Interface to the Qualcomm Navigator Flight Controller. More...

#include <flight_control_interface.hpp>

Public Types
enum	Permissions { Permissions::READ_WRITE, Permissions::READ_ONLY }
	Defines the permissions of an instance of FlightControlInterface. More...

enum	Return { Return::SUCCESS, Return::FAILURE, Return::NOT_CONNECTED, Return::ALREADY_CONNECTED, Return::TRAJ_NOT_OPTIMIZED, Return::TRAJ_NOT_FEASIBLE, Return::ACTION_PREEMPTED, Return::NO_LOCK }
	Return codes for FlightControlInterface. More...

enum	Action { Action::NONE, Action::TAKEOFF, Action::GO_TO_WAYPOINT, Action::EXECUTE_MISSION, Action::LAND }
	Enum used for possible actions. More...

Public Member Functions
	FlightControlInterface (const Permissions &requested_access)
	Constructs an instance of FlightControlInterface. More...

	~FlightControlInterface () noexcept
	Destructor of FlightControlInterface. More...

Return	configure_tx (const TxConfig &tx_config)
	Specify configuration options for sending commands to Qualcomm Navigator. More...

Return	configure_rx (const RxConfig &rx_config)
	Specify configuration options for receiving data from Qualcomm Navigator. More...

void	wait_for_configure () const noexcept
	Block until FlightControlInterface has been configured. More...

Return	connect ()
	Establish connection to Qualcomm Navigator. More...

Return	disconnect () noexcept
	End connection to Qualcomm Navigator. More...

Return	start_props ()
	Blocking call to start the propellers. More...

Return	stop_props ()
	Blocking call to stop the propellers. More...

Return	takeoff (const TakeoffConfig &takeoff_config)
	Blocking call to takeoff. More...

Return	takeoff ()

Return	takeoff_nb (const TakeoffConfig &takeoff_config)
	Non-blocking call to takeoff. More...

Return	takeoff_nb ()

Return	land (const LandingConfig &landing_config)
	Blocking call to land. More...

Return	land ()

Return	land_nb (const LandingConfig &landing_config)
	Non-blocking call to land. More...

Return	land_nb ()

Return	go_to_waypoint (const Waypoint &waypoint)
	Blocking call to go to specified waypoint. More...

Return	go_to_waypoint_nb (const Waypoint &waypoint)
	Non-blocking call to go to specified waypoint. More...

Return	configure_planner (const PlannerConfig &config)
	Specify the configuration options for the planner. More...

Return	preload_waypoints (const std::vector< Waypoint > &waypoints)
	Load a vector of waypoints. More...

Return	compute_trajectory (StateVector starting_state)
	Compute a trajectory through the given waypoints. More...

Return	execute_mission (const double t_start=0)
	Execute the trajectory-following mission. More...

Return	execute_mission_nb (const double t_start=0)
	Non-blocking call to execute the trajectory-following mission. More...

void	wait_on_action () const noexcept
	Wait for the currently-executing action to complete. More...

Permissions	get_permissions () const noexcept
	Return the permissions of this object. More...

Return	get_last_action_result () const noexcept
	Get the result of the most recently executed action. More...

Action	get_last_action () const noexcept
	Get the most recently executed action. More...

Action	get_current_action () const noexcept
	Get the currently-executing action. More...

Return	get_current_trajectory (std::vector< snav_traj_gen::SnavTrajectory > &traj) const
	Get the current trajectory. More...

Return	get_last_optimized_trajectory (std::vector< snav_traj_gen::SnavTrajectory > &traj) const
	Get the last optimized trajectory. More...

Return	get_waypoints (std::vector< Waypoint > &waypoints) const
	Get the input waypoints. More...

Return	get_optimized_waypoints (std::vector< Waypoint > &waypoints) const
	Get the optimized waypoints. More...

Planner::Status	get_planner_status () const
	Get the current status of the Planner. More...

float	get_trajectory_time () const
	Get the current trajectory time. More...

Return	set_waypoint_frame_tf (const Eigen::Quaternionf &q_pw, const Eigen::Vector3f &t_pw)
	Updates the transform between ReferenceFrame::WAYPOINT and its parent. More...

Return	get_waypoint_frame_tf (Eigen::Quaternionf &q_pw, Eigen::Vector3f &t_pw) const
	Get the transform between ReferenceFrame::WAYPOINT and its parent. More...

