Task manager is used as a central module to communicate with other modules. More...

#include <ddrone_task_manager.h>

Public Member Functions
void	approachCallback (const std_msgs::Bool::ConstPtr &msg)
	approach command for kerrigan project More...

void	calculateYaw ()
	Calculate yaw angle from current attitude. More...

void	checkReached ()
	check if the uav reached the waypoint More...

void	clearMission ()
	Clear misson. More...

void	currentStateCallback (const common_msgs::state::ConstPtr &msg)
	obtain current uav state More...

void	diagnosticsCallback (const diagnostic_msgs::DiagnosticArray::ConstPtr &msg)
	Analyse preflight and inflight check for UAV. More...

void	engine0 ()
	removed for px4 1.8 version More...

void	gpsCurCb (const sensor_msgs::NavSatFix::ConstPtr &msg)
	Get UAV current GPS location. More...

void	gpsHomeCb (const mavros_msgs::HomePosition::ConstPtr &msg)
	Get GPS home location. More...

void	inFlightCheck (uint16_t &in_flight_check)
	inflight Check More...

void	jumpWp ()
	jump one waypoint in list More...

void	jumpWpCallback (const std_msgs::Bool::ConstPtr &msg)
	Skip current waypoint. More...

bool	landCb ()
	call landing service More...

bool	loadMission ()
	load mission from UI or files More...

void	missionCallback (int8_t msg)
	mission handler More...

void	missionTimer (const ros::TimerEvent &)
	callback function for running mission (default: 0.2) More...

void	onlineCallback (const std_msgs::Bool::ConstPtr &msg)
	Landing triggered by offline status (msg: false) More...

void	posTgtCallback (const geometry_msgs::Point::ConstPtr &msg)
	get gps position command and transfer it into UAV local coordinate More...

void	posYawTgtCallback (const common_msgs::target::ConstPtr &msg)
	get position and yaw command More...

void	preFlightCheck (uint16_t &pre_flight_check)
	preflight Check More...

void	pubErrorState (std::int8_t val)
	Publish Error State from preflight and inflight state. More...

void	pubGpstgt ()
	Convert target from GPS into ENU coordinate. More...

void	pubTarget (bool controlMode, float tgtX, float tgtY, float tgtZ)
	publish local target with control mode: More...

void	pubTargetWYaw (bool controlMode, float tgtX, float tgtY, float tgtZ, float yaw)
	publish local target with yaw, and set control mode: More...

void	shutdownSwarm ()
	shutdown Swarm More...

void	takeoff ()
	Take off. More...

	TaskManager (ros::NodeHandle &nodeHandle)

void	uavPoseCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)
	get current uav pose More...

void	uavStateCb (const mavros_msgs::State::ConstPtr &msg)
	Get UAV hardware state: connected/armed/guided/mode. More...

void	uiPointsCallback (const geometry_msgs::Polygon::ConstPtr &msg)
	points for UI (lagacy function) More...

void	velTgtCallback (const geometry_msgs::Point::ConstPtr &msg)
	get velocity command More...

void	velYawTgtCallback (const common_msgs::target::ConstPtr &msg)
	get velocity and yaw command More...

void	webCmdCallback (const std_msgs::Byte::ConstPtr &msg)
	Get command from web GCS and pass to mission callback. More...

	~TaskManager ()

Private Member Functions
geometry_msgs::PoseStamped	transform_orientation_enu_nwu (geometry_msgs::PoseStamped)
	transform orientation from enu to nwu More...

