auterion::Mode Class Reference

Defines a mode to control the vehicle using a (set) of setpoint types. More...

#include <auterion_sdk/control/mode.hpp>

Public Member Functions
	Mode (SDK &sdk, const std::string &mode_name, const std::vector< ModalityConfig > &controls, ModeConfiguration config=ModeConfiguration{})
	Constructor to initialize a mode. More...
void	onActivate (const std::function< void()> &callback)
	Sets a callback function to be called when the mode is activated. More...
void	onDeactivate (const std::function< void()> &callback)
	Sets a callback function to be called when the mode is deactivated. More...
void	onUpdateSetpoint (const std::function< Setpoint(float)> &callback)
	Sets a callback function to be called at periodically at the update frequency of the mode. More...
auterion::ManualControlInput	lastManualControlInput () const

Detailed Description

Defines a mode to control the vehicle using a (set) of setpoint types.

Example usage:

To create your own flight mode:

class MyAppWithMode
{
private:
    auterion::Mode _mode;
public:
    MyAppWithMode(auterion::SDK &sdk) : _mode(sdk, "My Mode", {
        auterion::multicopter::LocalFrameGotoSetpoint::Config{}
    }) {};
};

To register callbacks to specific events in the mode life cycle:

_mode.onActivate([this]() {
    // Gets called when the user activates this mode by switching into it
});
 
_mode.onDeactivate([]() {
    // Gets called when user or system deactives this modes by switching to another mode
});
 
_mode.onUpdateSetpoint([this](float dt_s) -> auterion::Setpoint {
    // Gets called regularly while mode is active.
    // Here, any of the setpoint types specified in the constructor
    // can be returned. The vehicle will then try to follow the returned setpoints.
    return auterion::multicopter::LocalFrameGotoSetpoint{}.withPosition({x, y, z});
});

Constructor & Destructor Documentation

Mode()

auterion::Mode::Mode	(	SDK &	sdk,
		const std::string &	mode_name,
		const std::vector< ModalityConfig > &	controls,
		ModeConfiguration	config = ModeConfiguration{}
	)

Constructor to initialize a mode.

Parameters

sdk	Reference to the SDK instance.
mode_name	Name of the mode.
controls	Vector of ModalityConfig objects specifying which setpoints types the mode will output.
config	Optional ModeConfiguration specifying mode requirements and capabilities.

Member Function Documentation

onActivate()

void auterion::Mode::onActivate

(

const std::function< void()> &

callback

)

Sets a callback function to be called when the mode is activated.

Parameters

callback

Function to call on mode activation.

onDeactivate()

void auterion::Mode::onDeactivate

(

const std::function< void()> &

callback

)

Sets a callback function to be called when the mode is deactivated.

Parameters

callback

Function to call on mode deactivation.

onUpdateSetpoint()

void auterion::Mode::onUpdateSetpoint

(

const std::function< Setpoint(float)> &

callback

)

Sets a callback function to be called at periodically at the update frequency of the mode.

The ModalityConfig(s) used to instantiate the mode determine the update frequency of the mode, as well as the expected return Setpoint types of the callback function passed to this method.

Parameters

callback

Function to call to update setpoints.

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

• include/auterion_sdk/control/mode.hpp