px4_ros2::ModeBase Class Reference

Base class for a mode. More...

#include <px4_ros2/components/mode.hpp>

Inheritance diagram for px4_ros2::ModeBase:

Classes
struct	Settings

Public Types
using	ModeID = uint8_t
	Mode ID, corresponds to nav_state.

Public Member Functions
	ModeBase (rclcpp::Node &node, Settings settings, const std::string &topic_namespace_prefix="")
	ModeBase (const ModeBase &)=delete
bool	doRegister ()
virtual void	checkArmingAndRunConditions (HealthAndArmingCheckReporter &reporter)
virtual void	onActivate ()
virtual void	onDeactivate ()
virtual void	onFailsafeDeferred ()
void	setSetpointUpdateRate (float rate_hz)
virtual void	updateSetpoint (float dt_s)
void	completed (Result result)
ModeID	id () const
bool	isArmed () const
bool	isActive () const
ConfigOverrides &	configOverrides ()
void	deferFailsafes (bool enabled, int timeout_s=0)
RequirementFlags &	modeRequirements ()
Public Member Functions inherited from px4_ros2::Context
	Context (rclcpp::Node &node, std::string topic_namespace_prefix="")
rclcpp::Node &	node ()
const std::string &	topicNamespacePrefix () const

Static Public Attributes
static constexpr ModeID	kModeIDInvalid = 0xff
static constexpr ModeID	kModeIDPosctl = px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_POSCTL
static constexpr ModeID	kModeIDTakeoff
static constexpr ModeID	kModeIDDescend = px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_DESCEND
static constexpr ModeID	kModeIDLand = px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_LAND
static constexpr ModeID	kModeIDRtl = px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_RTL
static constexpr ModeID	kModeIDPrecisionLand
static constexpr ModeID	kModeIDLoiter

Protected Member Functions
void	setSkipMessageCompatibilityCheck ()
void	setSkipSetpointCheck ()
void	overrideRegistration (const std::shared_ptr< Registration > &registration)
void	disableWatchdogTimer ()
void	setWatchdogTimeoutCallback (HealthAndArmingChecks::WatchdogTimeoutCallback callback)
bool	defaultMessageCompatibilityCheck ()

Friends
class	ModeExecutorBase

Detailed Description

Base class for a mode.

Member Function Documentation

checkArmingAndRunConditions()

virtual void px4_ros2::ModeBase::checkArmingAndRunConditions ( HealthAndArmingCheckReporter &  reporter )

inlinevirtual

Report any custom mode requirements. This is called regularly, also while the mode is active.

Reimplemented in px4_ros2::MissionExecutor::MissionMode.

completed()

void px4_ros2::ModeBase::completed

(

Result

result

)

Mode completed signal. Call this when the mode is finished. A mode might never call this, but modes like RTL, Land or Takeoff are expected to signal their completion.

Parameters

result

deferFailsafes()

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

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

• the mode cannot run (some mode requirements are not met, such as no position estimate)
• vehicle exceeds attitude limits (can be disabled via PX4 parameters)
• geofence breach, wind limit and flight time limit exceeded

The FMU stores the setting per mode and applies it while the mode is active. It persists across activations until changed, i.e. it is not cleared automatically on deactivation.

Unlike ModeExecutorBase::deferFailsafesSync() this does not wait for the FMU to acknowledge, the request is resent until it is confirmed. Use onFailsafeDeferred() to get notified when the FMU wants to trigger a failsafe while it is being deferred.

Parameters

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

doRegister()

bool px4_ros2::ModeBase::doRegister

(

)

Register the mode. Call this once on startup, unless there's an associated executor. This is a blocking method.

Returns

true on success

modeRequirements()

RequirementFlags & px4_ros2::ModeBase::modeRequirements ( )

inline

Get / modify mode requirements. These are generally automatically set based on selected setpoint types, and are used to prevent arming or trigger failsafes.

onActivate()

virtual void px4_ros2::ModeBase::onActivate ( )

inlinevirtual

Called whenever the mode is activated, also if the vehicle is disarmed

onDeactivate()

virtual void px4_ros2::ModeBase::onDeactivate ( )

inlinevirtual

Called whenever the mode is deactivated, also if the vehicle is disarmed

onFailsafeDeferred()

virtual void px4_ros2::ModeBase::onFailsafeDeferred ( )

inlinevirtual

Called when failsafes are currently being deferred, and the FMU wants to trigger a failsafe.

See also

deferFailsafes()

setSetpointUpdateRate()

void px4_ros2::ModeBase::setSetpointUpdateRate

(

float

rate_hz

)

Set the update rate when the mode is active. This is set automatically from the configured setpoints, but can be set as needed.

Parameters

rate_hz

set to 0 to disable

Member Data Documentation

kModeIDLoiter

constexpr ModeID px4_ros2::ModeBase::kModeIDLoiter

staticconstexpr

Initial value:

=
      px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_LOITER

kModeIDPrecisionLand

constexpr ModeID px4_ros2::ModeBase::kModeIDPrecisionLand

staticconstexpr

Initial value:

=
      px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_PRECLAND

kModeIDTakeoff

constexpr ModeID px4_ros2::ModeBase::kModeIDTakeoff

staticconstexpr

Initial value:

=
      px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_TAKEOFF

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

• px4_ros2_cpp/include/px4_ros2/components/mode.hpp