Telemetry interface for the AscTec AutoPilot. More...

#include <telemetry.h>

Classes
struct	CONTROLLER_OUTPUT
struct	CTRL_INPUT
struct	GPS_DATA
struct	GPS_DATA_ADVANCED
struct	IMU_CALCDATA
struct	IMU_RAWDATA
struct	LL_STATUS
struct	RC_DATA
struct	WAYPOINT
Public Member Functions
void	buildRequest ()
	Enables Polling of a Request Message.
void	copyCONTROLLER_OUTPUT ()
void	copyCTRL_INPUT (asctec_msgs::CtrlInput msg)
void	copyGPS_DATA ()
void	copyGPS_DATA_ADVANCED ()
void	copyIMU_CALCDATA ()
void	copyIMU_RAWDATA ()
void	copyLL_STATUS ()
void	copyRC_DATA ()
void	dumpCONTROLLER_OUTPUT ()
void	dumpCTRL_INPUT ()
void	dumpGPS_DATA ()
void	dumpGPS_DATA_ADVANCED ()
void	dumpIMU_CALCDATA ()
void	dumpIMU_RAWDATA ()
void	dumpLL_STATUS ()
void	dumpRC_DATA ()
void	enableControl (Telemetry *telemetry_, uint8_t interval=1, uint8_t offset=0)
void	enablePolling (RequestType msg, uint8_t interval=1, uint8_t offset=0)
	Enables Polling of a Request Message.
void	estopCallback (const std_msgs::Bool msg)
void	publishPackets ()
std::string	requestToString (RequestTypes::RequestType t)
	Telemetry (ros::NodeHandle nh)
	Constructor.
	~Telemetry ()
	Destructor.
Public Attributes
uint16_t	controlCount_
bool	controlEnabled_
uint8_t	controlInterval_
struct CONTROLLER_OUTPUT	CONTROLLER_OUTPUT_
asctec_msgs::ControllerOutputPtr	ControllerOutput_
uint8_t	controlOffset_
ros::Subscriber	controlSubscriber_
struct CTRL_INPUT	CTRL_INPUT_
bool	estop_
ros::Subscriber	estopSubscriber_
struct GPS_DATA	GPS_DATA_
struct GPS_DATA_ADVANCED	GPS_DATA_ADVANCED_
asctec_msgs::GPSDataPtr	GPSData_
asctec_msgs::GPSDataAdvancedPtr	GPSDataAdvanced_
struct IMU_CALCDATA	IMU_CALCDATA_
struct IMU_RAWDATA	IMU_RAWDATA_
asctec_msgs::IMUCalcDataPtr	IMUCalcData_
asctec_msgs::IMURawDataPtr	IMURawData_
struct LL_STATUS	LL_STATUS_
asctec_msgs::LLStatusPtr	LLStatus_
ros::NodeHandle	nh_
bool	pollingEnabled_
struct RC_DATA	RC_DATA_
asctec_msgs::RCDataPtr	RCData_
uint16_t	REQUEST_BITMASK [REQUEST_TYPES]
uint16_t	requestCount_
uint8_t	requestInterval_ [REQUEST_TYPES]
uint8_t	requestOffset_ [REQUEST_TYPES]
std::bitset< 16 >	requestPackets_
ros::Publisher	requestPublisher_ [REQUEST_TYPES]
ros::Time	timestamps_ [REQUEST_TYPES]
struct WAYPOINT	WAYPOINT_
Static Public Attributes
static const uint8_t	PD_CAMERACOMMANDS = 0x30
static const uint8_t	PD_CTRLCOMMANDS = 0x13
static const uint8_t	PD_CTRLFALCON = 0x18
static const uint8_t	PD_CTRLINPUT = 0x17
static const uint8_t	PD_CTRLINTERNAL = 0x14
static const uint8_t	PD_CTRLOUT = 0x11
static const uint8_t	PD_CTRLSTATUS = 0x16
static const uint8_t	PD_CURRENTWAY = 0x21
static const uint8_t	PD_DEBUGDATA = 0x05
static const uint8_t	PD_FLIGHTPARAMS = 0x12
static const uint8_t	PD_GOTOCOMMAND = 0x25
static const uint8_t	PD_GPSDATA = 0x23
static const uint8_t	PD_GPSDATAADVANCED = 0x29
static const uint8_t	PD_HLSTATUS = 0x04
static const uint8_t	PD_HOMECOMMAND = 0x28
static const uint8_t	PD_IMUCALCDATA = 0x03
static const uint8_t	PD_IMURAWDATA = 0x01
static const uint8_t	PD_LANDCOMMAND = 0x27
static const uint8_t	PD_LAUNCHCOMMAND = 0x26
static const uint8_t	PD_LLSTATUS = 0x02
static const uint8_t	PD_NMEADATA = 0x22
static const uint8_t	PD_RCDATA = 0x15
static const uint8_t	PD_SINGLEWAYPOINT = 0x24
static const uint8_t	PD_WAYPOINT = 0x20
static const uint8_t	REQUEST_TYPES = 9

Detailed Description

Telemetry interface for the AscTec AutoPilot.

