#include "gpsUtils.h"
#include <common_msgs/state.h>
#include <common_msgs/target.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_msgs/DiagnosticStatus.h>
#include <fstream>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Polygon.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/TransformStamped.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/CommandHome.h>
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/HomePosition.h>
#include <mavros_msgs/PositionTarget.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <ros/ros.h>
#include <sensor_msgs/NavSatFix.h>
#include <sstream>
#include <std_msgs/Bool.h>
#include <std_msgs/Byte.h>
#include <std_srvs/Empty.h>
#include <std_srvs/Trigger.h>
#include <string>
#include <tf/tf.h>

Include dependency graph for ddrone_task_manager.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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

Macros
#define	ENGINE0 0

#define	HOVER 4

#define	LAND 5

#define	MISSION 2

#define	POS_CONTROL 0

#define	SWARM 3

#define	TAKEOFF 1

#define	VEL_CONTROL 1

Enumerations
enum	InFlightCheck { kDisarmed, kArmed, kSoftGeoViolated, kHardGeoViolated, kReturnHomeActivated, kLandActivated, kReserved, kBatteryLow, kGPSFail, kAttituteOutofRange }
	errors_count4: inflight check More...

enum	PreFlightCheck { kAttitudeRollError, kAttitudePitchError, kMagNError, kMagEError, kMagDError, kAccNError, kAccEError, kAccDError, kGPSEphError, kGPSEpvError, kGPSVelNError, kGPSVelEError, kGPSVelDError, kGPSTError, kImuError, kHealth }
	errors_count3: preflight check (By bits) More...

enum	UavTaskState { kIdle, kReady, kTakeOff, kHover, kMission, kSwarm, kLand }
	State machine elements. More...

Macro Definition Documentation

◆ ENGINE0

#define ENGINE0 0

Definition at line 37 of file ddrone_task_manager.h.

◆ HOVER

#define HOVER 4

Definition at line 41 of file ddrone_task_manager.h.

◆ LAND

#define LAND 5

Definition at line 42 of file ddrone_task_manager.h.

◆ MISSION

#define MISSION 2

Definition at line 39 of file ddrone_task_manager.h.

◆ POS_CONTROL

#define POS_CONTROL 0

Definition at line 43 of file ddrone_task_manager.h.

◆ SWARM

#define SWARM 3

Definition at line 40 of file ddrone_task_manager.h.

◆ TAKEOFF

#define TAKEOFF 1

Definition at line 38 of file ddrone_task_manager.h.

◆ VEL_CONTROL

#define VEL_CONTROL 1

Definition at line 44 of file ddrone_task_manager.h.

Enumeration Type Documentation

◆ InFlightCheck

enum InFlightCheck

errors_count4: inflight check

Enumerator
kDisarmed	00: arming error 01: Disarmed
kArmed	10: armed 11: PreArmed
kSoftGeoViolated
kHardGeoViolated
kReturnHomeActivated	010000: Return Home
kLandActivated	100000: Land mode
kReserved
kBatteryLow
kGPSFail
kAttituteOutofRange

Definition at line 88 of file ddrone_task_manager.h.

◆ PreFlightCheck

enum PreFlightCheck

errors_count3: preflight check (By bits)

Enumerator
kAttitudeRollError	0: roll
kAttitudePitchError	1: pitch
kMagNError	2: magN
kMagEError	3: magE
kMagDError	4: magD
kAccNError	5: accN
kAccEError	6: accE
kAccDError	7: accD
kGPSEphError	8: eph
kGPSEpvError	9: epv
kGPSVelNError	10: velN
kGPSVelEError	11: velE
kGPSVelDError	12: velD
kGPSTError	13: gpsT
kImuError	14: imuStuck
kHealth	15: no error

Definition at line 65 of file ddrone_task_manager.h.

◆ UavTaskState

enum UavTaskState

State machine elements.

Enumerator
kIdle
kReady
kTakeOff
kHover
kMission
kSwarm
kLand

Definition at line 50 of file ddrone_task_manager.h.

Classes

Macros

Enumerations