Private Attributes
geometry_msgs::Point	_curr
	current uav position More...

double	_flightHeight
	takeoff flight height More...

double	_missionPeriod
	mission call back period: 0.2s More...

ros::NodeHandle	_nh
	ros node handle More...

int	_points_id
	Using this value to label points read from a file. More...

int	_points_source_param
	Points from 0: local waypoints file; 1: refrence waypoints file; 2: ui selected waypoints; 3:velocity points from file. More...

std::vector< common_msgs::state >	_ref_list
	reference list from file More...

double	_relativeHeight
	height relative to the ground More...

bool	_simulation
	simulation mode is on if true More...

std::vector< geometry_msgs::Point >	_wp_list
	waypoint list from file More...

ros::ServiceClient	arming_client
	/mavros/cmd/arming service More...

ros::ServiceClient	client_engine0
	removed service More...

ros::ServiceClient	client_home
	/mavros/cmd/set_home service More...

double	cos_y

std_msgs::Bool	engage_msg
	removed More...

GpsUtils	gpsToEnu
	current gps target(from user) to enu local frame More...

GpsUtils	gpsToEnuCur
	current gps(from px4) to enu local frame More...

bool	inPcmdMode
	position command flag More...

ros::ServiceClient	land_client
	/mavros/cmd/land service More...

uint16_t	last_in_flight_check
	previous inflight check More...

uint16_t	last_pre_flight_check
	precious preflight check More...

bool	m_approach
	approach flag More...

ros::Subscriber	m_approach_cmd_sub
	subscribe /swarm/approach More...

ros::Subscriber	m_current_state_sub
	subscribe refrence: /rt_ref_gen/current_state More...

ros::Subscriber	m_diagnostics_sub
	subscribe /diagnostics More...

ros::Publisher	m_engage_pub

ros::Publisher	m_error_state_pub
	error stater publisher (for UI): /task_manager/error_state More...

ros::Subscriber	m_gcs_cmd_sub

sensor_msgs::NavSatFix	m_gps_cur
	current gps location More...

ros::Subscriber	m_gps_cur_sub
	subscribe /mavros/global_position/global More...

mavros_msgs::HomePosition	m_gps_home
	GPS home location. More...

ros::Subscriber	m_gps_home_sub
	subscribe /mavros/home_position/home More...

bool	m_jump

ros::Subscriber	m_mission_sub
	subscribe mission from UI: /mission_from_ui More...

ros::Timer	m_mission_timer
	mission call back timer More...

ros::Publisher	m_mpc_pos_init_pub
	mpc initial position publisher: /task_manager/mpc_init_position_nwu More...

ros::Subscriber	m_online_status_sub
	subscribe /swarm/online More...

ros::Subscriber	m_pcmd_sub
	subscribe /posTgtFromSwarm More...

std::string	m_points_location
	set waypoint location: /home/nvidia(default) More...

ros::Publisher	m_pos_cmd_pub
	way points publisher: /dummy/pos_cmd More...

ros::Publisher	m_ref_pub
	refrence from file publisher: /task_manager/current_state More...

ros::Subscriber	m_skipCurPoint_sub
	subscribe /mission_skip_point More...

std_msgs::Bool	m_swarm
	swarm flag More...

ros::Publisher	m_swarm_pub
	trigger swarm publisher: /task_manager/swarm More...

common_msgs::target	m_tgt
	current target point More...

ros::Publisher	m_tgt_pub
	target publisher: /nndp_cpp/tgt More...

geometry_msgs::PoseStamped	m_uav_pose
	current pose(enu) from /mavros/local_position/pose More...

geometry_msgs::PoseStamped	m_uav_pose_enu

geometry_msgs::PoseStamped	m_uav_pose_nwu
	current pose in nwu More...

ros::Subscriber	m_uav_pose_sub
	subscribe current uav pose: /mavros/local_position/pose to update m_uav_pose More...

geometry_msgs::Polygon	m_ui_points
	polygon points from UI More...

ros::Subscriber	m_ui_points_sub
	subscribe points from UI: /points_from_ui More...

ros::Subscriber	m_vcmd_sub
	subscribe /velTgtFromSwarm More...

ros::Publisher	MPC_Position_Initial_Pub

UavTaskState	mUavTaskState
	UAV current state: checkout enum UavTaskState. More...

geometry_msgs::Point	pos_init
	the inital position of mission; More...

ros::Publisher	Position_Setpoint_Pub
	Setpoints to MAVROS publisher: /mavros/setpoint_raw/local. More...

ros::ServiceClient	set_mode_client
	/mavros/set_mode service More...

double	sin_y

ros::Publisher	swarm_pos_pub
	publish position in nwu: /task_manager/position_nwu More...

bool	TaskTerminateFlag
	task terminate flag when inflight or preflight check failed More...

mavros_msgs::State	uav_current_state
	uav hardware sate from /mavros/state More...

ros::Subscriber	uav_state_sub
	subscribe /mavros/state More...

bool	ui_points_selected
	flag showing points selected from UI More...

double	yaw_
	param for calculating yaw More...

bool	yaw_control_
	flag set to control yaw More...

double	yaw_init
	initial yaw in enu frame More...

double	yaw_init_enu
	initial yaw in enu frame More...

double	yaw_init_nwu
	initial yaw in nwu frame More...

bool	yaw_initialized
	flag showing yaw is initialized More...

Detailed Description

Task manager is used as a central module to communicate with other modules.

For example it gets UAV states from the fligt controller, obtains commands from users and sends processed command to planning module. It will also detect abonormals and give feedback to users.

Definition at line 130 of file ddrone_task_manager.h.

Constructor & Destructor Documentation

◆ TaskManager()

TaskManager::TaskManager ( ros::NodeHandle & nodeHandle )

Author: Yu ZHOU Created on: Jun 9, 2019 Author: Yu ZHOU

Definition at line 9 of file ddrone_task_manager.cpp.

◆ ~TaskManager()

TaskManager::~TaskManager ( )

Definition at line 110 of file ddrone_task_manager.cpp.

Member Function Documentation

◆ approachCallback()

void TaskManager::approachCallback ( const std_msgs::Bool::ConstPtr & msg )

approach command for kerrigan project

UAV will fly 15 meter to south direction

Definition at line 211 of file ddrone_task_manager.cpp.

◆ calculateYaw()

void TaskManager::calculateYaw ( )

Calculate yaw angle from current attitude.

Definition at line 566 of file ddrone_task_manager.cpp.

◆ checkReached()

void TaskManager::checkReached ( )

check if the uav reached the waypoint

Definition at line 825 of file ddrone_task_manager.cpp.

◆ clearMission()

void TaskManager::clearMission ( )

Clear misson.

clear value in waypoints and reference list set target to current location

Definition at line 606 of file ddrone_task_manager.cpp.

◆ currentStateCallback()

void TaskManager::currentStateCallback ( const common_msgs::state::ConstPtr & msg )

obtain current uav state

Definition at line 753 of file ddrone_task_manager.cpp.

◆ diagnosticsCallback()

void TaskManager::diagnosticsCallback ( const diagnostic_msgs::DiagnosticArray::ConstPtr & msg )

Analyse preflight and inflight check for UAV.

Definition at line 1041 of file ddrone_task_manager.cpp.

◆ engine0()

void TaskManager::engine0 ( )

removed for px4 1.8 version

Definition at line 506 of file ddrone_task_manager.cpp.

◆ gpsCurCb()

void TaskManager::gpsCurCb ( const sensor_msgs::NavSatFix::ConstPtr & msg )

Get UAV current GPS location.

Definition at line 242 of file ddrone_task_manager.cpp.

◆ gpsHomeCb()

void TaskManager::gpsHomeCb ( const mavros_msgs::HomePosition::ConstPtr & msg )

Get GPS home location.

Definition at line 237 of file ddrone_task_manager.cpp.

◆ inFlightCheck()

void TaskManager::inFlightCheck ( uint16_t & in_flight_check )

inflight Check

Definition at line 938 of file ddrone_task_manager.cpp.

◆ jumpWp()

void TaskManager::jumpWp ( )

jump one waypoint in list

◆ jumpWpCallback()

void TaskManager::jumpWpCallback ( const std_msgs::Bool::ConstPtr & msg )

Skip current waypoint.

