asctec_adapter.cpp File Reference

#include <algorithm>
#include <ros/ros.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/update_functions.h>
#include <dynamic_reconfigure/server.h>
#include <starmac_robots_asctec/AscTecAdapterConfig.h>
#include <string>
#include <angles/angles.h>
#include "asctec_msgs/CtrlInput.h"
#include "asctec_msgs/LLStatus.h"
#include "asctec_msgs/IMUCalcData.h"
#include "std_msgs/Bool.h"
#include "flyer_controller/control_mode_output.h"
#include "control_toolbox/pid.h"
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include <tf/tf.h>
#include <tf/transform_datatypes.h>
#include "starmac_robots_asctec/misc.h"

Include dependency graph for asctec_adapter.cpp:

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Classes
class	starmac_robots_asctec::AscTecAdapter
Namespaces
namespace	starmac_robots_asctec
Functions
int	main (int argc, char **argv)
Variables
const double	ASC_TO_ROS_ACC = (1.0 / 10000.0) * 9.81
const double	ASC_TO_ROS_ANGLE = (1.0 / 1000.0) * 3.14159265 / 180.0
const double	ASC_TO_ROS_ANGVEL = (1.0 / 64.8) * 3.14159265 / 180.0
const double	ASC_TO_ROS_HEIGHT = (1.0 / 1000.0)
static short int	CTRL_ALL = CTRL_PITCH | CTRL_ROLL | CTRL_YAW | CTRL_THRUST
static short int	CTRL_NONE = 0
static short int	CTRL_PITCH = 1
static short int	CTRL_ROLL = 2
static short int	CTRL_THRUST = 8
static short int	CTRL_YAW = 4
static double	PITCH_SCALE = 40
static double	ROLL_SCALE = 40
static double	THRUST_SCALE = 4095 / 32
static double	YAW_SCALE = 2047 / 254.760

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 768 of file asctec_adapter.cpp.

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Variable Documentation

const double ASC_TO_ROS_ACC = (1.0 / 10000.0) * 9.81

Definition at line 79 of file asctec_adapter.cpp.

const double ASC_TO_ROS_ANGLE = (1.0 / 1000.0) * 3.14159265 / 180.0

Definition at line 77 of file asctec_adapter.cpp.

const double ASC_TO_ROS_ANGVEL = (1.0 / 64.8) * 3.14159265 / 180.0

Definition at line 78 of file asctec_adapter.cpp.

const double ASC_TO_ROS_HEIGHT = (1.0 / 1000.0)

Definition at line 80 of file asctec_adapter.cpp.

short int CTRL_ALL = CTRL_PITCH | CTRL_ROLL | CTRL_YAW | CTRL_THRUST [static]

Definition at line 63 of file asctec_adapter.cpp.

short int CTRL_NONE = 0 [static]

Definition at line 62 of file asctec_adapter.cpp.

short int CTRL_PITCH = 1 [static]

Definition at line 58 of file asctec_adapter.cpp.

short int CTRL_ROLL = 2 [static]

Definition at line 59 of file asctec_adapter.cpp.

short int CTRL_THRUST = 8 [static]

Definition at line 61 of file asctec_adapter.cpp.

short int CTRL_YAW = 4 [static]

Definition at line 60 of file asctec_adapter.cpp.

double PITCH_SCALE = 40 [static]

Definition at line 68 of file asctec_adapter.cpp.

double ROLL_SCALE = 40 [static]

Definition at line 67 of file asctec_adapter.cpp.

double THRUST_SCALE = 4095 / 32 [static]

Definition at line 74 of file asctec_adapter.cpp.

double YAW_SCALE = 2047 / 254.760 [static]

Definition at line 72 of file asctec_adapter.cpp.