#include <FlightTaskManual.hpp>

Inheritance diagram for FlightTaskManual:

Collaboration diagram for FlightTaskManual:

Public Member Functions
	FlightTaskManual ()=default

virtual	~FlightTaskManual ()=default

bool	applyCommandParameters (const vehicle_command_s &command) override
	To be called to adopt parameters from an arrived vehicle command. More...

bool	updateInitialize () override
	Call before activate() or update() to initialize time and input data. More...

Public Member Functions inherited from FlightTask
	FlightTask ()

virtual	~FlightTask ()=default

virtual bool	activate (vehicle_local_position_setpoint_s last_setpoint)
	Call once on the event where you switch to the task. More...

virtual void	reActivate ()
	Call this to reset an active Flight Task. More...

virtual bool	update ()=0
	To be called regularly in the control loop cycle to execute the task. More...

virtual bool	updateFinalize ()
	Call after update() to constrain the generated setpoints in order to comply with the constraints of the current mode. More...

const vehicle_local_position_setpoint_s	getPositionSetpoint ()
	Get the output data. More...

const vehicle_constraints_s &	getConstraints ()
	Get vehicle constraints. More...

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

const vehicle_trajectory_waypoint_s &	getAvoidanceWaypoint ()
	Get avoidance desired waypoint. More...

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

virtual void	setYawHandler (WeatherVane *ext_yaw_handler)
	Sets an external yaw handler which can be used by any flight task to implement a different yaw control strategy. More...

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

Protected Member Functions
float	stickDeadzone () const

Protected Member Functions inherited from FlightTask
void	_resetSetpoints ()
	Reset all setpoints to NAN. More...

void	_evaluateVehicleLocalPosition ()
	Check and update local position. More...

virtual void	_setDefaultConstraints ()
	Set constraints to default values. More...

virtual bool	_checkTakeoff ()
	Determine when to trigger a takeoff (ignored in flight) More...

void	_initEkfResetCounters ()
	Monitor the EKF reset counters and call the appropriate handling functions in case of a reset event. More...

void	_checkEkfResetCounters ()

virtual void	_ekfResetHandlerPositionXY ()

virtual void	_ekfResetHandlerVelocityXY ()

virtual void	_ekfResetHandlerPositionZ ()

virtual void	_ekfResetHandlerVelocityZ ()

virtual void	_ekfResetHandlerHeading (float delta_psi)

Protected Attributes
bool	_sticks_data_required = true
	let inherited task-class define if it depends on stick data More...

matrix::Vector< float, 4 >	_sticks
	unmodified manual stick inputs More...

matrix::Vector< float, 4 >	_sticks_expo
	modified manual sticks using expo function More...

int	_gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE
	old switch state More...

Protected Attributes inherited from FlightTask
uORB::SubscriptionData< vehicle_local_position_s >	_sub_vehicle_local_position {ORB_ID(vehicle_local_position)}

uORB::SubscriptionData< vehicle_attitude_s >	_sub_attitude {ORB_ID(vehicle_attitude)}

float	_time = 0
	passed time in seconds since the task was activated More...

float	_deltatime = 0
	passed time in seconds since the task was last updated More...

hrt_abstime	_time_stamp_activate = 0
	time stamp when task was activated More...

hrt_abstime	_time_stamp_current = 0
	time stamp at the beginning of the current task update More...

hrt_abstime	_time_stamp_last = 0
	time stamp when task was last updated More...

matrix::Vector3f	_position
	current vehicle position More...

matrix::Vector3f	_velocity
	current vehicle velocity More...

float	_yaw = 0.f
	current vehicle yaw heading More...

float	_dist_to_bottom = 0.0f
	current height above ground level More...

matrix::Vector3f	_position_setpoint
	Setpoints which the position controller has to execute. More...

matrix::Vector3f	_velocity_setpoint

matrix::Vector3f	_acceleration_setpoint

matrix::Vector3f	_jerk_setpoint

matrix::Vector3f	_thrust_setpoint

float	_yaw_setpoint

float	_yawspeed_setpoint

matrix::Vector3f	_velocity_setpoint_feedback

matrix::Vector3f	_thrust_setpoint_feedback

struct {
uint8_t xy = 0

uint8_t vxy = 0

uint8_t z = 0

uint8_t vz = 0

uint8_t quat = 0

}	_reset_counters

vehicle_constraints_s	_constraints {}
	Vehicle constraints. More...

landing_gear_s	_gear {}

vehicle_trajectory_waypoint_s	_desired_waypoint {}
	Desired waypoints. More...