Definition at line 560 of file ddrone_task_manager.cpp.

◆ landCb()

bool TaskManager::landCb ( )

call landing service

Definition at line 470 of file ddrone_task_manager.cpp.

◆ loadMission()

bool TaskManager::loadMission ( )

load mission from UI or files

Parameters

[in] swarm_pos_pub

Returns: Nothiswarm_pos_pub MISSION depends on the _points_source_param. case 0: Load from local waypoints file case 1: Load from refrence waypoints file case 2: Load from ui selected waypoints case 3: Load from velocity points from file

Definition at line 616 of file ddrone_task_manager.cpp.

◆ missionCallback()

void TaskManager::missionCallback ( int8_t msg )

mission handler

Parameters

value for switching cases 1: takeoff, 2: mission, 3: swarm, 4: hover, 5: land

Definition at line 266 of file ddrone_task_manager.cpp.

◆ missionTimer()

void TaskManager::missionTimer ( const ros::TimerEvent & )

callback function for running mission (default: 0.2)

Definition at line 788 of file ddrone_task_manager.cpp.

◆ onlineCallback()

void TaskManager::onlineCallback ( const std_msgs::Bool::ConstPtr & msg )

Landing triggered by offline status (msg: false)

Definition at line 228 of file ddrone_task_manager.cpp.

◆ posTgtCallback()

void TaskManager::posTgtCallback ( const geometry_msgs::Point::ConstPtr & msg )

get gps position command and transfer it into UAV local coordinate

Definition at line 183 of file ddrone_task_manager.cpp.

◆ posYawTgtCallback()

void TaskManager::posYawTgtCallback ( const common_msgs::target::ConstPtr & msg )

get position and yaw command

Definition at line 155 of file ddrone_task_manager.cpp.

◆ preFlightCheck()

void TaskManager::preFlightCheck ( uint16_t & pre_flight_check )

preflight Check

Definition at line 873 of file ddrone_task_manager.cpp.

◆ pubErrorState()

void TaskManager::pubErrorState ( std::int8_t val )

Publish Error State from preflight and inflight state.

Definition at line 864 of file ddrone_task_manager.cpp.

◆ pubGpstgt()

void TaskManager::pubGpstgt ( )

Convert target from GPS into ENU coordinate.

Definition at line 592 of file ddrone_task_manager.cpp.

◆ pubTarget()

void TaskManager::pubTarget	(	bool	controlMode,
		float	tgtX,
		float	tgtY,
		float	tgtZ
	)

publish local target with control mode:

Parameters

controlMode,0:POS_CONTROL,1:VEL_CONTROL

Definition at line 126 of file ddrone_task_manager.cpp.

◆ pubTargetWYaw()

void TaskManager::pubTargetWYaw	(	bool	controlMode,
		float	tgtX,
		float	tgtY,
		float	tgtZ,
		float	yaw
	)

publish local target with yaw, and set control mode:

Parameters

controlMode,0:POS_CONTROL,1:VEL_CONTROL

Definition at line 137 of file ddrone_task_manager.cpp.

◆ shutdownSwarm()

void TaskManager::shutdownSwarm ( )

shutdown Swarm

stop subscring pcmd and vcmd set swarm to false to shutdown swarm algo

Definition at line 201 of file ddrone_task_manager.cpp.

◆ takeoff()

void TaskManager::takeoff ( )

Take off.

Make Sure FCU is connected, wait for 5s if not connected. send a few setpoints before starting set the inital position of mission start set MPC Initial Set UAV mode to offboard and arm the vehicle

Definition at line 367 of file ddrone_task_manager.cpp.

◆ transform_orientation_enu_nwu()

geometry_msgs::PoseStamped TaskManager::transform_orientation_enu_nwu ( geometry_msgs::PoseStamped msg )

private

transform orientation from enu to nwu

Definition at line 1099 of file ddrone_task_manager.cpp.