This class provides functions to help build request messages and it also provides a place for both the SerialInterface and the AutoPilot classes to pass telemetry information.

The most widely used methods are:

Setup:
- enablePolling()
- buildRequest()
- ros::init()

Definition at line 68 of file telemetry.h.

Constructor & Destructor Documentation

asctec::Telemetry::Telemetry ( ros::NodeHandle nh )

Constructor.

This handles telemetry packet storage and processing.

Definition at line 42 of file telemetry.cpp.

asctec::Telemetry::~Telemetry ( )

Destructor.

Please Recycle your electrons.

Definition at line 70 of file telemetry.cpp.

Member Function Documentation

void asctec::Telemetry::buildRequest ( )

Enables Polling of a Request Message.

Due to the limited bandwidth available over the wireless link this function provides a means of selectivly enabling polling of various request messages. The interval argument allows for some messages to be polled more frequently than others, while the offset provides a way to space out the message requests.

Parameters:

msg	Message type to poll
interval	Message Polling Interval (Message Hz = Polling HZ / interval)
offset	(optional) Polling offset (interval = 2 & offset = 1 -> odd polling)

Returns:: Void.

Definition at line 74 of file telemetry.cpp.

void asctec::Telemetry::copyCONTROLLER_OUTPUT ( )

Definition at line 448 of file telemetry.cpp.

void asctec::Telemetry::copyCTRL_INPUT ( asctec_msgs::CtrlInput msg )

Definition at line 489 of file telemetry.cpp.

void asctec::Telemetry::copyGPS_DATA ( )

Definition at line 456 of file telemetry.cpp.

void asctec::Telemetry::copyGPS_DATA_ADVANCED ( )

Definition at line 471 of file telemetry.cpp.

void asctec::Telemetry::copyIMU_CALCDATA ( )

Definition at line 409 of file telemetry.cpp.

void asctec::Telemetry::copyIMU_RAWDATA ( )

Definition at line 394 of file telemetry.cpp.

void asctec::Telemetry::copyLL_STATUS ( )

Definition at line 381 of file telemetry.cpp.

void asctec::Telemetry::copyRC_DATA ( )

Definition at line 438 of file telemetry.cpp.

void asctec::Telemetry::dumpCONTROLLER_OUTPUT ( )

Definition at line 325 of file telemetry.cpp.

void asctec::Telemetry::dumpCTRL_INPUT ( )

Definition at line 370 of file telemetry.cpp.

void asctec::Telemetry::dumpGPS_DATA ( )

Definition at line 334 of file telemetry.cpp.

void asctec::Telemetry::dumpGPS_DATA_ADVANCED ( )

Definition at line 350 of file telemetry.cpp.

void asctec::Telemetry::dumpIMU_CALCDATA ( )

Definition at line 282 of file telemetry.cpp.

void asctec::Telemetry::dumpIMU_RAWDATA ( )

Definition at line 265 of file telemetry.cpp.

void asctec::Telemetry::dumpLL_STATUS ( )

Definition at line 248 of file telemetry.cpp.

void asctec::Telemetry::dumpRC_DATA ( )

Definition at line 313 of file telemetry.cpp.

void asctec::Telemetry::enableControl	(	Telemetry *	telemetry_,
		uint8_t	interval = `1`,
		uint8_t	offset = `0`
	)

Definition at line 180 of file telemetry.cpp.

void asctec::Telemetry::enablePolling	(	RequestType	msg,
		uint8_t	interval = `1`,
		uint8_t	offset = `0`
	)

Enables Polling of a Request Message.

Due to the limited bandwidth available over the wireless link this function provides a means of selectivly enabling polling of various request messages. The interval argument allows for some messages to be polled more frequently than others, while the offset provides a way to space out the message requests.

Parameters:

msg	Message type to poll
interval	Message Polling Interval (Message Hz = Polling HZ / interval)
offset	(optional) Polling offset (interval = 2 & offset = 1 -> odd polling)