Private Member Functions
bool	_evaluateSticks ()
	checks and sets stick inputs More...

void	_applyGearSwitch (uint8_t gswitch)
	Sets gears according to switch. More...

Private Attributes
uORB::SubscriptionData< manual_control_setpoint_s >	_sub_manual_control_setpoint {ORB_ID(manual_control_setpoint)}

Additional Inherited Members
Static Public Attributes inherited from FlightTask
static const vehicle_local_position_setpoint_s	empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {}}
	Empty setpoint. More...

static const vehicle_constraints_s	empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, false, {}}
	Empty constraints. More...

static const landing_gear_s	empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}}
	default landing gear state More...

Static Protected Attributes inherited from FlightTask
static constexpr uint64_t	_timeout = 500000
	maximal time in us before a loop or data times out More...

Detailed Description

Definition at line 46 of file FlightTaskManual.hpp.

Constructor & Destructor Documentation

◆ FlightTaskManual()

FlightTaskManual::FlightTaskManual ( )

default

◆ ~FlightTaskManual()

virtual FlightTaskManual::~FlightTaskManual ( )

virtualdefault

Member Function Documentation

◆ _applyGearSwitch()

void FlightTaskManual::_applyGearSwitch ( uint8_t gswitch )

private

Sets gears according to switch.

Definition at line 107 of file FlightTaskManual.cpp.

Referenced by stickDeadzone().

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◆ _evaluateSticks()

bool FlightTaskManual::_evaluateSticks ( )

private

checks and sets stick inputs

Definition at line 60 of file FlightTaskManual.cpp.

References math::expo_deadzone(), f(), and hrt_abstime.

Referenced by stickDeadzone().

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◆ applyCommandParameters()

bool FlightTaskManual::applyCommandParameters ( const vehicle_command_s & command )

inlineoverridevirtual

To be called to adopt parameters from an arrived vehicle command.

Parameters

command received command message containing the parameters

Returns: true if accepted, false if declined

Reimplemented from FlightTask.

Reimplemented in FlightTaskOrbit.

Definition at line 53 of file FlightTaskManual.hpp.

References FlightTask::applyCommandParameters(), and updateInitialize().

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◆ stickDeadzone()

float FlightTaskManual::stickDeadzone ( ) const

inlineprotected

Definition at line 63 of file FlightTaskManual.hpp.

References _applyGearSwitch(), and _evaluateSticks().

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◆ updateInitialize()

bool FlightTaskManual::updateInitialize ( )

overridevirtual

Call before activate() or update() to initialize time and input data.

Returns: true on success, false on error

Reimplemented from FlightTask.

Reimplemented in FlightTaskManualPosition, and FlightTaskManualAltitude.

Definition at line 45 of file FlightTaskManual.cpp.

References FlightTask::updateInitialize().

Referenced by applyCommandParameters(), and FlightTaskManualAltitude::updateInitialize().

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Member Data Documentation

◆ _gear_switch_old

int FlightTaskManual::_gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE

protected

old switch state

Definition at line 61 of file FlightTaskManual.hpp.

◆ _sticks

matrix::Vector<float, 4> FlightTaskManual::_sticks

protected

unmodified manual stick inputs

Definition at line 59 of file FlightTaskManual.hpp.

◆ _sticks_data_required

bool FlightTaskManual::_sticks_data_required = true

protected

let inherited task-class define if it depends on stick data

Definition at line 58 of file FlightTaskManual.hpp.

Referenced by FlightTaskOrbit::FlightTaskOrbit().

◆ _sticks_expo

matrix::Vector<float, 4> FlightTaskManual::_sticks_expo

protected

modified manual sticks using expo function

Definition at line 60 of file FlightTaskManual.hpp.

Referenced by FlightTaskManualPosition::_scaleSticks(), and FlightTaskOrbit::update().

◆ _sub_manual_control_setpoint

uORB::SubscriptionData<manual_control_setpoint_s> FlightTaskManual::_sub_manual_control_setpoint {ORB_ID(manual_control_setpoint)}

private

Definition at line 70 of file FlightTaskManual.hpp.

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

src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp
src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlightTaskManual()

◆ ~FlightTaskManual()

Member Function Documentation

◆ _applyGearSwitch()

◆ _evaluateSticks()

◆ applyCommandParameters()

◆ stickDeadzone()

◆ updateInitialize()

Member Data Documentation

◆ _gear_switch_old

◆ _sticks

◆ _sticks_data_required

◆ _sticks_expo

◆ _sub_manual_control_setpoint