Class FlightControlModule

Inheritance Relationships

Base Type

  • public rclcpp_lifecycle::LifecycleNode

Class Documentation

class psdk_ros2::FlightControlModule : public rclcpp_lifecycle::LifecycleNode

Public Functions

explicit FlightControlModule(const std::string &name)

Construct a new FlightControlModule object.

Parameters

node_name – Name of the node

~FlightControlModule()

Destroy the Flight Control Module object.

CallbackReturn on_configure(const rclcpp_lifecycle::State &state)

Configures the flight control module. Creates the ROS 2 subscribers and services.

Parameters

state – rclcpp_lifecycle::State. Current state of the node.

Returns

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_activate(const rclcpp_lifecycle::State &state)

Activates the flight control module.

Parameters

state – rclcpp_lifecycle::State. Current state of the node.

Returns

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state)

Cleans the flight control module. Resets the ROS 2 subscribers and services.

Parameters

state – rclcpp_lifecycle::State. Current state of the node.

Returns

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state)

Deactivates the flight control module.

Parameters

state – rclcpp_lifecycle::State. Current state of the node.

Returns

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state)

Shuts down the flight control module.

Parameters

state – rclcpp_lifecycle::State. Current state of the node.

Returns

CallbackReturn SUCCESS or FAILURE

bool init(const sensor_msgs::msg::NavSatFix &current_gps_position)

Initialize the flight control module. It needs the RID information to be passed to the native flight control initialization function from DJI.

Parameters

current_gps_position – sensor_msgs::msg::NavSatFix. Current GPS

Returns

true/false

bool deinit()

Deinitialize the flight control module.

Returns

true/false

Private Functions

void flight_control_position_yaw_cb(const sensor_msgs::msg::Joy::SharedPtr msg)

Callback function to control aircraft position and yaw. This function expects the commands to be given with respect to a global ENU frame.

Parameters

msg – sensor_msgs::msg::Joy. Axes represent the x [m], y [m], z [m] and yaw [rad] command.

void flight_control_velocity_yawrate_cb(const sensor_msgs::msg::Joy::SharedPtr msg)

Callback function to control aircraft velocity and yaw rate. This function expects the commands to be given with respect to a global ENU frame.

Parameters

msg – sensor_msgs::msg::Joy. Axes represent the x [m/s], y [m/s], z [m/s] and yaw [rad/s] command.

void flight_control_body_velocity_yawrate_cb(const sensor_msgs::msg::Joy::SharedPtr msg)

Callback function to control aircraft velocity and yaw. This function expects the commands to be given with respect to a FLU body frame.

Parameters

msg – sensor_msgs::msg::Joy. Axes represent the x [m/s], y [m/s], z [m/s] and yaw [rad/s] command.

void flight_control_rollpitch_yawrate_thrust_cb(const sensor_msgs::msg::Joy::SharedPtr msg)

Callback function to control roll, pitch, yaw rate and thrust. This function expects the commands to be given with respect to a FLU body frame.

Note

This type of control is not implemented at this moment.

Parameters

msg – sensor_msgs::msg::Joy. Axes represent the x [rad], y [rad], thrust value percentage [0-100%] and yaw rate [rad/s] command.

void flight_control_generic_cb(const sensor_msgs::msg::Joy::SharedPtr msg)

Callback function to exposing a generic control method of the aircraft.The type of commands as well as the reference frame is specified in a flag within the msg.

Parameters

msg – sensor_msgs::msg::Joy. Axes represent the x, y, z, yaw and flag command.

void set_home_from_gps_cb(const std::shared_ptr<SetHomeFromGPS::Request> request, const std::shared_ptr<SetHomeFromGPS::Response> response)

Sets the home position from GPS data. The user inputs the latitude and longitude which will represent the new home position.

Parameters

  • request – SetHomeFromGPS service request

  • response – SetHomeFromGPS service response

void set_home_from_current_location_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Sets the home position at the current GPS location.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void set_go_home_altitude_cb(const std::shared_ptr<SetGoHomeAltitude::Request> request, const std::shared_ptr<SetGoHomeAltitude::Response> response)

Sets the go home altitude to the requested user defined altitude.

Note

If aircraft’s current altitude is higher than the setting value of go home altitude, aircraft will go home using current altitude. Otherwise, it will climb to setting of go home altitude, and then execute go home action. Go home altitude setting is 20m ~ 500m.

Parameters

  • request – SetGoHomeAltitude service request

  • response – SetGoHomeAltitude service response

void get_go_home_altitude_cb(const std::shared_ptr<GetGoHomeAltitude::Request> request, const std::shared_ptr<GetGoHomeAltitude::Response> response)

Get the current go home altitude in [m].

Parameters

  • request – GetGoHomeAltitude service request

  • response – GetGoHomeAltitude service response

void start_go_home_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Request go home action.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void cancel_go_home_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Cancel go home action.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void obtain_ctrl_authority_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Request control authority.

Note

The RC must be in P-mode for this request to be successful.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void release_ctrl_authority_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Release control authority.

Note

The RC must be in P-mode for this request to be successful.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void turn_on_motors_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Turn ON motors while copter is on the ground.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void turn_off_motors_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Turn OFF motors while copter is on the ground.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void start_takeoff_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Request Take-off action while copter is on the ground.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void start_landing_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Request Landing action while copter is in the air.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void cancel_landing_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Cancel Landing action while copter is landing.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void start_confirm_landing_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Confirm coptere landing when this is 0.7 m above the ground.

Note

When the clearance between the aircraft and the ground is less than 0.7m, the aircraft will pause landing and wait for user’s confirmation. If the ground is not suitable for landing ,user must use RC to control it landing manually or force landing.

Parameters

  • request – Trigger service request

  • response – Trigger service response

void start_force_landing_cb(const std::shared_ptr<Trigger::Request> request, const std::shared_ptr<Trigger::Response> response)

Force copter landing.

Note

The smart landing functions will be ignored and the copter will land directly without waiting for user confirmation at 0.7m above ground. Use this function carefully!

Parameters

  • request – Trigger service request

  • response – Trigger service response

void set_horizontal_vo_obstacle_avoidance_cb(const std::shared_ptr<SetObstacleAvoidance::Request> request, const std::shared_ptr<SetObstacleAvoidance::Response> response)

Enable/Disable horizontal (forwards,backwards,left and right) visual obstacle avoidance sensors.

Parameters

  • request – SetObstacleAvoidance service request

  • response – SetObstacleAvoidance service response

void set_horizontal_radar_obstacle_avoidance_cb(const std::shared_ptr<SetObstacleAvoidance::Request> request, const std::shared_ptr<SetObstacleAvoidance::Response> response)

Enable/Disable horizontal radar obstacle avoidance.

Note

It will only be valid only if CSM radar is installed.

Parameters

  • request – SetObstacleAvoidance service request

  • response – SetObstacleAvoidance service response

void set_upwards_vo_obstacle_avoidance_cb(const std::shared_ptr<SetObstacleAvoidance::Request> request, const std::shared_ptr<SetObstacleAvoidance::Response> response)

Enable/Disable upwards visual obstacle avoidance.

Parameters

  • request – SetObstacleAvoidance service request

  • response – SetObstacleAvoidance service response

void set_upwards_radar_obstacle_avoidance_cb(const std::shared_ptr<SetObstacleAvoidance::Request> request, const std::shared_ptr<SetObstacleAvoidance::Response> response)

Enable/Disable upwards radar obstacle avoidance.

Note

It will only be valid only if CSM radar is installed.

Parameters

  • request – SetObstacleAvoidance service request

  • response – SetObstacleAvoidance service response

void set_downwards_vo_obstacle_avoidance_cb(const std::shared_ptr<SetObstacleAvoidance::Request> request, const std::shared_ptr<SetObstacleAvoidance::Response> response)

Enable/Disable downwards visual obstacle avoidance.

Parameters

  • request – SetObstacleAvoidance service request

  • response – SetObstacleAvoidance service response

void get_horizontal_vo_obstacle_avoidance_cb(const std::shared_ptr<GetObstacleAvoidance::Request> request, const std::shared_ptr<GetObstacleAvoidance::Response> response)

Get status of horizontal visual obstacle avoidance.

Parameters

  • request – GetObstacleAvoidance service request

  • response – GetObstacleAvoidance service response

void get_horizontal_radar_obstacle_avoidance_cb(const std::shared_ptr<GetObstacleAvoidance::Request> request, const std::shared_ptr<GetObstacleAvoidance::Response> response)

Get status of horizontal radar obstacle avoidance.

Parameters

  • request – GetObstacleAvoidance service request

  • response – GetObstacleAvoidance service response

void get_downwards_vo_obstacle_avoidance_cb(const std::shared_ptr<GetObstacleAvoidance::Request> request, const std::shared_ptr<GetObstacleAvoidance::Response> response)

Get status of downwards visual obstacle avoidance.

Parameters

  • request – GetObstacleAvoidance service request

  • response – GetObstacleAvoidance service response

void get_upwards_vo_obstacle_avoidance_cb(const std::shared_ptr<GetObstacleAvoidance::Request> request, const std::shared_ptr<GetObstacleAvoidance::Response> response)

Get status of upwards visual obstacle avoidance.

Parameters

  • request – GetObstacleAvoidance service request

  • response – GetObstacleAvoidance service response

void get_upwards_radar_obstacle_avoidance_cb(const std::shared_ptr<GetObstacleAvoidance::Request> request, const std::shared_ptr<GetObstacleAvoidance::Response> response)

Get status of upwards radar obstacle avoidance.

Parameters

  • request – GetObstacleAvoidance service request

  • response – GetObstacleAvoidance service response

void set_horizontal_mode(float x_cmd, float y_cmd, float z_cmd, float yaw_cmd, uint8_t flag)

Sets horizontal control mode as per flag, updates x, y, and z values and sets Joystick mode.

void set_vertical_mode(float x_cmd, float y_cmd, float z_cmd, float yaw_cmd, uint8_t flag)

Sets vertical control mode as per, flag updates x, y, and z values and sets Joystick mode.

void set_yaw_mode(float x_cmd, float y_cmd, float z_cmd, float yaw_cmd, uint8_t flag)

Sets yaw control mode as per flag, updates yaw value and sets Joystick mode.