Mission_handler_hold_position Class Reference

Inheritance diagram for Mission_handler_hold_position:

Collaboration diagram for Mission_handler_hold_position:

List of all members.

Public Member Functions
	Mission_handler_hold_position (const INS &ins)
	Initialize the hold position mission planner handler.
virtual bool	can_handle (const Waypoint &wpt) const
	Checks if the waypoint is a hold position waypoint.
virtual bool	setup (const Waypoint &wpt)
	Sets up this handler class for a first time initialization.
virtual Mission_handler::update_status_t	update ()
	Handles the mission every iteration.
virtual bool	write_flight_command (Flight_controller &flight_controller) const
	Provides control commands to the flight controller.
virtual Mission_planner::internal_state_t	handler_mission_state () const
	Returns that the mission state is in MISSION.
Protected Attributes
Waypoint	waypoint_
	Pointer to the inputted waypoint.
uint64_t	start_time_
	The start time of the waypoint hold.
bool	within_radius_
	Flag stating if we are within the radius.
const INS &	ins_
	The reference to the ins structure.

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Constructor & Destructor Documentation

Mission_handler_hold_position::Mission_handler_hold_position

(

const INS &

ins

)

Initialize the hold position mission planner handler.

Parameters:

ins	The reference to the ins

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Member Function Documentation

bool Mission_handler_hold_position::can_handle

(

const Waypoint &

wpt

)

const [virtual]

Checks if the waypoint is a hold position waypoint.

Checks if this is a: MAV_CMD_NAV_LOITER_UNLIM MAV_CMD_NAV_LOITER_TIME MAV_CMD_NAV_LOITER_TO_ALT MAV_CMD_OVERRIDE_GOTO if param1 == MAV_GOTO_DO_HOLD

Parameters:

wpt	The waypoint class

Returns:

Can handle

Implements Mission_handler.

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Mission_planner::internal_state_t Mission_handler_hold_position::handler_mission_state

(

)

const [virtual]

Returns that the mission state is in MISSION.

Returns:

Mission handler's mission state

Implements Mission_handler.

bool Mission_handler_hold_position::setup

(

const Waypoint &

wpt

)

[virtual]

Sets up this handler class for a first time initialization.

Stores the waypoint reference and records the starting time

Parameters:

wpt	The waypoint class

Returns:

Success

Implements Mission_handler.

Mission_handler::update_status_t Mission_handler_hold_position::update

(

void

)

[virtual]

Handles the mission every iteration.

Sets the waypoint goal to the setup waypoint. Returns MISSION_IN_PROGRESS if the drone is still holding position, MISSION_FINISHED if it should move to the next waypoint, and MISSION_FAILED if the drone cannot hold position

Returns:

Status code

Implements Mission_handler.

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bool Mission_handler_hold_position::write_flight_command

(

Flight_controller &

flight_controller

)

const [virtual]

Provides control commands to the flight controller.

Returns:

success

Implements Flight_command_source.

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

• /home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_hold_position.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_hold_position.cpp