Return	set_tx_command (const TxCommand &command)
	Directly set the command being sent to the flight controller. More...

SnavCachedData	get_snav_cached_data () const
	Get a copy of the latest data from the cache. More...

StateVector	get_estimated_state (const SnavCachedData &snav_data) const
	Get the estimated state as a StateVector with respect to ReferenceFrame::WAYPOINT from the SnavCachedData structure. More...

StateVector	get_desired_state (const SnavCachedData &snav_data) const
	Get the desired state as a StateVector with respect to ReferenceFrame::WAYPOINT from the SnavCachedData structure. More...

Return	convert_velocity_to_rc_command (const std::array< float, 3 > velocity, const float yaw_rate, RcCommand &rc_command)
	Convert metric velocity command into an RcCommand suitable for sending to the flight controller based on the configured mode. More...

Static Public Member Functions
static void	preempt_current_action ()
	Send preempt signal to currently-executing action.

static void	set_verbosity (bool verbose)
	Set verbosity of FlightControlInterface. More...

static bool	tx_ok ()
	Whether or not write access to Qualcomm Navigator is ok.

static bool	rx_ok ()
	Whether or not read access to Qualcomm Navigator is ok.

static bool	ok ()
	Whether or not read and write access to Qualcomm Navigator is ok.

static std::string	get_return_as_string (Return ret_code)
	Convert a Return code to a string. More...

Detailed Description

Interface to the Qualcomm Navigator Flight Controller.

FlightControlInterface is a thread-safe C++ wrapper around the Qualcomm Navigator API that makes it easier to accomplish some high-level actions like taking off and going to waypoints. It handles basic error checking so that the developer does not have to implement as much logic to check aspects of the flight controller's state during runtime, leading to safer API programs.

Member Enumeration Documentation

enum snav_fci::FlightControlInterface::Action

strong

Enum used for possible actions.

Enumerator
NONE	No action
TAKEOFF	Vehicle is taking off
GO_TO_WAYPOINT	Vehicle is going to a waypoint
EXECUTE_MISSION	Vehicle is executing a mission
LAND	Vehicle is landing

enum snav_fci::FlightControlInterface::Permissions

strong

Defines the permissions of an instance of FlightControlInterface.

An instance with READ_WRITE permissions can both send commands to and receive data from Qualcomm Navigator, whereas an instance with READ_ONLY permissions can only receive data from Qualcomm Navigator.

Only one instance of FlightControlInterface in a given process can obtain READ_WRITE permissions. This is intended to be a safety mechanism, since commands should only come from a single source.

Warning: This mechanism only works in a single process! A second instance of FlightControlInterface instantiated in a separate process can obtain READ_WRITE permissions, so it is ultimately up to the client to ensure that only one object sends commands. Multiple objects sending commands simultaneously results in undefined behavior.

Enumerator
READ_WRITE	Read and write permissions; capable of both sending commands to and receiving information from Qualcomm Navigator
READ_ONLY	Read-only permissions; capable of receiving information from Qualcomm Navigator, but not capable of sending any commands

enum snav_fci::FlightControlInterface::Return

strong

Return codes for FlightControlInterface.

These return codes define whether or not a function executed successfully and, in the event of failure, why the failure occurred.

Enumerator
SUCCESS	Action was completed successfully
FAILURE	Action was not completed successfully
NOT_CONNECTED	Action was not completed successfully because object is not connected
ALREADY_CONNECTED	Action was not completed successfully because object is already connected
TRAJ_NOT_OPTIMIZED	Action was not completed successfully because the trajectory was not optimized
TRAJ_NOT_FEASIBLE	Action was not completed successfully because a feasible trajectory satisfying the required constraints could not be generated
ACTION_PREEMPTED	Action was not completed successfully because it was preempted
NO_LOCK	Action was not completed successfully because the necessary mutex lock could not be acquired

Constructor & Destructor Documentation

snav_fci::FlightControlInterface::FlightControlInterface ( const Permissions & requested_access )

explicit

Constructs an instance of FlightControlInterface.

Precondition: Flight controller is running

Postcondition: FlightControlInterface object initialized (but not connected) with requested permissions

Parameters

[in] requested_permissions Specifies desired permissions of this instance. Only one FlightControlInterface instance can be granted write permissions.

