which to stay during horizontal approach More...

matrix::Vector2f	_sp_pev

matrix::Vector2f	_sp_pev_prev

PrecLandState	_state {PrecLandState::Start}

PrecLandMode	_mode {PrecLandMode::Opportunistic}

param_t	_handle_param_xy_vel_cruise {PARAM_INVALID}

float	_param_acceleration_hor {0.0f}

float	_param_xy_vel_cruise {0.0f}

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 67 of file precland.h.

Constructor & Destructor Documentation

◆ PrecLand()

PrecLand::PrecLand ( Navigator * navigator )

Definition at line 62 of file precland.cpp.

References _handle_param_xy_vel_cruise, param_find(), and updateParams().

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◆ ~PrecLand()

PrecLand::~PrecLand ( )

overridedefault

Member Function Documentation

◆ check_state_conditions()

bool PrecLand::check_state_conditions ( PrecLandState state )

private

Definition at line 467 of file precland.cpp.

References NavigatorMode::_navigator, _search_cnt, _state, _target_pose, _target_pose_updated, _target_pose_valid, landing_target_pose_s::abs_pos_valid, DescendAboveTarget, Fallback, FinalApproach, Navigator::get_local_position(), HorizontalApproach, hrt_absolute_time(), Search, Start, landing_target_pose_s::timestamp, vehicle_local_position_s::x, landing_target_pose_s::x_abs, vehicle_local_position_s::y, landing_target_pose_s::y_abs, vehicle_local_position_s::z, and landing_target_pose_s::z_abs.

Referenced by run_state_descend_above_target(), run_state_horizontal_approach(), run_state_search(), switch_to_state_descend_above_target(), switch_to_state_final_approach(), switch_to_state_horizontal_approach(), and switch_to_state_start().

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◆ DEFINE_PARAMETERS()

PrecLand::DEFINE_PARAMETERS	(	(ParamFloat< px4::params::PLD_BTOUT >)	_param_pld_btout,
		(ParamFloat< px4::params::PLD_HACC_RAD >)	_param_pld_hacc_rad,
		(ParamFloat< px4::params::PLD_FAPPR_ALT >)	_param_pld_fappr_alt,
		(ParamFloat< px4::params::PLD_SRCH_ALT >)	_param_pld_srch_alt,
		(ParamFloat< px4::params::PLD_SRCH_TOUT >)	_param_pld_srch_tout,
		(ParamInt< px4::params::PLD_MAX_SRCH >)	_param_pld_max_srch
	)

inlineprivate

Definition at line 128 of file precland.h.

References PARAM_INVALID.

◆ get_mode()

PrecLandMode PrecLand::get_mode ( )

inline

Definition at line 78 of file precland.h.

References _mode, and state.

◆ on_activation()

void PrecLand::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 73 of file precland.cpp.

References _last_slewrate_time, NavigatorMode::_navigator, _search_cnt, _sp_pev, _sp_pev_prev, _state, vehicle_global_position_s::alt, position_setpoint_s::alt, position_setpoint_triplet_s::current, Navigator::get_global_position(), Navigator::get_local_position(), Navigator::get_position_setpoint_triplet(), hrt_absolute_time(), vehicle_global_position_s::lat, position_setpoint_s::lat, vehicle_global_position_s::lon, position_setpoint_s::lon, map_projection_init(), map_projection_initialized(), position_setpoint_triplet_s::next, vehicle_local_position_s::ref_lat, vehicle_local_position_s::ref_lon, Start, switch_to_state_start(), position_setpoint_s::timestamp, and position_setpoint_s::valid.

Referenced by Mission::set_mission_items().

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◆ on_active()

void PrecLand::on_active ( )

overridevirtual

This function is called while the mode is active.

Reimplemented from NavigatorMode.

Definition at line 107 of file precland.cpp.

References NavigatorMode::_navigator, _state, _target_pose, _target_pose_sub, _target_pose_updated, _target_pose_valid, DescendAboveTarget, Done, Fallback, FinalApproach, Navigator::get_land_detected(), HorizontalApproach, hrt_elapsed_time(), vehicle_land_detected_s::landed, run_state_descend_above_target(), run_state_fallback(), run_state_final_approach(), run_state_horizontal_approach(), run_state_search(), run_state_start(), Search, Start, switch_to_state_done(), landing_target_pose_s::timestamp, and uORB::Subscription::update().

Referenced by Mission::on_active().

