BehaviorOwnedMode Class Reference

Registration placeholder PX4 mode owned by a BehaviorModeExecutor. More...

#include <auto_apms_px4/behavior_mode_executor.hpp>

Public Member Functions
void	finish (px4_ros2::Result result)
	Report completion of the mode to the FMU. Only takes effect while the mode is active.

Detailed Description

Registration placeholder PX4 mode owned by a BehaviorModeExecutor.

This mode exists only because px4_ros2 requires every mode to declare at least one setpoint type and because a mode executor must own a mode. It is never meant to actively fly: whenever the executor is in charge it keeps the builtin, vehicle-type-aware Loiter mode scheduled, which both provides a fixed-wing- and multicopter-safe hold and prevents this mode from becoming the active setpoint source. It declares a direct-actuators setpoint type only to satisfy that requirement (it needs no position estimate to be valid) but never publishes a setpoint, so it drives no airframe should the mode ever become active. The mode is also where behavior completion is reported to the FMU (see BehaviorModeExecutor::CompletionReaction::COMPLETE).

Definition at line 57 of file behavior_mode_executor.hpp.

Member Function Documentation

finish()

void finish ( px4_ros2::Result result )

inline

Report completion of the mode to the FMU. Only takes effect while the mode is active.

Parameters

result

PX4 result code.

Definition at line 70 of file behavior_mode_executor.hpp.

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

• auto-apms-px4/auto_apms_px4/include/auto_apms_px4/behavior_mode_executor.hpp
• auto-apms-px4/auto_apms_px4/src/behavior_mode_executor.cpp