AP_Avoidance_Copter Class Reference

#include <avoidance_adsb.h>

Inheritance diagram for AP_Avoidance_Copter:

Collaboration diagram for AP_Avoidance_Copter:

Public Member Functions
	AP_Avoidance_Copter (AP_AHRS &ahrs, class AP_ADSB &adsb)
	AP_Avoidance_Copter (const AP_Avoidance_Copter &other)=delete
AP_Avoidance_Copter &	operator= (const AP_Avoidance_Copter &)=delete
Public Member Functions inherited from AP_Avoidance
void	add_obstacle (uint32_t obstacle_timestamp_ms, const MAV_COLLISION_SRC src, uint32_t src_id, const Location &loc, const Vector3f &vel_ned)
void	add_obstacle (uint32_t obstacle_timestamp_ms, const MAV_COLLISION_SRC src, uint32_t src_id, const Location &loc, float cog, float hspeed, float vspeed)
void	update ()
void	enable ()
void	disable ()
MAV_COLLISION_THREAT_LEVEL	current_threat_level () const
void	handle_msg (const mavlink_message_t &msg)

Protected Member Functions
MAV_COLLISION_ACTION	handle_avoidance (const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override
void	handle_recovery (uint8_t recovery_action) override
bool	check_flightmode (bool allow_mode_change)
bool	handle_avoidance_vertical (const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change)
bool	handle_avoidance_horizontal (const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change)
bool	handle_avoidance_perpendicular (const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change)
Protected Member Functions inherited from AP_Avoidance
	AP_Avoidance (AP_AHRS &ahrs, class AP_ADSB &adsb)
void	handle_avoidance_local (AP_Avoidance::Obstacle *threat)
void	handle_threat_gcs_notify (AP_Avoidance::Obstacle *threat)
AP_Avoidance::Obstacle *	most_serious_threat ()
MAV_COLLISION_ACTION	mav_avoidance_action ()
bool	get_destination_perpendicular (const AP_Avoidance::Obstacle *obstacle, Vector3f &newdest_neu, const float wp_speed_xy, const float wp_speed_z, const uint8_t _minimum_avoid_height)
bool	get_vector_perpendicular (const AP_Avoidance::Obstacle *obstacle, Vector3f &vec_neu)

Protected Attributes
control_mode_t	prev_control_mode = RTL
Protected Attributes inherited from AP_Avoidance
uint32_t	_last_state_change_ms
MAV_COLLISION_THREAT_LEVEL	_threat_level
uint32_t	_gcs_cleared_messages_first_sent
const AP_AHRS &	_ahrs

Private Member Functions
void	set_mode_else_try_RTL_else_LAND (control_mode_t mode)

Additional Inherited Members
Static Public Attributes inherited from AP_Avoidance
static const struct AP_Param::GroupInfo	var_info []
Static Protected Member Functions inherited from AP_Avoidance
static Vector3f	perpendicular_xyz (const Location &p1, const Vector3f &v1, const Location &p2)
static Vector2f	perpendicular_xy (const Location &p1, const Vector3f &v1, const Location &p2)
Static Protected Attributes inherited from AP_Avoidance
static const uint8_t	_gcs_cleared_messages_duration

Detailed Description

Definition at line 9 of file avoidance_adsb.h.

Constructor & Destructor Documentation

AP_Avoidance_Copter() [1/2]

AP_Avoidance_Copter::AP_Avoidance_Copter ( AP_AHRS &  ahrs, class AP_ADSB &  adsb  )

inline

Definition at line 11 of file avoidance_adsb.h.

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AP_Avoidance_Copter() [2/2]

AP_Avoidance_Copter::AP_Avoidance_Copter ( const AP_Avoidance_Copter &  other )

delete

Member Function Documentation

check_flightmode()

bool AP_Avoidance_Copter::check_flightmode ( bool  allow_mode_change )

protected

Definition at line 147 of file avoidance_adsb.cpp.

Referenced by AP_Avoidance_Copter().

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handle_avoidance()

MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance ( const AP_Avoidance::Obstacle *  obstacle, MAV_COLLISION_ACTION  requested_action  )

overrideprotectedvirtual

Implements AP_Avoidance.

Definition at line 13 of file avoidance_adsb.cpp.

Referenced by AP_Avoidance_Copter().

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handle_avoidance_horizontal()

bool AP_Avoidance_Copter::handle_avoidance_horizontal ( const AP_Avoidance::Obstacle *  obstacle, bool  allow_mode_change  )

protected

Definition at line 192 of file avoidance_adsb.cpp.

Referenced by AP_Avoidance_Copter().

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handle_avoidance_perpendicular()

bool AP_Avoidance_Copter::handle_avoidance_perpendicular ( const AP_Avoidance::Obstacle *  obstacle, bool  allow_mode_change  )

protected

Definition at line 222 of file avoidance_adsb.cpp.

Referenced by AP_Avoidance_Copter().

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handle_avoidance_vertical()

bool AP_Avoidance_Copter::handle_avoidance_vertical ( const AP_Avoidance::Obstacle *  obstacle, bool  allow_mode_change  )

protected

Definition at line 161 of file avoidance_adsb.cpp.

Referenced by AP_Avoidance_Copter().

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handle_recovery()

void AP_Avoidance_Copter::handle_recovery ( uint8_t  recovery_action )

overrideprotectedvirtual

Implements AP_Avoidance.

Definition at line 100 of file avoidance_adsb.cpp.

Referenced by AP_Avoidance_Copter().

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operator=()

AP_Avoidance_Copter& AP_Avoidance_Copter::operator= ( const AP_Avoidance_Copter &  )

delete

Referenced by AP_Avoidance_Copter().

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set_mode_else_try_RTL_else_LAND()

void AP_Avoidance_Copter::set_mode_else_try_RTL_else_LAND ( control_mode_t  mode )

private

Definition at line 136 of file avoidance_adsb.cpp.

Referenced by AP_Avoidance_Copter().

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Member Data Documentation

prev_control_mode

control_mode_t AP_Avoidance_Copter::prev_control_mode = RTL

protected

Definition at line 44 of file avoidance_adsb.h.

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

• ArduCopter/avoidance_adsb.h
• ArduCopter/avoidance_adsb.cpp