Mission_handler_navigating Class Reference

Inheritance diagram for Mission_handler_navigating:

Collaboration diagram for Mission_handler_navigating:

List of all members.

Public Member Functions
	Mission_handler_navigating (const INS &ins, const Mavlink_stream &mavlink_stream, Mavlink_waypoint_handler &waypoint_handler)
	Initialize the navigating mission planner handler.
virtual bool	can_handle (const Waypoint &wpt) const
	Checks if the waypoint is a navigating 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 Member Functions
void	send_nav_time (const Mavlink_stream *mavlink_stream, mavlink_message_t *msg)
	Sends the travel time between the last two waypoints.
Protected Attributes
const INS &	ins_
	The reference to the ins interface.
const Mavlink_stream &	mavlink_stream_
	The reference to the mavlink object.
Mavlink_waypoint_handler &	waypoint_handler_
	The reference to the mavlink waypoint handler.
Waypoint	waypoint_
	The waypoint that we are heading towards.
bool	waypoint_reached_
	Flag stating if this waypoint has been reached or not.
uint64_t	start_time_
	The start time for travelling to this waypoint.
uint32_t	travel_time_
	The travel time between two waypoints, updated once the MAV arrives at its next waypoint.
position_command_t	position_command_
	Desired position command.

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Constructor & Destructor Documentation

Mission_handler_navigating::Mission_handler_navigating	(	const INS &	ins,
		const Mavlink_stream &	mavlink_stream,
		Mavlink_waypoint_handler &	waypoint_handler
	)

Initialize the navigating mission planner handler.

Parameters:

ins	The reference to the ins
mavlink_stream	The reference to the MAVLink stream structure
waypoint_handler	The handler for the manual control state

---

Member Function Documentation

bool Mission_handler_navigating::can_handle

(

const Waypoint &

wpt

)

const [virtual]

Checks if the waypoint is a navigating waypoint.

Checks if the inputted waypoint is a: MAV_CMD_NAV_WAYPOINT

Parameters:

wpt	The waypoint class

Returns:

Can handle

Implements Mission_handler.

Reimplemented in Mission_handler_critical_navigating.

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Mission_planner::internal_state_t Mission_handler_navigating::handler_mission_state

(

)

const [virtual]

Returns that the mission state is in MISSION.

Returns:

Mission handler's mission state

Implements Mission_handler.

void Mission_handler_navigating::send_nav_time	(	const Mavlink_stream *	mavlink_stream,
		mavlink_message_t *	msg
	)		[protected]

Sends the travel time between the last two waypoints.

Parameters:

waypoint_handler	The pointer to the waypoint handler structure
mavlink_stream	The pointer to the MAVLink stream structure
msg	The pointer to the MAVLink message

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bool Mission_handler_navigating::setup

(

const Waypoint &

wpt

)

[virtual]

Sets up this handler class for a first time initialization.

Records the waypoint reference

Parameters:

wpt	The waypoint class

Returns:

Success

Implements Mission_handler.

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Mission_handler::update_status_t Mission_handler_navigating::update

(

void

)

[virtual]

Handles the mission every iteration.

Handles the navigation to the waypoint and determines the status code. The status code is MISSION_IN_PROGRESS for currently navigating to the waypoint, MISSION_FINISHED for waypoint reached and autocontinue, MISSION_FAILED for control command failed.

Returns:

Status code

Implements Mission_handler.

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bool Mission_handler_navigating::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_navigating.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_navigating.cpp