Mission_handler_takeoff Class Reference

Inheritance diagram for Mission_handler_takeoff:

Collaboration diagram for Mission_handler_takeoff:

List of all members.

Public Member Functions
	Mission_handler_takeoff (const INS &ins, State &state)
	Initialize the takeoff mission planner handler.
virtual bool	can_handle (const Waypoint &wpt) const
	Checks if the waypoint is a takeoff 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 PREMISSION.
Protected Attributes
const INS &	ins_
	The reference to the ins interface.
State &	state_
	The reference to the state structure.
Waypoint	waypoint_
	The take off waypoint.

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Constructor & Destructor Documentation

Mission_handler_takeoff::Mission_handler_takeoff	(	const INS &	ins,
		State &	state
	)

Initialize the takeoff mission planner handler.

Parameters:

ins	The reference to the ins
state	The reference to the state class

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Member Function Documentation

bool Mission_handler_takeoff::can_handle

(

const Waypoint &

wpt

)

const [virtual]

Checks if the waypoint is a takeoff waypoint.

Checks if the inputted waypoint is a: MAV_CMD_NAV_TAKEOFF

Parameters:

wpt	The waypoint class

Returns:

Can handle

Implements Mission_handler.

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Mission_planner::internal_state_t Mission_handler_takeoff::handler_mission_state

(

)

const [virtual]

Returns that the mission state is in PREMISSION.

Returns:

Mission handler's mission state

Implements Mission_handler.

bool Mission_handler_takeoff::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.

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Mission_handler::update_status_t Mission_handler_takeoff::update

(

void

)

[virtual]

Handles the mission every iteration.

Sets the goal and determines the handler status. The status is: MISSION_IN_PROGRESS for takeoff in process, MISSION_FINISHED for takeoff complete, and MISSION_FAILED for control impossible

Returns:

Status code

Implements Mission_handler.

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bool Mission_handler_takeoff::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_takeoff.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_takeoff.cpp