Exceptions

std::runtime_error	If unable to initialize SnavCachedData (usually means that flight controller is not responding)
std::logic_error	If requested Permissions::READ_WRITE but an object with write permissions has already been created

snav_fci::FlightControlInterface::~FlightControlInterface ( )

noexcept

Destructor of FlightControlInterface.

Before object destruction, disconnect() is called if it was not called previously.

Member Function Documentation

Return snav_fci::FlightControlInterface::compute_trajectory ( StateVector starting_state )

Compute a trajectory through the given waypoints.

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect(); At least one waypoint has been added via preload_waypoints()

Postcondition: Function result is returned

Parameters

[in] starting_state State represented with respect to ReferenceFrame::WAYPOINT used as first constraint of trajectory

Returns: FlightControlInterface::Return

Exceptions

std::logic_error	If any precondition is violated
std::logic_error	If waypoint timestamps are not monotonically increasing
std::runtime_error	If trajectory generation fails

Return snav_fci::FlightControlInterface::configure_planner ( const PlannerConfig & config )

Specify the configuration options for the planner.

If this function is not called, default options are used.

Precondition: None

Postcondition: Function result is returned

Parameters

[in] config Defines options used by the planner

Returns: FlightControlInterface::Return

Return snav_fci::FlightControlInterface::configure_rx ( const RxConfig & rx_config )

Specify configuration options for receiving data from Qualcomm Navigator.

If this function is not called, default options are used.

Precondition: Object has not been connected via connect()

Postcondition: Object is configured to use given rx_config

Parameters

[in] rx_config Defines options used in receiving data

Returns: FlightControlInterface::Return

Exceptions

std::logic_error If any precondition is violated

Return snav_fci::FlightControlInterface::configure_tx ( const TxConfig & tx_config )

Specify configuration options for sending commands to Qualcomm Navigator.

If this function is not called, default options are used.

Precondition: Object has Permissions::READ_WRITE; Object has not been connected via connect()

Postcondition: Object is configured to use given tx_config

Parameters

[in] tx_config Defines options used in sending commands

Returns: FlightControlInterface::Return

Exceptions

std::logic_error	If any precondition is violated
std::runtime_error	If given config is impossible to achieve

Return snav_fci::FlightControlInterface::connect ( )

Establish connection to Qualcomm Navigator.

Opens a persistent connection between the FlightControlInterface object and Qualcomm Navigator.

Precondition: None

Postcondition: Function result is returned

Returns: FlightControlInterface::Return

Return snav_fci::FlightControlInterface::convert_velocity_to_rc_command	(	const std::array< float, 3 >	velocity,
		const float	yaw_rate,
		RcCommand &	rc_command
	)

Convert metric velocity command into an RcCommand suitable for sending to the flight controller based on the configured mode.

This function only works for closed-loop position control modes.

Precondition: Object has been connected via connect(); Object is configured for a closed-loop position control mode

Postcondition: rc_command is populated with appropriate commands

Parameters

[in]	velocity	Desired velocity in meters per second with respect to ReferenceFrame::ESTIMATION
[in]	yaw_rate	Desired yaw rate in radians per second with respect to ReferenceFrame::ESTIMATION
[out]	rc_command	Resulting rc command ready to be sent to the flight controller

Returns: FlightControlInterface::Return

Exceptions

std::logic_error If any precondition is violated

Return snav_fci::FlightControlInterface::disconnect ( )

noexcept

End connection to Qualcomm Navigator.

Returns: FlightControlInterface::Return

Return snav_fci::FlightControlInterface::execute_mission ( const double t_start = 0 )

Execute the trajectory-following mission.

Causes the vehicle to execute the planned trajectory through the given waypoints. If no trajectory has been planned, one will be generated and consequently executed.

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect(); Propellers are spinning; No action is in progress; At least one waypoint has been added via preload_waypoints()

Postcondition: Action::EXECUTE_MISSION is concluded due to either completion or preemption

Parameters

[in] t_start Optional parameter defining the absolute start time for the mission in seconds according to the system-wide real time wall clock. Set t_start equal to zero for the mission to start immediately. If t_start is not zero, it must specify a moment in time in the future. t_start is used to establish time zero for "trajectory time," accessible via get_trajectory_time().

Returns: FlightControlInterface::Return

Exceptions

std::logic_error	If any precondition is violated
std::logic_error	If waypoint timestamps are not monotonically increasing
std::runtime_error	If trajectory generation fails
std::runtime_error	If tx/rx connection is lost
std::invalid_argument	If t_start is negative or corresponds to a time in the past

Note

Can be safely preempted by calling preempt_current_action().

Return snav_fci::FlightControlInterface::execute_mission_nb ( const double t_start = 0 )

Non-blocking call to execute the trajectory-following mission.

This is a non-blocking version of execute_mission().

Precondition: See execute_mission()

Postcondition: Action::EXECUTE_MISSION has been initiated

Note

Can be safely preempted by calling preempt_current_action().

Action snav_fci::FlightControlInterface::get_current_action ( ) const

noexcept

Get the currently-executing action.

Precondition: None

Postcondition: Current action is returned

Returns: FlightControlInterface::Action

Return snav_fci::FlightControlInterface::get_current_trajectory ( std::vector< snav_traj_gen::SnavTrajectory > & traj ) const

Get the current trajectory.

Precondition: None

Postcondition: Function result is returned

Parameters

[out] traj The current trajectory, possibly composed of multiple segments each defined by a SnavTrajectory object, which has been optimized and satisfies the constraints enforced by the Planner. This is valid only if function returns Return::SUCCESS

Returns: FlightControlInterface::Return

StateVector snav_fci::FlightControlInterface::get_desired_state ( const SnavCachedData & snav_data ) const

Get the desired state as a StateVector with respect to ReferenceFrame::WAYPOINT from the SnavCachedData structure.

Precondition: None

Postcondition: Desired state is returned

Parameters

[in] snav_data Structure containing data from the cache

Returns: Desired state vector represented with respect to ReferenceFrame::WAYPOINT

StateVector snav_fci::FlightControlInterface::get_estimated_state ( const SnavCachedData & snav_data ) const

Get the estimated state as a StateVector with respect to ReferenceFrame::WAYPOINT from the SnavCachedData structure.

Precondition: None

Postcondition: Estimated state is returned

Parameters

[in] snav_data Structure containing data from the cache

Returns: Estimated state vector represented with respect to ReferenceFrame::WAYPOINT

Action snav_fci::FlightControlInterface::get_last_action ( ) const

noexcept

Get the most recently executed action.

Precondition: None

Postcondition: Last action is returned

Returns: FlightControlInterface::Action

Return snav_fci::FlightControlInterface::get_last_action_result ( ) const

noexcept

Get the result of the most recently executed action.

Precondition: None

Postcondition: Last action result is returned

Returns: FlightControlInterface::Return

Return snav_fci::FlightControlInterface::get_last_optimized_trajectory ( std::vector< snav_traj_gen::SnavTrajectory > & traj ) const

Get the last optimized trajectory.

The last optimized trajectory may be different from the current trajectory if the last optimized trajectory failed to satisfy the constraints enforced by the Planner.

Precondition: None

Postcondition: Function result is returned

Parameters

[out] traj The last optimized trajectory, possibly composed of multiple segments each defined by a SnavTrajectory object, which has been optimized but does not necessarily satisfy the constraints enforced by the Planner. Only valid if function returns Return::SUCCESS.

Returns: FlightControlInterface::Return

Return snav_fci::FlightControlInterface::get_optimized_waypoints ( std::vector< Waypoint > & waypoints ) const

Get the optimized waypoints.

The optimized waypoints are different from the input waypoints in that they are an augmented set of the input waypoints. For example, the optimized waypoints contain at least one extra waypoint prepended to the start of the vector containing the current state. Further, they contain the higher derivatives computed from the optimization.

Precondition: None

Postcondition: Optimized waypoints are returned

Parameters

[out] waypoints Vector of optimized waypoints used by planner

Returns: FlightControlInterface::Return

Permissions snav_fci::FlightControlInterface::get_permissions ( ) const

noexcept

Return the permissions of this object.

Precondition: None

Postcondition: Permissions are returned

Returns: Permissions

Planner::Status snav_fci::FlightControlInterface::get_planner_status ( ) const

Get the current status of the Planner.

Precondition: None

Postcondition: Planner status is returned

Returns: Planner::Status Current status of the planner

static std::string snav_fci::FlightControlInterface::get_return_as_string ( Return ret_code )

static

Convert a Return code to a string.

