Class FlightControlModule

• Defined in File flight_control.hpp

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class FlightControlModule : public rclcpp_lifecycle::LifecycleNode

Public Types

using Trigger = std_srvs::srv::Trigger

using SetHomeFromGPS = psdk_interfaces::srv::SetHomeFromGPS

using SetGoHomeAltitude = psdk_interfaces::srv::SetGoHomeAltitude

using GetGoHomeAltitude = psdk_interfaces::srv::GetGoHomeAltitude

using SetObstacleAvoidance = psdk_interfaces::srv::SetObstacleAvoidance

using GetObstacleAvoidance = psdk_interfaces::srv::GetObstacleAvoidance

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