Module actions 

Built-in action nodes for behavior trees.

Common action nodes implementing BehaviorNode, registrable via NodeRegistry.

Structs

CaptureTargetNode

CheckArrivalNode

FollowPathNode

GoToLocationNode

IdleNode

InstanceTrackTaskNode

LandNode

Descends from the current altitude down to ground_altitude_m (default 0.0) using the same PID altitude-hold loop as TakeoffNode, publishing a zero-thrust command once touchdown is detected so the rotors don’t keep holding hover thrust at ground level.

MoveNode

PauseNode

PlanPathNode

RlTaskNode

SensorCheckNode

SetGoToLocationTargetNode

SetInstanceTrackTargetNode

SetRlTargetNode

StopNode

TakeoffNode

Climbs from the ground to target_altitude_m using a PID altitude-hold loop, publishing per-rotor thrust to motor_cmd_topic until the target is reached (Success) or timeout_secs elapses without reaching it (Failure).

TimerNode

WanderNode

Functions

register_builtin_actions

Register all built-in action nodes with a registry.