Precondition: None

Postcondition: String representation of ret_code is returned

Parameters

[in] ret_code Return code to convert to string

Returns: std::string

SnavCachedData snav_fci::FlightControlInterface::get_snav_cached_data ( ) const

Get a copy of the latest data from the cache.

Precondition: Object has been connected via connect()

Postcondition: SnavCachedData is returned

Returns: Latest cached data

Exceptions

std::logic_error If any precondition is violated

float snav_fci::FlightControlInterface::get_trajectory_time ( ) const

Get the current trajectory time.

Trajectory time is relative to the current trajectory. The start of the trajectory corresponds to time zero.

Precondition: None

Postcondition: Trajectory time is returned

Returns: float Trajectory time in s

Return snav_fci::FlightControlInterface::get_waypoint_frame_tf	(	Eigen::Quaternionf &	q_pw,
		Eigen::Vector3f &	t_pw
	)		const

Get the transform between ReferenceFrame::WAYPOINT and its parent.

Precondition: None

Postcondition: ReferenceFrame::WAYPOINT transform is returned

Parameters

[out]	q_pq	Quaternion representing the orientation of ReferenceFrame::WAYPOINT with respect to its parent
[out]	t_pw	Vector from the origin of the parent frame to the origin of ReferenceFrame::WAYPOINT represented with respect to the parent frame

Returns: FlightControlInterface::Return

Return snav_fci::FlightControlInterface::get_waypoints ( std::vector< Waypoint > & waypoints ) const

Get the input waypoints.

Precondition: None

Postcondition: Waypoints are returned

Parameters

[out] waypoints Vector of input waypoints used by planner

Returns: FlightControlInterface::Return

Note

Use the preload_waypoints() function to add input waypoints

Return snav_fci::FlightControlInterface::go_to_waypoint ( const Waypoint & waypoint )

Blocking call to go to specified waypoint.

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect(); Propellers are spinning; No action is in progress

Postcondition: Action::GO_TO_WAYPOINT is concluded due to either completion or preemption

Parameters

[in] waypoint Specifies the destination waypoint represented with respect to ReferenceFrame::WAYPOINT

Returns: FlightControlInterface::Return

Exceptions

std::logic_error	If any precondition is violated
std::runtime_error	If tx/rx connection is lost

Note

Can be safely preempted by calling preempt_current_action().

Return snav_fci::FlightControlInterface::go_to_waypoint_nb ( const Waypoint & waypoint )

Non-blocking call to go to specified waypoint.

This is a non-blocking version of go_to_waypoint().

Precondition: See go_to_waypoint()

Postcondition: Action::GO_TO_WAYPOINT has been initiated

Note

Can be safely preempted by calling preempt_current_action().

Return snav_fci::FlightControlInterface::land ( const LandingConfig & landing_config )

Blocking call to land.

This function commands the vehicle to descend until reaching the ground, at which point it attempts to stop the propellers via stop_props().

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect(); Propellers are spinning; No action is in progress

Postcondition: Action::LAND is concluded due to either completion or preemption

Parameters

[in] landing_config Specifies parameters for landing

Returns: FlightControlInterface::Return

Exceptions

std::logic_error	If any precondition is violated
std::runtime_error	If tx/rx connection is lost

Note

Can be safely preempted by calling preempt_current_action().

Return snav_fci::FlightControlInterface::land ( )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Return snav_fci::FlightControlInterface::land_nb ( const LandingConfig & landing_config )

Non-blocking call to land.

This is a non-blocking version of land().

Precondition: See land()

Postcondition: Action::LAND has been initiated

Note

Can be safely preempted by calling preempt_current_action().

Return snav_fci::FlightControlInterface::land_nb ( )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Return snav_fci::FlightControlInterface::preload_waypoints ( const std::vector< Waypoint > & waypoints )

Load a vector of waypoints.

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect(); Planner status is IDLE

Postcondition: Waypoints have been added to planner

Parameters

[in] waypoints Waypoints to pass to planner.

Returns: FlightControlInterface::Return

Exceptions

std::logic_error If any precondition is violated

Return snav_fci::FlightControlInterface::set_tx_command ( const TxCommand & command )

Directly set the command being sent to the flight controller.

This function sets the command being sent to the flight controller in the tx thread. Calling this function will only have an impact if the tx thread is configured for sending this type of command.