◆ uavPoseCallback()

void TaskManager::uavPoseCallback ( const geometry_msgs::PoseStamped::ConstPtr & msg )

get current uav pose

Definition at line 115 of file ddrone_task_manager.cpp.

◆ uavStateCb()

void TaskManager::uavStateCb ( const mavros_msgs::State::ConstPtr & msg )

Get UAV hardware state: connected/armed/guided/mode.

Definition at line 246 of file ddrone_task_manager.cpp.

◆ uiPointsCallback()

void TaskManager::uiPointsCallback ( const geometry_msgs::Polygon::ConstPtr & msg )

points for UI (lagacy function)

Definition at line 553 of file ddrone_task_manager.cpp.

◆ velTgtCallback()

void TaskManager::velTgtCallback ( const geometry_msgs::Point::ConstPtr & msg )

get velocity command

Definition at line 176 of file ddrone_task_manager.cpp.

◆ velYawTgtCallback()

void TaskManager::velYawTgtCallback ( const common_msgs::target::ConstPtr & msg )

get velocity and yaw command

Definition at line 149 of file ddrone_task_manager.cpp.

◆ webCmdCallback()

void TaskManager::webCmdCallback ( const std_msgs::Byte::ConstPtr & msg )

Get command from web GCS and pass to mission callback.

Definition at line 260 of file ddrone_task_manager.cpp.

Member Data Documentation

◆ _curr

geometry_msgs::Point TaskManager::_curr

private

current uav position

Definition at line 336 of file ddrone_task_manager.h.

◆ _flightHeight

double TaskManager::_flightHeight

private

takeoff flight height

Definition at line 344 of file ddrone_task_manager.h.

◆ _missionPeriod

double TaskManager::_missionPeriod

private

mission call back period: 0.2s

Definition at line 352 of file ddrone_task_manager.h.

◆ _nh

ros::NodeHandle TaskManager::_nh

private

ros node handle

Definition at line 307 of file ddrone_task_manager.h.

◆ _points_id

int TaskManager::_points_id

private

Using this value to label points read from a file.

Definition at line 353 of file ddrone_task_manager.h.

◆ _points_source_param

int TaskManager::_points_source_param

private

Points from 0: local waypoints file; 1: refrence waypoints file; 2: ui selected waypoints; 3:velocity points from file.

Definition at line 354 of file ddrone_task_manager.h.

◆ _ref_list

std::vector<common_msgs::state> TaskManager::_ref_list

private

reference list from file

Definition at line 335 of file ddrone_task_manager.h.

◆ _relativeHeight

double TaskManager::_relativeHeight

private

height relative to the ground

Definition at line 345 of file ddrone_task_manager.h.

◆ _simulation

bool TaskManager::_simulation

private

simulation mode is on if true

Definition at line 372 of file ddrone_task_manager.h.

◆ _wp_list

std::vector<geometry_msgs::Point> TaskManager::_wp_list

private

waypoint list from file

Definition at line 334 of file ddrone_task_manager.h.

◆ arming_client

ros::ServiceClient TaskManager::arming_client

private

/mavros/cmd/arming service

Definition at line 359 of file ddrone_task_manager.h.

◆ client_engine0

ros::ServiceClient TaskManager::client_engine0

private

removed service

Definition at line 356 of file ddrone_task_manager.h.

◆ client_home

ros::ServiceClient TaskManager::client_home

private

/mavros/cmd/set_home service

Definition at line 357 of file ddrone_task_manager.h.

◆ cos_y

double TaskManager::cos_y

private

Definition at line 365 of file ddrone_task_manager.h.

◆ engage_msg

std_msgs::Bool TaskManager::engage_msg

private

removed

Definition at line 361 of file ddrone_task_manager.h.

◆ gpsToEnu

GpsUtils TaskManager::gpsToEnu

private

current gps target(from user) to enu local frame

Definition at line 375 of file ddrone_task_manager.h.

