px4_ros2::MissionExecutor Class Reference

Mission execution state machine. More...

#include <px4_ros2/mission/mission_executor.hpp>

Classes
struct	Configuration
class	MissionMode
class	MissionModeExecutor

Public Member Functions
	MissionExecutor (const std::string &mode_name, const Configuration &configuration, rclcpp::Node &node, const std::string &topic_namespace_prefix="")
bool	doRegister ()
void	setMission (const Mission &mission)
void	resetMission ()
const Mission &	mission () const
void	onActivated (const std::function< void()> &callback)
void	onDeactivated (const std::function< void()> &callback)
void	onProgressUpdate (const std::function< void(int)> &callback)
void	onCompleted (const std::function< void()> &callback)
void	onFailsafeDeferred (const std::function< void()> &callback)
void	onReadynessUpdate (const std::function< void(bool ready, const std::vector< std::string > &errors)> &callback)
bool	deferFailsafes (bool enabled, int timeout_s=0)
void	abort ()

Protected Member Functions
virtual bool	doRegisterImpl (MissionMode &mode, MissionModeExecutor &executor_base)
void	setCommandHandler (const std::function< bool(uint32_t, float)> &command_handler)
ModeBase::ModeID	modeId () const
ModeExecutorBase &	modeExecutor ()

Protected Attributes
std::shared_ptr< LandDetected >	_land_detected

Friends
class	ActionHandler
class	ActionStateKeeper

Detailed Description

Mission execution state machine.

Member Function Documentation

abort()

void px4_ros2::MissionExecutor::abort

(

)

Abort a currently running mission. This will trigger the onFailure action (which can be customized). The abort reason will be set to 'other'.

deferFailsafes()

bool px4_ros2::MissionExecutor::deferFailsafes	(	bool	enabled,
		int	timeout_s = 0
	)

Enable/disable deferring failsafes. While enabled (and the mission executor is active), most failsafes are prevented from being triggered until the given timeout is exceeded. Some failsafes that cannot be prevented:

• vehicle exceeds attitude limits (can be disabled via parameters)
• the mode cannot run (some mode requirements are not met, such as no position estimate)

  Parameters

  enabled
  timeout_s	0=system default, -1=no timeout

  Returns

  true on success

onProgressUpdate()

void px4_ros2::MissionExecutor::onProgressUpdate ( const std::function< void(int)> &  callback )

inline

Get notified when the current mission item changes. This is the index into the current mission items that is currently being executed (i.e. if it is a waypoint, the current target waypoint)

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

• px4_ros2_cpp/include/px4_ros2/mission/mission_executor.hpp