VtolNavigationDo

Functions
static int32_t	do_slow_altitude_change (float descent_rate)
static int32_t	do_hold (void)
static int32_t	do_path (void)
static int32_t	do_requested_path (void)
static int32_t	do_land (void)
static int32_t	do_loiter (void)
static int32_t	do_ph_climb (void)

Variables
static float	vtol_hold_position_ned [3]
	The setpoint for position hold relative to home in m. More...
static PathDesiredData	vtol_fsm_path_desired
	The configured path desired. Uses the PathDesired structure. More...

Detailed Description

These functions actually compute the control values to achieve the desired navigation action.

Function Documentation

static int32_t do_hold ( )

static

Update control values to stay at selected hold location.

This method uses the vtol follower library to calculate the control values. Desired location is stored in vtol_hold_position_ned.

Returns

0 if successful, <0 if failure

Definition at line 404 of file vtol_follower_fsm.c.

static int32_t do_land ( )

static

Update control values to land at vtol_hold_position_ned.

This method uses the vtol follower library to calculate the control values. The desired landing location is stored in vtol_hold_position_ned.

Returns

0 if successful, <0 if failure

Definition at line 479 of file vtol_follower_fsm.c.

static int32_t do_loiter ( )

static

Loiter at current position or transform requested movement

Definition at line 494 of file vtol_follower_fsm.c.

static int32_t do_path ( )

static

Update control values to fly along a path.

This method uses the vtol follower library to calculate the control values. Desired path is stored in vtol_fsm_path_desired.

Returns

0 if successful, <0 if failure

Definition at line 428 of file vtol_follower_fsm.c.

static int32_t do_ph_climb ( )

static

Continue executing the current hold location and when within a fixed distance of altitude fire a hit target event.

Definition at line 548 of file vtol_follower_fsm.c.

static int32_t do_requested_path ( )

static

Update the control values to try and follow the externally requested path. This is done to maintain backward compatibility with the PathPlanner for now

Returns

0 if successful, <0 if failure

Definition at line 451 of file vtol_follower_fsm.c.

static int32_t do_slow_altitude_change ( float  descent_rate )

static

Update control values to stay at selected hold location but climb slowly.

This method uses the vtol follower library to calculate the control values. Desired location is stored in vtol_hold_position_ned.

Returns

0 if successful, <0 if failure

Definition at line 531 of file vtol_follower_fsm.c.

Variable Documentation

PathDesiredData vtol_fsm_path_desired

static

Initial value:

= {
        .Waypoint = 8000        
}

The configured path desired. Uses the PathDesired structure.

Definition at line 416 of file vtol_follower_fsm.c.

float vtol_hold_position_ned[3]

static

The setpoint for position hold relative to home in m.

Definition at line 394 of file vtol_follower_fsm.c.