Inheritance diagram for Mission_planner:

Collaboration diagram for Mission_planner:

Classes
struct	conf_t
Public Types
enum	internal_state_t { STANDBY, PREMISSION, MISSION, POSTMISSION, PAUSED, MANUAL_CTRL }
enum	critical_behavior_enum { CLIMB_TO_SAFE_ALT, FLY_TO_HOME_WP, HOME_LAND, CRITICAL_LAND }
	The critical behavior enum. More...
Public Member Functions
	Mission_planner (INS &ins, const AHRS &ahrs, State &state, const Manual_control &manual_control, const Geofence &geofence, Mavlink_message_handler &message_handler, const Mavlink_stream &mavlink_stream, Mavlink_waypoint_handler &waypoint_handler, Mission_handler_registry &mission_handler_registry, conf_t config=default_config())
	Initialize the waypoint handler.
bool	init ()
bool	write_flight_command (Flight_controller &flight_controller) const
	Provides control commands to the flight controller.
void	set_critical_next_state (bool critical_next_state)
internal_state_t	internal_state () const
	Gets the internal state.
critical_behavior_enum	critical_behavior () const
	Returns the critical behavior.
bool	switch_mission_handler (const Waypoint &waypoint)
	Switches the mission handler to the inputted waypoint.
bool	insert_ad_hoc_waypoint (Waypoint wpt)
	Inserts the inputted waypoint into the mission.
float &	takeoff_altitude ()
	Gets the reference to the takeoff altitude.
Static Public Member Functions
static bool	update (Mission_planner *mission_planner)
	The mission planner tasks, gives a goal for the navigation module.
static conf_t	default_config ()
	Default configuration.
Protected Member Functions
void	state_machine ()
	State machine to drive the navigation module.
void	critical_handler ()
	Drives the critical navigation behavior.
void	set_internal_state (internal_state_t new_internal_state)
	Sets the internal state based on default waypoints.
bool	set_current_waypoint (uint16_t index)
	Sets the current waypoint to num_of_waypoint.
Static Protected Member Functions
static void	mission_set_current_callback (Mission_planner mission_planner, uint32_t sysid, const mavlink_message_t msg)
	Set the current waypoint to new_current.
static mav_result_t	nav_go_home (Mission_planner mission_planner, const mavlink_command_long_t packet)
	Navigate to the home position and hold.
static mav_result_t	mission_start_callback (Mission_planner mission_planner, const mavlink_command_long_t packet)
	Starts the mission.
static mav_result_t	nav_takeoff_callback (Mission_planner mission_planner, const mavlink_command_long_t packet)
	Sets auto-takeoff procedure from a MAVLink command message MAV_CMD_NAV_TAKEOFF.
static mav_result_t	nav_land_callback (Mission_planner mission_planner, const mavlink_command_long_t packet)
	Drives the auto landing procedure from the MAV_CMD_NAV_LAND message long.
static mav_result_t	override_goto_callback (Mission_planner mission_planner, const mavlink_command_long_t packet)
	Pauses the navigation or resumes/advances the navigation waypoint.
Protected Attributes
Mission_handler *	current_mission_handler_
	The currently used mission handler.
Waypoint	inserted_waypoint_
	A waypoint that is inserted into the plan outside of the normal mission.
internal_state_t	internal_state_
	The internal state of the navigation module.
critical_behavior_enum	critical_behavior_
	The critical behavior enum.
Mavlink_waypoint_handler &	waypoint_handler_
	The reference to the mavlink waypoint handler.
Mission_handler_registry &	mission_handler_registry_
	The reference to the mission handler registry.
bool	require_takeoff_
	Flag stating if we require takeoff when switching to auto, set when not auto.
bool	hold_position_set_
	Flag stating if the pilot has specifically switched to hold position.
bool	critical_next_state_
	Flag to change critical state in its dedicated state machine.
Waypoint	critical_waypoint_
	Waypoint for the critical state.
const Mavlink_stream &	mavlink_stream_
	The reference to MAVLink stream.
State &	state_
	The reference to the state structure.
INS &	ins_
	The reference to the ins structure.
const AHRS &	ahrs_
	The reference to the attitude estimation structure.
const Manual_control &	manual_control_
	The reference to the manual_control structure.
const Geofence &	geofence_
	The reference to the geofence structure.
Mavlink_message_handler &	message_handler_
	The reference to the mavlink message handler.
conf_t	config_

Member Enumeration Documentation

enum Mission_planner::critical_behavior_enum

The critical behavior enum.

Enumerator:

CLIMB_TO_SAFE_ALT	First critical behavior.
FLY_TO_HOME_WP	Second critical behavior, comes after Navigation::CLIMB_TO_SAFE_ALT.
HOME_LAND	Third critical behavior, comes after Navigation::FLY_TO_HOME_WP.
CRITICAL_LAND	Fourth critical behavior.

