Setpoint type for fixedwing control. More...

#include <px4_ros2/control/setpoint_types/fixedwing/lateral_longitudinal.hpp>

Inheritance diagram for px4_ros2::FwLateralLongitudinalSetpointType:

Public Member Functions
	FwLateralLongitudinalSetpointType (Context &context)

Configuration	getConfiguration () override

void	update (const FwLateralLongitudinalSetpoint &setpoint, const FwControlConfiguration &config)
	Update the setpoint with full flexibility by passing a FwLateralLongitudinalSetpoint and FwControlConfiguration struct. More...

void	update (const FwLateralLongitudinalSetpoint &setpoint)
	Update the setpoint with full flexibility by passing a FwLateralLongitudinalSetpoint. More...

void	updateWithAltitude (float altitude_amsl_sp, float course_sp, std::optional< float > equivalent_airspeed_sp={}, std::optional< float > lateral_acceleration_sp={})
	Update the setpoint with simplest set of inputs: Altitude and Course. Lateral acceleration setpoints will be used as feedforward when course is provided. To directly control lateral acceleration, set course_sp to NAN. More...

void	updateWithHeightRate (float height_rate_sp, float course_sp, std::optional< float > equivalent_airspeed_sp={}, std::optional< float > lateral_acceleration_sp={})
	Update the setpoint with simplest set of inputs: Height rate and Course. Lateral acceleration setpoints will be used as feedforward when course is provided. To directly control lateral acceleration, set course_sp to NAN. More...

float	desiredUpdateRateHz () override

Public Member Functions inherited from px4_ros2::SetpointBase
	SetpointBase (Context &context)

std::shared_ptr< SetpointBase >	getSharedPtr ()

void	setShouldActivateCallback (const ShouldActivateCB &should_activate_cb)

void	setActive (bool active)

Additional Inherited Members
Public Types inherited from px4_ros2::SetpointBase
using	ShouldActivateCB = std::function< void()>

Protected Member Functions inherited from px4_ros2::SetpointBase
void	onUpdate ()

Detailed Description

Setpoint type for fixedwing control.

Member Function Documentation

◆ update() [1/2]

void px4_ros2::FwLateralLongitudinalSetpointType::update ( const FwLateralLongitudinalSetpoint & setpoint )

Update the setpoint with full flexibility by passing a FwLateralLongitudinalSetpoint.

Parameters

setpoint a FwLateralLongitudinalSetpoint object where course, airspeed direction, lateral acceleration, altitude, height rate and equivalent airspeed can be set for full flexibility. See https://docs.px4.io/main/en/msg_docs/FixedWingLateralSetpoint.html and https://docs.px4.io/main/en/msg_docs/FixedWingLongitudinalSetpoint.html for more information on this setpoint type.

Warning: Any previously set configurations will be maintained when this method is called. If no configurations have been previously set, PX4 will set default configuration.

◆ update() [2/2]

void px4_ros2::FwLateralLongitudinalSetpointType::update	(	const FwLateralLongitudinalSetpoint &	setpoint,
		const FwControlConfiguration &	config
	)

Update the setpoint with full flexibility by passing a FwLateralLongitudinalSetpoint and FwControlConfiguration struct.

Parameters

setpoint	a FwLateralLongitudinalSetpoint object where course, airspeed direction, lateral acceleration, altitude, height rate and equivalent airspeed can be set for full flexibility. See https://docs.px4.io/main/en/msg_docs/FixedWingLateralSetpoint.html and https://docs.px4.io/main/en/msg_docs/FixedWingLongitudinalSetpoint.html for more information on this setpoint type.
config	a FwControlConfiguration object where pitch, throttle, lateral acceleration configuration can be set. See https://docs.px4.io/main/en/msg_docs/LateralControlConfiguration.html and https://docs.px4.io/main/en/msg_docs/LongitudinalControlConfiguration.html for more information on how to configure the setpoint.

◆ updateWithAltitude()

void px4_ros2::FwLateralLongitudinalSetpointType::updateWithAltitude	(	float	altitude_amsl_sp,
		float	course_sp,
		std::optional< float >	equivalent_airspeed_sp = `{}`,
		std::optional< float >	lateral_acceleration_sp = `{}`
	)

Update the setpoint with simplest set of inputs: Altitude and Course. Lateral acceleration setpoints will be used as feedforward when course is provided. To directly control lateral acceleration, set course_sp to NAN.

Warning: Any previously set configurations will be maintained when this method is called. If no configurations have been previously set, PX4 will set default configurations.

◆ updateWithHeightRate()

void px4_ros2::FwLateralLongitudinalSetpointType::updateWithHeightRate	(	float	height_rate_sp,
		float	course_sp,
		std::optional< float >	equivalent_airspeed_sp = `{}`,
		std::optional< float >	lateral_acceleration_sp = `{}`
	)

Update the setpoint with simplest set of inputs: Height rate and Course. Lateral acceleration setpoints will be used as feedforward when course is provided. To directly control lateral acceleration, set course_sp to NAN.

Warning: Any previously set configurations will be maintained when this method is called. If no configurations have been previously set, PX4 will set default configurations.

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

px4_ros2_cpp/include/px4_ros2/control/setpoint_types/fixedwing/lateral_longitudinal.hpp