Base class for a mode executor. More...

#include <px4_ros2/components/mode_executor.hpp>

Inheritance diagram for px4_ros2::ModeExecutorBase:

Classes
struct	Settings

Public Types
enum class	DeactivateReason { FailsafeActivated , Other }

using	CompletedCallback = std::function< void(Result)>

Public Member Functions
	ModeExecutorBase (const Settings &settings, ModeBase &owned_mode)

	ModeExecutorBase (const ModeExecutorBase &)=delete

bool	doRegister ()

virtual void	onActivate ()=0

virtual void	onDeactivate (DeactivateReason reason)=0

virtual void	onFailsafeDeferred ()

virtual Result	sendCommandSync (uint32_t command, float param1=NAN, float param2=NAN, float param3=NAN, float param4=NAN, float param5=NAN, float param6=NAN, float param7=NAN)

void	scheduleMode (ModeBase::ModeID mode_id, const CompletedCallback &on_completed, bool forced=false)

void	takeoff (const CompletedCallback &on_completed, float altitude=NAN, float heading=NAN)

void	land (const CompletedCallback &on_completed)

void	rtl (const CompletedCallback &on_completed)

void	arm (const CompletedCallback &on_completed, bool run_preflight_checks=true)

void	disarm (const CompletedCallback &on_completed, bool forced=false)

void	waitReadyToArm (const CompletedCallback &on_completed)

void	waitUntilDisarmed (const CompletedCallback &on_completed)

bool	isInCharge () const

bool	isArmed () const

ModeBase &	ownedMode ()

int	id () const

rclcpp::Node &	node ()

ConfigOverrides &	configOverrides ()

bool	deferFailsafesSync (bool enabled, int timeout_s=0)

Protected Member Functions
void	setSkipMessageCompatibilityCheck ()

void	overrideRegistration (const std::shared_ptr< Registration > &registration)

Detailed Description

Base class for a mode executor.

Member Function Documentation

◆ deferFailsafesSync()

bool px4_ros2::ModeExecutorBase::deferFailsafesSync	(	bool	enabled,
		int	timeout_s = `0`
	)

Enable/disable deferring failsafes. While enabled (and the executor is in charge), 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)

If the executor is in charge, this method will wait for the FMU for acknowledgement (to avoid race conditions)

Parameters

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

Returns: true on success

◆ doRegister()

bool px4_ros2::ModeExecutorBase::doRegister ( )

Register the mode executor. Call this once on startup. This is a blocking method.

Returns: true on success

◆ onActivate()

virtual void px4_ros2::ModeExecutorBase::onActivate ( )

pure virtual

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

Implemented in px4_ros2::MissionExecutor::MissionModeExecutor.

◆ onDeactivate()

virtual void px4_ros2::ModeExecutorBase::onDeactivate ( DeactivateReason reason )

pure virtual

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

Implemented in px4_ros2::MissionExecutor::MissionModeExecutor.

◆ onFailsafeDeferred()

virtual void px4_ros2::ModeExecutorBase::onFailsafeDeferred ( )

inlinevirtual

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

See also: deferFailsafesSync()

Reimplemented in px4_ros2::MissionExecutor::MissionModeExecutor.

◆ scheduleMode()

void px4_ros2::ModeExecutorBase::scheduleMode	(	ModeBase::ModeID	mode_id,
		const CompletedCallback &	on_completed,
		bool	forced = `false`
	)

Switch to a mode with a callback when it is finished. The callback is also executed when the mode is deactivated. If there's already a mode scheduling active, the previous one is cancelled.

The forced parameter, when set to true, allows to be able to force the scheduling of the modes when the drone is disarmed

◆ sendCommandSync()

virtual Result px4_ros2::ModeExecutorBase::sendCommandSync	(	uint32_t	command,
		float	param1 = `NAN`,
		float	param2 = `NAN`,
		float	param3 = `NAN`,
		float	param4 = `NAN`,
		float	param5 = `NAN`,
		float	param6 = `NAN`,
		float	param7 = `NAN`
	)

virtual

Send command and wait for ack/nack

Reimplemented in px4_ros2::MissionExecutor::MissionModeExecutor.

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

px4_ros2_cpp/include/px4_ros2/components/mode_executor.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions