Mission_handler_landing Class Reference

Inheritance diagram for Mission_handler_landing:

Collaboration diagram for Mission_handler_landing:

List of all members.

Classes
struct	conf_t
	The landing mission handler configuration structure. More...
Public Types
enum	auto_landing_behavior_t { DESCENT_TO_SMALL_ALTITUDE, DESCENT_TO_GND }
	The auto-landing enum. More...
Public Member Functions
	Mission_handler_landing (const INS &ins, State &state, conf_t config=default_config())
	Initialize the landing mission planner handler.
virtual bool	can_handle (const Waypoint &wpt) const
	Checks if the waypoint is a landing 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 POSTMISSION.
Static Public Member Functions
static conf_t	default_config ()
	default configuration for the landing handler
Protected Member Functions
virtual bool	write_desc_to_small_alt_flight_command (Flight_controller &flight_controller) const
	Function to set the controller specific command for the descent to small altitude state.
virtual bool	write_desc_to_ground_flight_command (Flight_controller &flight_controller) const
	Function to set the controller specific command for the descent to ground state.
Protected Attributes
Waypoint	waypoint_
	The waypoint that we are landing under.
bool	is_landed_
	Boolean flag stating that we have finished the landing procedure.
auto_landing_behavior_t	auto_landing_behavior_
	The auto landing behavior.
float	alt_lpf_
	The low-pass filtered altitude for auto-landing.
float	LPF_gain_
	The low-pass filter gain.
float	desc_to_ground_altitude_
	The altitude to switch to the descent to ground state.
float	desc_to_ground_range_
	The range in meters that allows switching from the descent to ground.
const INS &	ins_
	The reference to the ins interface.
State &	state_
	The reference to the state structure.

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Member Enumeration Documentation

enum Mission_handler_landing::auto_landing_behavior_t

The auto-landing enum.

Enumerator:

DESCENT_TO_SMALL_ALTITUDE	First auto landing behavior.
DESCENT_TO_GND	Second auto landing behavior, comes after DESCENT_TO_SMAL_ALTITUDE.

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Constructor & Destructor Documentation

Mission_handler_landing::Mission_handler_landing	(	const INS &	ins,
		State &	state,
		conf_t	config = default_config()
	)

Initialize the landing mission planner handler.

Parameters:

ins	The reference to the ins
state	The reference to the state structure
config	The landing mission handler config structure

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Member Function Documentation

bool Mission_handler_landing::can_handle

(

const Waypoint &

wpt

)

const [virtual]

Checks if the waypoint is a landing waypoint.

Checks if the inputted waypoint is a: MAV_CMD_NAV_LAND

Parameters:

wpt	The waypoint class

Returns:

Can handle

Implements Mission_handler.

Reimplemented in Mission_handler_critical_landing.

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Mission_handler_landing::conf_t Mission_handler_landing::default_config

(

void

)

[inline, static]

default configuration for the landing handler

Returns:

default config

Mission_planner::internal_state_t Mission_handler_landing::handler_mission_state

(

)

const [virtual]

Returns that the mission state is in POSTMISSION.

Returns:

Mission handler's mission state

Implements Mission_handler.

bool Mission_handler_landing::setup

(

const Waypoint &

wpt

)

[virtual]

Sets up this handler class for a first time initialization.

Records the waypoint reference and sets the mav mode

Parameters:

wpt	The waypoint class

Returns:

Success

Implements Mission_handler.

Mission_handler::update_status_t Mission_handler_landing::update

(

void

)

[virtual]

Handles the mission every iteration.

Sets the goal location and determines the status code. The code is MISSION_IN_PROGRESS for landing in progress, MISSION_FINISHED for landing finished and autocontinue on, MISSION_FAILED for control command rejected.

Returns:

Status code

Implements Mission_handler.

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bool Mission_handler_landing::write_desc_to_ground_flight_command

(

Flight_controller &

flight_controller

)

const [protected, virtual]

Function to set the controller specific command for the descent to ground state.

Returns:

Controller accepted input

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bool Mission_handler_landing::write_desc_to_small_alt_flight_command

(

Flight_controller &

flight_controller

)

const [protected, virtual]

Function to set the controller specific command for the descent to small altitude state.

Returns:

Controller accepted input

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bool Mission_handler_landing::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_landing.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_landing.cpp