◆ gpsToEnuCur

GpsUtils TaskManager::gpsToEnuCur

private

current gps(from px4) to enu local frame

Definition at line 376 of file ddrone_task_manager.h.

◆ inPcmdMode

bool TaskManager::inPcmdMode

private

position command flag

Definition at line 378 of file ddrone_task_manager.h.

◆ land_client

ros::ServiceClient TaskManager::land_client

private

/mavros/cmd/land service

Definition at line 358 of file ddrone_task_manager.h.

◆ last_in_flight_check

uint16_t TaskManager::last_in_flight_check

private

previous inflight check

Definition at line 379 of file ddrone_task_manager.h.

◆ last_pre_flight_check

uint16_t TaskManager::last_pre_flight_check

private

precious preflight check

Definition at line 380 of file ddrone_task_manager.h.

◆ m_approach

bool TaskManager::m_approach

private

approach flag

Definition at line 374 of file ddrone_task_manager.h.

◆ m_approach_cmd_sub

ros::Subscriber TaskManager::m_approach_cmd_sub

private

subscribe /swarm/approach

Definition at line 328 of file ddrone_task_manager.h.

◆ m_current_state_sub

ros::Subscriber TaskManager::m_current_state_sub

private

subscribe refrence: /rt_ref_gen/current_state

Definition at line 319 of file ddrone_task_manager.h.

◆ m_diagnostics_sub

ros::Subscriber TaskManager::m_diagnostics_sub

private

subscribe /diagnostics

Definition at line 329 of file ddrone_task_manager.h.

◆ m_engage_pub

ros::Publisher TaskManager::m_engage_pub

private

Definition at line 311 of file ddrone_task_manager.h.

◆ m_error_state_pub

ros::Publisher TaskManager::m_error_state_pub

private

error stater publisher (for UI): /task_manager/error_state

Definition at line 313 of file ddrone_task_manager.h.

◆ m_gcs_cmd_sub

ros::Subscriber TaskManager::m_gcs_cmd_sub

private

Definition at line 330 of file ddrone_task_manager.h.

◆ m_gps_cur

sensor_msgs::NavSatFix TaskManager::m_gps_cur

private

current gps location

Definition at line 364 of file ddrone_task_manager.h.

◆ m_gps_cur_sub

ros::Subscriber TaskManager::m_gps_cur_sub

private

subscribe /mavros/global_position/global

Definition at line 327 of file ddrone_task_manager.h.

◆ m_gps_home

mavros_msgs::HomePosition TaskManager::m_gps_home

private

GPS home location.

Definition at line 363 of file ddrone_task_manager.h.

◆ m_gps_home_sub

ros::Subscriber TaskManager::m_gps_home_sub

private

subscribe /mavros/home_position/home

Definition at line 326 of file ddrone_task_manager.h.

◆ m_jump

bool TaskManager::m_jump

private

Definition at line 350 of file ddrone_task_manager.h.

◆ m_mission_sub

ros::Subscriber TaskManager::m_mission_sub

private

subscribe mission from UI: /mission_from_ui

Definition at line 320 of file ddrone_task_manager.h.

◆ m_mission_timer

ros::Timer TaskManager::m_mission_timer

private

mission call back timer

Definition at line 351 of file ddrone_task_manager.h.

◆ m_mpc_pos_init_pub

ros::Publisher TaskManager::m_mpc_pos_init_pub

private

mpc initial position publisher: /task_manager/mpc_init_position_nwu

Definition at line 314 of file ddrone_task_manager.h.

◆ m_online_status_sub

ros::Subscriber TaskManager::m_online_status_sub

private

subscribe /swarm/online

Definition at line 331 of file ddrone_task_manager.h.

◆ m_pcmd_sub

ros::Subscriber TaskManager::m_pcmd_sub

private

subscribe /posTgtFromSwarm

Definition at line 325 of file ddrone_task_manager.h.