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◆ run_state_descend_above_target()

void PrecLand::run_state_descend_above_target ( )

private

Definition at line 284 of file precland.cpp.

References NavigatorMode::_navigator, _target_pose, vehicle_global_position_s::alt, position_setpoint_s::alt, check_state_conditions(), position_setpoint_triplet_s::current, DescendAboveTarget, Navigator::get_global_position(), Navigator::get_position_setpoint_triplet(), vehicle_global_position_s::lat, position_setpoint_s::lat, vehicle_global_position_s::lon, position_setpoint_s::lon, map_projection_reproject(), Navigator::set_position_setpoint_triplet_updated(), switch_to_state_fallback(), switch_to_state_final_approach(), switch_to_state_start(), position_setpoint_s::type, landing_target_pose_s::x_abs, and landing_target_pose_s::y_abs.

Referenced by on_active().

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◆ run_state_fallback()

void PrecLand::run_state_fallback ( )

private

Definition at line 361 of file precland.cpp.

Referenced by on_active().

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◆ run_state_final_approach()

void PrecLand::run_state_final_approach ( )

private

Definition at line 321 of file precland.cpp.

Referenced by on_active().

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◆ run_state_horizontal_approach()

void PrecLand::run_state_horizontal_approach ( )

private

Definition at line 220 of file precland.cpp.

References _approach_alt, NavigatorMode::_navigator, _point_reached_time, _state_start_time, _target_pose, vehicle_global_position_s::alt, position_setpoint_s::alt, check_state_conditions(), position_setpoint_triplet_s::current, DescendAboveTarget, Navigator::get_global_position(), Navigator::get_position_setpoint_triplet(), HorizontalApproach, hrt_absolute_time(), vehicle_global_position_s::lat, position_setpoint_s::lat, vehicle_global_position_s::lon, position_setpoint_s::lon, map_projection_reproject(), Navigator::set_position_setpoint_triplet_updated(), slewrate(), STATE_TIMEOUT, switch_to_state_descend_above_target(), switch_to_state_fallback(), switch_to_state_start(), position_setpoint_s::type, landing_target_pose_s::x_abs, and landing_target_pose_s::y_abs.

Referenced by on_active().

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◆ run_state_search()

void PrecLand::run_state_search ( )

private

Definition at line 327 of file precland.cpp.

References NavigatorMode::_navigator, _state_start_time, _target_acquired_time, vehicle_global_position_s::alt, position_setpoint_s::alt, check_state_conditions(), position_setpoint_triplet_s::current, Navigator::get_global_position(), Navigator::get_position_setpoint_triplet(), HorizontalApproach, hrt_absolute_time(), SEC2USEC, Navigator::set_position_setpoint_triplet_updated(), switch_to_state_fallback(), and switch_to_state_horizontal_approach().

Referenced by on_active().

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◆ run_state_start()

void PrecLand::run_state_start ( )

private

Definition at line 176 of file precland.cpp.

References _mode, NavigatorMode::_navigator, _point_reached_time, position_setpoint_triplet_s::current, get_distance_to_next_waypoint(), Navigator::get_global_position(), Navigator::get_position_setpoint_triplet(), hrt_absolute_time(), vehicle_global_position_s::lat, position_setpoint_s::lat, vehicle_global_position_s::lon, position_setpoint_s::lon, Opportunistic, switch_to_state_fallback(), switch_to_state_horizontal_approach(), and switch_to_state_search().

Referenced by on_active().

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◆ set_mode()

void PrecLand::set_mode ( PrecLandMode mode )

inline

Definition at line 76 of file precland.h.

References _mode.

Referenced by Navigator::run(), and Mission::set_mission_items().

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◆ slewrate()

void PrecLand::slewrate	(	float &	sp_x,
		float &	sp_y
	)

private

Definition at line 528 of file precland.cpp.

References _last_slewrate_time, NavigatorMode::_navigator, _param_acceleration_hor, _param_xy_vel_cruise, _sp_pev, _sp_pev_prev, position_setpoint_triplet_s::current, dt, Navigator::get_local_position(), Navigator::get_position_setpoint_triplet(), hrt_absolute_time(), position_setpoint_s::lat, matrix::Vector< Type, M >::length(), position_setpoint_s::lon, map_projection_project(), matrix::Vector< Type, M >::normalized(), SEC2USEC, vehicle_local_position_s::vx, and vehicle_local_position_s::vy.

Referenced by run_state_horizontal_approach().