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect(); Object has been configured for sending this type of command; refer to TxConfig for options

Parameters

[in] command Command to be sent to the flight controller

Returns: FlightControlInterface::Return

Exceptions

std::logic_error If any precondition is violated

static void snav_fci::FlightControlInterface::set_verbosity ( bool verbose )

inlinestatic

Set verbosity of FlightControlInterface.

By default, verbosity of FlightControlInterface is set to true. When true, FlightControlInterface emits informational messages to std::out and error messages to std::cerr.

Precondition: None

Postcondition: Verbosity is set to value of verbose

Parameters

[in] verbose Desired verbosity of FlightControlInterface

Return snav_fci::FlightControlInterface::set_waypoint_frame_tf	(	const Eigen::Quaternionf &	q_pw,
		const Eigen::Vector3f &	t_pw
	)

Updates the transform between ReferenceFrame::WAYPOINT and its parent.

FlightControlInterface expects waypoints to be given with respect to ReferenceFrame::WAYPOINT. The transformation between ReferenceFrame::WAYPOINT and its parent, defined by TxConfig::waypoint_frame_parent, is initialized to identity rotation and zero translation.

Precondition: None

Postcondition: Transform is updated

Parameters

[in]	q_pw	Quaternion representing the orientation of ReferenceFrame::WAYPOINT with respect to its parent
[in]	t_pw	Vector from the origin of the parent frame to the origin of ReferenceFrame::WAYPOINT represented with respect to the parent frame

Returns: FlightControlInterface::Return

Return snav_fci::FlightControlInterface::start_props ( )

Blocking call to start the propellers.

In general, favor calling takeoff(), which automatically calls start_props() at the appropriate time, instead of manually calling this function.

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect()

Postcondition: Propellers are spinning according to flight controller

Returns: FlightControlInterface::Return

Exceptions

std::logic_error	If any precondition is violated
std::runtime_error	If tx/rx connection is lost
std::runtime_error	If unable to start props

Return snav_fci::FlightControlInterface::stop_props ( )

Blocking call to stop the propellers.

In general, favor calling land(), which automatically calls stop_props() at the appropriate time, instead of manually calling this function.

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect()

Postcondition: Propellers are not spinning according to flight controller

Returns: FlightControlInterface::Return

Exceptions

std::logic_error	If any precondition is violated
std::runtime_error	If tx/rx connection is lost
std::runtime_error	If unable to stop props

Return snav_fci::FlightControlInterface::takeoff ( const TakeoffConfig & takeoff_config )

Blocking call to takeoff.

This function attempts to spin the propellers via start_props() and to take off to a specified height above the ground.

Precondition: Object has Permissions::READ_WRITE; Object has been connected via connect(); Propellers are not spinning; No action is in progress

Postcondition: Action::TAKEOFF is concluded due to either completion or preemption

Parameters

[in] takeoff_config Specifies parameters for takeoff

Returns: FlightControlInterface::Return

Exceptions

std::logic_error	If any precondition is violated
std::runtime_error	If tx/rx connection is lost

Note

Can be safely preempted by calling preempt_current_action().

Return snav_fci::FlightControlInterface::takeoff ( )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Return snav_fci::FlightControlInterface::takeoff_nb ( const TakeoffConfig & takeoff_config )

Non-blocking call to takeoff.

This is a non-blocking version of takeoff().

Precondition: See takeoff()

Postcondition: Action::TAKEOFF has been initiated

Note

Can be safely preempted by calling preempt_current_action().

Return snav_fci::FlightControlInterface::takeoff_nb ( )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

void snav_fci::FlightControlInterface::wait_for_configure ( ) const

noexcept

Block until FlightControlInterface has been configured.

This function can be used in a multithreaded architecture to synchronize multiple FlightControlInterface objects before calling connect() to ensure that the object with Permissions::READ_WRITE has an opportunity to set the desired configuration. This is necessary because it would otherwise be possible for an object with Permissions::READ_ONLY to spawn the rx thread prior to the rx configuration being set from a separate thread.

Precondition: None

Postcondition: Rx thread has been configured

void snav_fci::FlightControlInterface::wait_on_action ( ) const

noexcept

Wait for the currently-executing action to complete.

Blocks until the currently-executing action completes. The result of the action can be obtained via get_last_action_result().

Precondition: None

Postcondition: Currently-executing action is complete

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

api/flight_control_interface.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation