VSM C++ SDK
Vehicle Specific Modules SDK
ugcs::vsm::Landing_action Class Reference

Land at the specified position. More...

#include <landing_action.h>

Inheritance diagram for ugcs::vsm::Landing_action:
ugcs::vsm::Action

Public Types

typedef std::shared_ptr< Landing_actionPtr
 Pointer type.
 
typedef std::weak_ptr< Landing_actionWeak_ptr
 Pointer type.
 
- Public Types inherited from ugcs::vsm::Action
enum  Type {
  Type::MOVE, Type::WAIT, Type::PAYLOAD_STEERING, Type::TAKEOFF,
  Type::LANDING, Type::CHANGE_SPEED, Type::SET_HOME, Type::POI,
  Type::HEADING, Type::CAMERA_CONTROL, Type::CAMERA_TRIGGER, Type::PANORAMA,
  Type::TASK_ATTRIBUTES, Type::CAMERA_SERIES_BY_TIME, Type::CAMERA_SERIES_BY_DISTANCE, Type::SET_PARAMETER,
  Type::SET_SERVO, Type::REPEAT_SERVO
}
 Types of vehicle actions as part of task (mission). More...
 
typedef std::shared_ptr< ActionPtr
 Pointer type.
 
typedef std::weak_ptr< ActionWeak_ptr
 Pointer type.
 
typedef ugcs::vsm::Param_exception< Format_exception_dummy_struct,> Format_exception
 

Public Member Functions

 Landing_action (Wgs84_position position, double heading, double elevation, double descend_rate, double acceptance_radius)
 Construct the landing action explicitly. More...
 
 Landing_action (const mavlink::ugcs::Pld_mission_item_ex &item)
 Construct landing action from Mavlink extended mission item. More...
 
 Landing_action (const Property_list &p)
 Construct move action from protobuf command.
 
- Public Member Functions inherited from ugcs::vsm::Action
 Action (Type type)
 Construct action of specific type. More...
 
virtual ~Action ()
 Make sure Action is polymorphic. More...
 
Type Get_type () const
 Get action type. More...
 
void Set_id (int id)
 
std::string Get_name ()
 Get human readable name of the action. More...
 
template<Type type_val>
Mapper< type_val >::type::Ptr Get_action ()
 Get pointer to specific action as determined by Get_type. More...
 

Static Public Member Functions

template<typename... Args>
static Ptr Create (Args &&...args)
 Create an instance. More...
 
- Static Public Member Functions inherited from ugcs::vsm::Action
template<typename... Args>
static Ptr Create (Args &&...args)
 Create an instance. More...
 

Public Attributes

Wgs84_position position
 Landing position. More...
 
double heading
 Heading in radians. More...
 
double elevation
 Elevation in meters (i.e. More...
 
double descend_rate
 Descending rate, m/s. More...
 
double acceptance_radius
 Acceptance radius of the position. More...
 
- Public Attributes inherited from ugcs::vsm::Action
int command_id = -1
 

Detailed Description

Land at the specified position.

Constructor & Destructor Documentation

ugcs::vsm::Landing_action::Landing_action ( Wgs84_position  position,
double  heading,
double  elevation,
double  descend_rate,
double  acceptance_radius 
)
inline

Construct the landing action explicitly.

ugcs::vsm::Landing_action::Landing_action ( const mavlink::ugcs::Pld_mission_item_ex &  item)
inline

Construct landing action from Mavlink extended mission item.

Parameters
itemWith command equal to mavlink::ugcs::MAV_CMD::MAV_CMD_NAV_LAND_EX

Member Function Documentation

template<typename... Args>
static Ptr ugcs::vsm::Landing_action::Create ( Args &&...  args)
inlinestatic

Create an instance.

Member Data Documentation

double ugcs::vsm::Landing_action::acceptance_radius

Acceptance radius of the position.

Maximum distance at which the position is considered reached by the vehicle. Set in meters.

double ugcs::vsm::Landing_action::descend_rate

Descending rate, m/s.

double ugcs::vsm::Landing_action::elevation

Elevation in meters (i.e.

terrain height) underneath the position.

double ugcs::vsm::Landing_action::heading

Heading in radians.

Wgs84_position ugcs::vsm::Landing_action::position

Landing position.

The landing phase should start at the specified position, i.e. altitude is an initial altitude for the landing phase.


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