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 = 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	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

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