◆ m_points_location

std::string TaskManager::m_points_location

private

set waypoint location: /home/nvidia(default)

Definition at line 355 of file ddrone_task_manager.h.

◆ m_pos_cmd_pub

ros::Publisher TaskManager::m_pos_cmd_pub

private

way points publisher: /dummy/pos_cmd

Definition at line 308 of file ddrone_task_manager.h.

◆ m_ref_pub

ros::Publisher TaskManager::m_ref_pub

private

refrence from file publisher: /task_manager/current_state

Definition at line 309 of file ddrone_task_manager.h.

◆ m_skipCurPoint_sub

ros::Subscriber TaskManager::m_skipCurPoint_sub

private

subscribe /mission_skip_point

Definition at line 323 of file ddrone_task_manager.h.

◆ m_swarm

std_msgs::Bool TaskManager::m_swarm

private

swarm flag

Definition at line 373 of file ddrone_task_manager.h.

◆ m_swarm_pub

ros::Publisher TaskManager::m_swarm_pub

private

trigger swarm publisher: /task_manager/swarm

Definition at line 312 of file ddrone_task_manager.h.

◆ m_tgt

common_msgs::target TaskManager::m_tgt

private

current target point

Definition at line 343 of file ddrone_task_manager.h.

◆ m_tgt_pub

ros::Publisher TaskManager::m_tgt_pub

private

target publisher: /nndp_cpp/tgt

Definition at line 310 of file ddrone_task_manager.h.

◆ m_uav_pose

geometry_msgs::PoseStamped TaskManager::m_uav_pose

private

current pose(enu) from /mavros/local_position/pose

Definition at line 338 of file ddrone_task_manager.h.

◆ m_uav_pose_enu

geometry_msgs::PoseStamped TaskManager::m_uav_pose_enu

private

Definition at line 340 of file ddrone_task_manager.h.

◆ m_uav_pose_nwu

geometry_msgs::PoseStamped TaskManager::m_uav_pose_nwu

private

current pose in nwu

Definition at line 341 of file ddrone_task_manager.h.

◆ m_uav_pose_sub

ros::Subscriber TaskManager::m_uav_pose_sub

private

subscribe current uav pose: /mavros/local_position/pose to update m_uav_pose

Definition at line 322 of file ddrone_task_manager.h.

◆ m_ui_points

geometry_msgs::Polygon TaskManager::m_ui_points

private

polygon points from UI

Definition at line 362 of file ddrone_task_manager.h.

◆ m_ui_points_sub

ros::Subscriber TaskManager::m_ui_points_sub

private

subscribe points from UI: /points_from_ui

Definition at line 321 of file ddrone_task_manager.h.

◆ m_vcmd_sub

ros::Subscriber TaskManager::m_vcmd_sub

private

subscribe /velTgtFromSwarm

Definition at line 324 of file ddrone_task_manager.h.

◆ MPC_Position_Initial_Pub

ros::Publisher TaskManager::MPC_Position_Initial_Pub

private

Definition at line 316 of file ddrone_task_manager.h.

◆ mUavTaskState

UavTaskState TaskManager::mUavTaskState

private

UAV current state: checkout enum UavTaskState.

Definition at line 347 of file ddrone_task_manager.h.

◆ pos_init

geometry_msgs::Point TaskManager::pos_init

private

the inital position of mission;

Definition at line 369 of file ddrone_task_manager.h.

◆ Position_Setpoint_Pub

ros::Publisher TaskManager::Position_Setpoint_Pub

private

Setpoints to MAVROS publisher: /mavros/setpoint_raw/local.

Definition at line 315 of file ddrone_task_manager.h.

◆ set_mode_client

ros::ServiceClient TaskManager::set_mode_client

private

/mavros/set_mode service

Definition at line 360 of file ddrone_task_manager.h.

◆ sin_y

double TaskManager::sin_y

private

Definition at line 365 of file ddrone_task_manager.h.