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◆ switch_to_state_descend_above_target()

bool PrecLand::switch_to_state_descend_above_target ( )

private

Definition at line 402 of file precland.cpp.

References _state, _state_start_time, check_state_conditions(), DescendAboveTarget, and hrt_absolute_time().

Referenced by run_state_horizontal_approach().

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◆ switch_to_state_done()

bool PrecLand::switch_to_state_done ( )

private

Definition at line 460 of file precland.cpp.

References _state, _state_start_time, Done, and hrt_absolute_time().

Referenced by on_active().

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◆ switch_to_state_fallback()

bool PrecLand::switch_to_state_fallback ( )

private

Definition at line 444 of file precland.cpp.

References NavigatorMode::_navigator, _state, _state_start_time, vehicle_global_position_s::alt, position_setpoint_s::alt, position_setpoint_triplet_s::current, Fallback, Navigator::get_global_position(), Navigator::get_position_setpoint_triplet(), hrt_absolute_time(), vehicle_global_position_s::lat, position_setpoint_s::lat, vehicle_global_position_s::lon, position_setpoint_s::lon, Navigator::set_position_setpoint_triplet_updated(), and position_setpoint_s::type.

Referenced by run_state_descend_above_target(), run_state_horizontal_approach(), run_state_search(), and run_state_start().

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◆ switch_to_state_final_approach()

bool PrecLand::switch_to_state_final_approach ( )

private

Definition at line 414 of file precland.cpp.

References _state, _state_start_time, check_state_conditions(), FinalApproach, and hrt_absolute_time().

Referenced by run_state_descend_above_target().

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◆ switch_to_state_horizontal_approach()

bool PrecLand::switch_to_state_horizontal_approach ( )

private

Definition at line 386 of file precland.cpp.

References _approach_alt, NavigatorMode::_navigator, _point_reached_time, _state, _state_start_time, vehicle_global_position_s::alt, check_state_conditions(), Navigator::get_global_position(), HorizontalApproach, and hrt_absolute_time().

Referenced by run_state_search(), and run_state_start().

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◆ switch_to_state_search()

bool PrecLand::switch_to_state_search ( )

private

Definition at line 426 of file precland.cpp.

References NavigatorMode::_navigator, _state, _state_start_time, _target_acquired_time, position_setpoint_s::alt, position_setpoint_triplet_s::current, Navigator::get_local_position(), Navigator::get_position_setpoint_triplet(), hrt_absolute_time(), vehicle_local_position_s::ref_alt, Search, Navigator::set_position_setpoint_triplet_updated(), and position_setpoint_s::type.

Referenced by run_state_start().

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◆ switch_to_state_start()

bool PrecLand::switch_to_state_start ( )

private

Definition at line 367 of file precland.cpp.

References NavigatorMode::_navigator, _point_reached_time, _search_cnt, _state, _state_start_time, check_state_conditions(), position_setpoint_triplet_s::current, Navigator::get_position_setpoint_triplet(), hrt_absolute_time(), Navigator::set_position_setpoint_triplet_updated(), Start, and position_setpoint_s::type.

Referenced by on_activation(), run_state_descend_above_target(), and run_state_horizontal_approach().

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◆ updateParams()

void PrecLand::updateParams ( )

overrideprivate

Definition at line 162 of file precland.cpp.

References _handle_param_xy_vel_cruise, _param_acceleration_hor, _param_xy_vel_cruise, param_get(), and PARAM_INVALID.

Referenced by PrecLand().

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Member Data Documentation

◆ _approach_alt

float PrecLand::_approach_alt {0.0f}

private

altitude at which to stay during horizontal approach

Definition at line 119 of file precland.h.

Referenced by run_state_horizontal_approach(), and switch_to_state_horizontal_approach().

◆ _handle_param_xy_vel_cruise

param_t PrecLand::_handle_param_xy_vel_cruise {PARAM_INVALID}

private

Definition at line 139 of file precland.h.

Referenced by PrecLand(), and updateParams().

◆ _last_slewrate_time

uint64_t PrecLand::_last_slewrate_time {0}

private

time when we last limited setpoint changes

Definition at line 114 of file precland.h.

Referenced by on_activation(), and slewrate().

◆ _mode

PrecLandMode PrecLand::_mode {PrecLandMode::Opportunistic}

private

Definition at line 126 of file precland.h.

Referenced by run_state_start().

◆ _param_acceleration_hor

float PrecLand::_param_acceleration_hor {0.0f}

private

Definition at line 140 of file precland.h.