Constructor & Destructor Documentation

Mission_planner::Mission_planner	(	INS &	ins,
		const AHRS &	ahrs,
		State &	state,
		const Manual_control &	manual_control,
		const Geofence &	geofence,
		Mavlink_message_handler &	message_handler,
		const Mavlink_stream &	mavlink_stream,
		Mavlink_waypoint_handler &	waypoint_handler,
		Mission_handler_registry &	mission_handler_registry,
		conf_t	config = `default_config()`
	)

Initialize the waypoint handler.

Parameters:

ins	The reference to the ins structure
ahrs	The reference to the attitude estimation structure
state	The reference to the state structure
manual_control	The reference to the manual control structure
geofence	The reference to the geofence structure
mavlink_communication	The reference to the MAVLink communication structure
mavlink_stream	The reference to the MAVLink stream structure
waypoint_handler	The handler for the waypoints
mission_handler_registry	The reference to the mission handler registry

Returns:: True if the init succeed, false otherwise

Member Function Documentation

Mission_planner::critical_behavior_enum Mission_planner::critical_behavior ( ) const

Returns the critical behavior.

Returns:: Critical behavior

Mission_planner::conf_t Mission_planner::default_config ( void ) [inline, static]

Default configuration.

Returns:: Config structure

bool Mission_planner::insert_ad_hoc_waypoint ( Waypoint wpt )

Inserts the inputted waypoint into the mission.

This inserts a waypoint into the mission and sets the internal state to paused. If the insert fails, the function returns false and does not set the mission handler or inserted waypoint

Parameters:

wpt	The waypoint

Returns:: Success

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Mission_planner::internal_state_t Mission_planner::internal_state ( ) const

Gets the internal state.

Returns:: internal_state_

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void Mission_planner::mission_set_current_callback	(	Mission_planner *	mission_planner,
		uint32_t	sysid,
		const mavlink_message_t *	msg
	)		`[static, protected]`

Set the current waypoint to new_current.

Parameters:

mission_planner	The pointer to the mission planner class
sysid	The system ID
msg	The received MAVLink message structure with the number of the current waypoint

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mav_result_t Mission_planner::mission_start_callback	(	Mission_planner *	mission_planner,
		const mavlink_command_long_t *	packet
	)		`[static, protected]`

Starts the mission.

Parameters:

mission_planner	The pointer to the mission planner class
sysid	The system ID
msg	The received MAVLink message structure with the number of the current waypoint

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mav_result_t Mission_planner::nav_go_home	(	Mission_planner *	mission_planner,
		const mavlink_command_long_t *	packet
	)		`[static, protected]`

Navigate to the home position and hold.

N.B. Intentionally mislabelled to go to home, not return to launch

Parameters:

mission_planner	The pointer to the object of the Mission planner takeoff handler
packet	The pointer to the structure of the MAVLink command message long

Returns:: The MAV_RESULT of the command

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mav_result_t Mission_planner::nav_land_callback	(	Mission_planner *	mission_planner,
		const mavlink_command_long_t *	packet
	)		`[static, protected]`

Drives the auto landing procedure from the MAV_CMD_NAV_LAND message long.

Parameters:

mission_planner	The pointer to the structure of the MAVLink waypoint handler
packet	The pointer to the structure of the MAVLink command message long

Returns:: The MAV_RESULT of the command

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mav_result_t Mission_planner::nav_takeoff_callback	(	Mission_planner *	mission_planner,
		const mavlink_command_long_t *	packet
	)		`[static, protected]`

Sets auto-takeoff procedure from a MAVLink command message MAV_CMD_NAV_TAKEOFF.

Parameters:

mission_planner	The pointer to the object of the Mission planner takeoff handler
packet	The pointer to the structure of the MAVLink command message long

Returns:: The MAV_RESULT of the command

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mav_result_t Mission_planner::override_goto_callback	(	Mission_planner *	mission_planner,
		const mavlink_command_long_t *	packet
	)		`[static, protected]`

Pauses the navigation or resumes/advances the navigation waypoint.

Parameters:

navigating_handler	The pointer to the structure of the navigating handler
packet	The pointer to the structure of the MAVLink command message long

Returns:: The MAV_RESULT of the command

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bool Mission_planner::set_current_waypoint ( uint16_t index ) [protected]

Sets the current waypoint to num_of_waypoint.

Parameters:

sysid	The system ID
msg	The received MAVLink message structure with the number of the current waypoint

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void Mission_planner::set_internal_state ( internal_state_t new_internal_state ) [protected]

Sets the internal state based on default waypoints.

THIS SHOULD NOT BE SET AS A METHOD TO CHANGE THE MISSION HANDLER! USE Mission_planner::switch_mission_handler() or Mission_planner::insert_ad_hoc_waypoint()

Parameters:

new_internal_state The new internal state

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bool Mission_planner::switch_mission_handler ( const Waypoint & waypoint )

Switches the mission handler to the inputted waypoint.

The current mission handler is set based on the inputted waypoint. If the mission handler could not be setup or found, no change is made to the current mission handler

Parameters:

waypoint