◆ swarm_pos_pub

ros::Publisher TaskManager::swarm_pos_pub

private

publish position in nwu: /task_manager/position_nwu

Definition at line 317 of file ddrone_task_manager.h.

◆ TaskTerminateFlag

bool TaskManager::TaskTerminateFlag

private

task terminate flag when inflight or preflight check failed

Definition at line 377 of file ddrone_task_manager.h.

◆ uav_current_state

mavros_msgs::State TaskManager::uav_current_state

private

uav hardware sate from /mavros/state

Definition at line 382 of file ddrone_task_manager.h.

◆ uav_state_sub

ros::Subscriber TaskManager::uav_state_sub

private

subscribe /mavros/state

Definition at line 332 of file ddrone_task_manager.h.

◆ ui_points_selected

bool TaskManager::ui_points_selected

private

flag showing points selected from UI

Definition at line 371 of file ddrone_task_manager.h.

◆ yaw_

double TaskManager::yaw_

private

param for calculating yaw

Definition at line 365 of file ddrone_task_manager.h.

◆ yaw_control_

bool TaskManager::yaw_control_

private

flag set to control yaw

Definition at line 381 of file ddrone_task_manager.h.

◆ yaw_init

double TaskManager::yaw_init

private

initial yaw in enu frame

Definition at line 368 of file ddrone_task_manager.h.

◆ yaw_init_enu

double TaskManager::yaw_init_enu

private

initial yaw in enu frame

Definition at line 367 of file ddrone_task_manager.h.

◆ yaw_init_nwu

double TaskManager::yaw_init_nwu

private

initial yaw in nwu frame

Definition at line 366 of file ddrone_task_manager.h.

◆ yaw_initialized

bool TaskManager::yaw_initialized

private

flag showing yaw is initialized

Definition at line 370 of file ddrone_task_manager.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TaskManager()

◆ ~TaskManager()

Member Function Documentation

◆ approachCallback()

◆ calculateYaw()

◆ checkReached()

◆ clearMission()

◆ currentStateCallback()

◆ diagnosticsCallback()

◆ engine0()

◆ gpsCurCb()

◆ gpsHomeCb()

◆ inFlightCheck()

◆ jumpWp()

◆ jumpWpCallback()

◆ landCb()

◆ loadMission()

◆ missionCallback()

◆ missionTimer()

◆ onlineCallback()

◆ posTgtCallback()

◆ posYawTgtCallback()

◆ preFlightCheck()

◆ pubErrorState()

◆ pubGpstgt()

◆ pubTarget()

◆ pubTargetWYaw()

◆ shutdownSwarm()

◆ takeoff()

◆ transform_orientation_enu_nwu()

◆ uavPoseCallback()

◆ uavStateCb()

◆ uiPointsCallback()

◆ velTgtCallback()

◆ velYawTgtCallback()

◆ webCmdCallback()

Member Data Documentation

◆ _curr

◆ _flightHeight

◆ _missionPeriod

◆ _nh

◆ _points_id

◆ _points_source_param

◆ _ref_list

◆ _relativeHeight

◆ _simulation

◆ _wp_list

◆ arming_client

◆ client_engine0

◆ client_home

◆ cos_y

◆ engage_msg

◆ gpsToEnu

◆ gpsToEnuCur

◆ inPcmdMode

◆ land_client

◆ last_in_flight_check

◆ last_pre_flight_check

◆ m_approach

◆ m_approach_cmd_sub

◆ m_current_state_sub

◆ m_diagnostics_sub

◆ m_engage_pub

◆ m_error_state_pub

◆ m_gcs_cmd_sub

◆ m_gps_cur

◆ m_gps_cur_sub

◆ m_gps_home

◆ m_gps_home_sub

◆ m_jump

◆ m_mission_sub

◆ m_mission_timer

◆ m_mpc_pos_init_pub

◆ m_online_status_sub

◆ m_pcmd_sub