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.
void	onActivate (const std::function< void()> &callback)
	Sets a callback function to be called when the mode is activated.
void	onDeactivate (const std::function< void()> &callback)
	Sets a callback function to be called when the mode is deactivated.
void	onUpdateSetpoint (const std::function< Setpoint(float)> &callback)
	Sets a callback function to be called at periodically at the update frequency of the mode.
void	canRun (const std::function< void(FailureReporter &)> &callback)
	Sets a callback that checks whether the mode is allowed to arm and run, reporting the reasons to the ground station when it is not.
void	onFailsafeDeferred (const std::function< void()> &callback)
	Sets a callback that is called when the flight controller wants to trigger a failsafe while failsafes are being deferred.
void	deferFailsafes (bool enabled, int timeout_s=0)
	Enables or disables deferring failsafes while this mode is active.
auterion::ManualControlInput	lastManualControlInput () const
ModeConfiguration::PX4Mode::ID	id () const
	Returns the nav_state ID assigned to this mode after registration with PX4.
void	completed (Result result)
	Signal that the mode has finished and hand control back to PX4.

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

canRun()

void auterion::Mode::canRun

(

const std::function< void(FailureReporter &)> &

callback

)

Sets a callback that checks whether the mode is allowed to arm and run, reporting the reasons to the ground station when it is not.

The callback is evaluated continuously. Report each failing condition through the FailureReporter: while any reason is reported the flight controller will not let the operator switch into this mode, and falls back to another mode if this mode is already active. Report nothing when the mode may arm and run.

Parameters

callback

Function reporting the reasons the mode may not arm and run.

completed()

void auterion::Mode::completed

(

Result

result

)

Signal that the mode has finished and hand control back to PX4.

Parameters

result

Outcome of the mode

deferFailsafes()

void auterion::Mode::deferFailsafes	(	bool	enabled,
		int	timeout_s = 0
	)

Enables or disables deferring failsafes while this mode is active.

While enabled, most failsafe actions are held off instead of taking the vehicle out of this mode. These still trigger:

• the mode can no longer run (a mode requirement is not met, e.g. no position estimate)
• the vehicle exceeds attitude limits
• geofence breach, wind limit exceeded, flight time limit exceeded

A single one of those being active also disables the deferral for all other failsafes.

Deferring cannot be enabled while a failsafe action is already running, so call this from the onActivate() callback. The flight controller stores the setting per mode and does not clear it on deactivation, so disable it again from onDeactivate().

Use onFailsafeDeferred() to be notified when a failsafe is being held off.

Parameters

enabled	True to defer failsafes, false to stop deferring.
timeout_s	How long a failsafe may be deferred, counted from the point the failsafe would have triggered. 0 = flight controller default (30s), -1 = no timeout. Once exceeded, the failsafe triggers.

id()

ModeConfiguration::PX4Mode::ID auterion::Mode::id

(

)

const

Returns the nav_state ID assigned to this mode after registration with PX4.

Returns ModeConfiguration::PX4Mode::kModeIDInvalid (0xff) if the mode has not yet been registered.

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.

onFailsafeDeferred()

void auterion::Mode::onFailsafeDeferred

(

const std::function< void()> &

callback

)

Sets a callback that is called when the flight controller wants to trigger a failsafe while failsafes are being deferred.

Only called while deferring is enabled through deferFailsafes(). Use it to bring the vehicle to a safe state on the mode's own terms before the deferral times out.

Parameters

callback

Function to call when a failsafe was deferred.

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