#include <gpsfailure.h>

Inheritance diagram for GpsFailure:

Collaboration diagram for GpsFailure:

Public Member Functions
	GpsFailure (Navigator *navigator)

	~GpsFailure ()=default

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

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_inactivation ()
	This function is called one time when mode becomes inactive. More...

Private Member Functions
	DEFINE_PARAMETERS ((ParamFloat< px4::params::NAV_GPSF_LT >) _param_nav_gpsf_lt,(ParamFloat< px4::params::NAV_GPSF_R >) _param_nav_gpsf_r,(ParamFloat< px4::params::NAV_GPSF_P >) _param_nav_gpsf_p,(ParamFloat< px4::params::NAV_GPSF_TR >) _param_nav_gpsf_tr) enum GPSFState

void	set_gpsf_item ()
	Set the GPSF item. More...

void	advance_gpsf ()
	Move to next GPSF item. More...

Private Attributes
	_gpsf_state {GPSF_STATE_NONE}

hrt_abstime	_timestamp_activation {0}

uORB::Publication< vehicle_attitude_setpoint_s >	_att_sp_pub {ORB_ID(vehicle_attitude_setpoint)}

uORB::Publication< vehicle_attitude_setpoint_s >	_fw_virtual_att_sp_pub {ORB_ID(fw_virtual_attitude_setpoint)}

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 51 of file gpsfailure.h.

Constructor & Destructor Documentation

◆ GpsFailure()

GpsFailure::GpsFailure ( Navigator * navigator )

Definition at line 55 of file gpsfailure.cpp.

◆ ~GpsFailure()

GpsFailure::~GpsFailure ( )

default

Member Function Documentation

◆ advance_gpsf()

void GpsFailure::advance_gpsf ( )

private

Move to next GPSF item.

Definition at line 152 of file gpsfailure.cpp.

References _gpsf_state, NavigatorMode::_navigator, Navigator::get_mavlink_log_pub(), mavlink_log_critical, and mavlink_log_emergency.

Referenced by on_activation(), and on_active().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ DEFINE_PARAMETERS()

GpsFailure::DEFINE_PARAMETERS	(	(ParamFloat< px4::params::NAV_GPSF_LT >)	_param_nav_gpsf_lt,
		(ParamFloat< px4::params::NAV_GPSF_R >)	_param_nav_gpsf_r,
		(ParamFloat< px4::params::NAV_GPSF_P >)	_param_nav_gpsf_p,
		(ParamFloat< px4::params::NAV_GPSF_TR >)	_param_nav_gpsf_tr
	)

inlineprivate

Definition at line 62 of file gpsfailure.h.

◆ on_activation()

void GpsFailure::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 71 of file gpsfailure.cpp.

References _gpsf_state, _timestamp_activation, advance_gpsf(), hrt_absolute_time(), and set_gpsf_item().

Here is the call graph for this function:

◆ on_active()

void GpsFailure::on_active ( )

overridevirtual

This function is called while the mode is active.

Reimplemented from NavigatorMode.

Definition at line 80 of file gpsfailure.cpp.

References _att_sp_pub, _fw_virtual_att_sp_pub, _gpsf_state, NavigatorMode::_navigator, _timestamp_activation, advance_gpsf(), FLT_EPSILON, Navigator::get_vstatus(), hrt_absolute_time(), hrt_elapsed_time(), vehicle_status_s::is_vtol, vehicle_attitude_setpoint_s::pitch_body, uORB::Publication< T >::publish(), vehicle_attitude_setpoint_s::q_d, vehicle_attitude_setpoint_s::q_d_valid, math::radians(), vehicle_attitude_setpoint_s::roll_body, set_gpsf_item(), vehicle_attitude_setpoint_s::thrust_body, and vehicle_attitude_setpoint_s::timestamp.

Here is the call graph for this function:

◆ on_inactive()

void GpsFailure::on_inactive ( )

overridevirtual

This function is called while the mode is inactive.

Reimplemented from NavigatorMode.

Definition at line 62 of file gpsfailure.cpp.

References _gpsf_state, NavigatorMode::_navigator, and Navigator::get_can_loiter_at_sp().

Here is the call graph for this function:

◆ set_gpsf_item()

void GpsFailure::set_gpsf_item ( )

private

Set the GPSF item.

Definition at line 126 of file gpsfailure.cpp.

References _gpsf_state, NavigatorMode::_navigator, position_setpoint_triplet_s::current, mission_result_s::flight_termination, Navigator::get_mission_result(), Navigator::get_position_setpoint_triplet(), position_setpoint_triplet_s::next, position_setpoint_triplet_s::previous, Navigator::set_mission_result_updated(), Navigator::set_position_setpoint_triplet_updated(), and position_setpoint_s::valid.

Referenced by on_activation(), and on_active().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _att_sp_pub

uORB::Publication<vehicle_attitude_setpoint_s> GpsFailure::_att_sp_pub {ORB_ID(vehicle_attitude_setpoint)}

private

Definition at line 78 of file gpsfailure.h.

Referenced by on_active().

◆ _fw_virtual_att_sp_pub

uORB::Publication<vehicle_attitude_setpoint_s> GpsFailure::_fw_virtual_att_sp_pub {ORB_ID(fw_virtual_attitude_setpoint)}

private

Definition at line 79 of file gpsfailure.h.

Referenced by on_active().

◆ _gpsf_state

GpsFailure::_gpsf_state {GPSF_STATE_NONE}

private

Definition at line 74 of file gpsfailure.h.

Referenced by advance_gpsf(), on_activation(), on_active(), on_inactive(), and set_gpsf_item().

◆ _timestamp_activation

hrt_abstime GpsFailure::_timestamp_activation {0}

private

Definition at line 76 of file gpsfailure.h.

Referenced by on_activation(), and on_active().

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

src/modules/navigator/gpsfailure.h
src/modules/navigator/gpsfailure.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GpsFailure()

◆ ~GpsFailure()

Member Function Documentation

◆ advance_gpsf()

◆ DEFINE_PARAMETERS()

◆ on_activation()

◆ on_active()

◆ on_inactive()

◆ set_gpsf_item()

Member Data Documentation

◆ _att_sp_pub

◆ _fw_virtual_att_sp_pub

◆ _gpsf_state

◆ _timestamp_activation