Referenced by slewrate(), and updateParams().

◆ _param_xy_vel_cruise

float PrecLand::_param_xy_vel_cruise {0.0f}

private

Definition at line 141 of file precland.h.

Referenced by slewrate(), and updateParams().

◆ _point_reached_time

uint64_t PrecLand::_point_reached_time {0}

private

time when we reached a setpoint

Definition at line 116 of file precland.h.

Referenced by run_state_horizontal_approach(), run_state_start(), switch_to_state_horizontal_approach(), and switch_to_state_start().

◆ _search_cnt

int PrecLand::_search_cnt {0}

private

counter of how many times we had to search for the landing target

Definition at line 118 of file precland.h.

Referenced by check_state_conditions(), on_activation(), and switch_to_state_start().

◆ _sp_pev

matrix::Vector2f PrecLand::_sp_pev

private

Definition at line 121 of file precland.h.

Referenced by on_activation(), and slewrate().

◆ _sp_pev_prev

matrix::Vector2f PrecLand::_sp_pev_prev

private

Definition at line 122 of file precland.h.

Referenced by on_activation(), and slewrate().

◆ _state

PrecLandState PrecLand::_state {PrecLandState::Start}

private

Definition at line 124 of file precland.h.

Referenced by check_state_conditions(), on_activation(), on_active(), switch_to_state_descend_above_target(), switch_to_state_done(), switch_to_state_fallback(), switch_to_state_final_approach(), switch_to_state_horizontal_approach(), switch_to_state_search(), and switch_to_state_start().

◆ _state_start_time

uint64_t PrecLand::_state_start_time {0}

private

time when we entered current state

Definition at line 113 of file precland.h.

Referenced by run_state_horizontal_approach(), run_state_search(), switch_to_state_descend_above_target(), switch_to_state_done(), switch_to_state_fallback(), switch_to_state_final_approach(), switch_to_state_horizontal_approach(), switch_to_state_search(), and switch_to_state_start().

◆ _target_acquired_time

uint64_t PrecLand::_target_acquired_time {0}

private

time when we first saw the landing target during search

Definition at line 115 of file precland.h.

Referenced by run_state_search(), and switch_to_state_search().

◆ _target_pose

landing_target_pose_s PrecLand::_target_pose {}

private

precision landing target position

Definition at line 105 of file precland.h.

Referenced by check_state_conditions(), on_active(), run_state_descend_above_target(), and run_state_horizontal_approach().

◆ _target_pose_sub

uORB::Subscription PrecLand::_target_pose_sub {ORB_ID(landing_target_pose)}

private

Definition at line 107 of file precland.h.

Referenced by on_active().

◆ _target_pose_updated

bool PrecLand::_target_pose_updated {false}

private

wether the landing target position message is updated

Definition at line 109 of file precland.h.

Referenced by check_state_conditions(), and on_active().

◆ _target_pose_valid

bool PrecLand::_target_pose_valid {false}

private

whether we have received a landing target position message

Definition at line 108 of file precland.h.

Referenced by check_state_conditions(), and on_active().

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

src/modules/navigator/precland.h
src/modules/navigator/precland.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PrecLand()

◆ ~PrecLand()

Member Function Documentation

◆ check_state_conditions()

◆ DEFINE_PARAMETERS()

◆ get_mode()

◆ on_activation()

◆ on_active()

◆ run_state_descend_above_target()

◆ run_state_fallback()

◆ run_state_final_approach()

◆ run_state_horizontal_approach()

◆ run_state_search()

◆ run_state_start()

◆ set_mode()

◆ slewrate()

◆ switch_to_state_descend_above_target()

◆ switch_to_state_done()

◆ switch_to_state_fallback()

◆ switch_to_state_final_approach()

◆ switch_to_state_horizontal_approach()

◆ switch_to_state_search()

◆ switch_to_state_start()

◆ updateParams()

Member Data Documentation

◆ _approach_alt

◆ _handle_param_xy_vel_cruise

◆ _last_slewrate_time

◆ _mode

◆ _param_acceleration_hor

◆ _param_xy_vel_cruise

◆ _point_reached_time

◆ _search_cnt

◆ _sp_pev

◆ _sp_pev_prev

◆ _state

◆ _state_start_time

◆ _target_acquired_time

◆ _target_pose

◆ _target_pose_sub

◆ _target_pose_updated

◆ _target_pose_valid