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 ()=0
virtual void	onDeactivate ()=0
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 ()
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
static constexpr ModeID	kModeIDTakeoff
static constexpr ModeID	kModeIDDescend
static constexpr ModeID	kModeIDLand
static constexpr ModeID	kModeIDRtl
static constexpr ModeID	kModeIDPrecisionLand
static constexpr ModeID	kModeIDLoiter

Protected Member Functions
void	setSkipMessageCompatibilityCheck ()
void	overrideRegistration (const std::shared_ptr< Registration > &registration)
void	disableWatchdogTimer ()
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

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 ( )

pure virtual

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

Implemented in px4_ros2::MissionExecutor::MissionMode.

onDeactivate()

virtual void px4_ros2::ModeBase::onDeactivate ( )

pure virtual

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

Implemented in px4_ros2::MissionExecutor::MissionMode.

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

kModeIDDescend

constexpr ModeID px4_ros2::ModeBase::kModeIDDescend

staticconstexpr

Initial value:

=
    px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_DESCEND

kModeIDLand

constexpr ModeID px4_ros2::ModeBase::kModeIDLand

staticconstexpr

Initial value:

=
    px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_LAND

kModeIDLoiter

constexpr ModeID px4_ros2::ModeBase::kModeIDLoiter

staticconstexpr

Initial value:

=
    px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_LOITER

kModeIDPosctl

constexpr ModeID px4_ros2::ModeBase::kModeIDPosctl

staticconstexpr

Initial value:

=
    px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_POSCTL

kModeIDPrecisionLand

constexpr ModeID px4_ros2::ModeBase::kModeIDPrecisionLand

staticconstexpr

Initial value:

=
    px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_PRECLAND

kModeIDRtl

constexpr ModeID px4_ros2::ModeBase::kModeIDRtl

staticconstexpr

Initial value:

=
    px4_msgs::msg::VehicleStatus::NAVIGATION_STATE_AUTO_RTL

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