Inheritance diagram for starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet:

Public Member Functions
	AscTecHLInterfaceAdapterNodelet ()
void	onInit ()
Private Member Functions
void	assemble_command (double roll, double pitch, double yaw_rate, double thrust, asctec_hl_comm::mav_ctrlPtr ctrl_msg)
void	cfgCallback (starmac_robots_asctec::AscTecAdapterConfig &config, uint32_t level)
double	computeThrust (const double alt_cmd, ros::Duration &dt)
double	computeYawRate (double yaw_cmd, ros::Duration &dt)
void	controlInputCallback (const flyer_controller::control_mode_outputConstPtr &msg)
void	deadmanCallback (const ros::TimerEvent &e)
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	getLatestYPR (double &yaw, double &pitch, double &roll)
void	initDiagnostics ()
void	initDynamicReconfigure ()
void	initParameters ()
void	initPublishers ()
void	initSubscribers ()
void	initTimers ()
bool	isSafeToReconfigure ()
void	landNowCallback (const std_msgs::BoolConstPtr &msg)
void	mavStatusCallback (const asctec_hl_comm::mav_statusConstPtr &msg)
void	motorEnableCallback (const std_msgs::BoolConstPtr &msg)
void	rotateRollAndPitch (const double roll_cmd, const double pitch_cmd, double &roll_cmd_rotated, double &pitch_cmd_rotated)
void	setAltControllerParams (double KP, double KI, double KD, double Ilimit)
void	setYawControllerParams (double KP, double KI, double KD, double Ilimit)
void	stateCallback (const nav_msgs::OdometryConstPtr &msg)
Private Attributes
double	accel_bias
double	alt_d_term
double	alt_dd_term
double	alt_i_term
double	alt_Ilimit
double	alt_KD
double	alt_KDD
double	alt_KI
double	alt_KP
double	alt_p_term
starmac_robots_asctec::Pid	alt_pid
double	alt_slew_rate_limit
bool	battery_low_warning_sent
ros::Subscriber	control_input_sub
bool	deadman
ros::Duration	deadman_timeout
ros::Timer	deadman_timer
diagnostic_updater::Updater	diag_updater
dynamic_reconfigure::Server < starmac_robots_asctec::AscTecAdapterConfig >	dyn_reconfig_srv
ros::Publisher	estop_pub
bool	estop_sent
diagnostic_updater::FrequencyStatus	freq_status
bool	got_first_control_input
bool	got_first_state
ros::Publisher	imu_pub
ros::Subscriber	imu_sub
bool	land_now
double	land_now_min_thrust_ratio
ros::Subscriber	land_now_sub
unsigned int	land_now_thrust_decrease_rate
ros::Time	last_imu_time
ros::Time	last_mav_status_time
ros::Time	last_motor_enable_time
ros::Time	last_state_time
double	last_thrust
double	last_z_accel
double	latest_battery_voltage
asctec_hl_comm::mav_status	latest_mav_status
bool	latest_motor_enable
nav_msgs::Odometry	latest_state
bool	mav_status_cb_called
ros::Subscriber	mav_status_sub
ros::Duration	max_control_input_age
double	max_freq
ros::Duration	max_mav_status_age
ros::Duration	max_motor_enable_age
ros::Duration	max_state_age
double	max_thrust
double	min_battery_voltage
double	min_freq
ros::Subscriber	motor_enable_sub
ros::NodeHandle	nh
ros::NodeHandle	nh_priv
double	nominal_thrust
ros::Publisher	output
double	pitch_slew_rate_limit
double	pitch_trim
flyer_controller::control_mode_output	prev_control_input_msg
ros::Time	prev_control_input_time
double	roll_slew_rate_limit
double	roll_trim
ros::Subscriber	state_sub
bool	thrust_autoadjust
double	thrust_mult
double	yaw_Ilimit
double	yaw_KD
double	yaw_KI
double	yaw_KP
double	yaw_offset
starmac_robots_asctec::Pid	yaw_pid
double	yaw_rate_limit
double	yaw_slew_rate_limit

Detailed Description

Definition at line 82 of file asctec_hl_interface_adapter.cpp.

Constructor & Destructor Documentation

starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::AscTecHLInterfaceAdapterNodelet ( ) [inline]

Definition at line 168 of file asctec_hl_interface_adapter.cpp.

Member Function Documentation

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::assemble_command	(	double	roll,
		double	pitch,
		double	yaw_rate,
		double	thrust,
		asctec_hl_comm::mav_ctrlPtr	ctrl_msg
	)		`[inline, private]`

Definition at line 696 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::cfgCallback	(	starmac_robots_asctec::AscTecAdapterConfig &	config,
		uint32_t	level
	)		`[inline, private]`

Definition at line 314 of file asctec_hl_interface_adapter.cpp.

double starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::computeThrust	(	const double	alt_cmd,
		ros::Duration &	dt
	)		`[inline, private]`

Definition at line 615 of file asctec_hl_interface_adapter.cpp.

double starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::computeYawRate	(	double	yaw_cmd,
		ros::Duration &	dt
	)		`[inline, private]`

Definition at line 664 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::controlInputCallback ( const flyer_controller::control_mode_outputConstPtr & msg ) [inline, private]

Definition at line 485 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::deadmanCallback ( const ros::TimerEvent & e ) [inline, private]

Definition at line 708 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline, private]

Definition at line 341 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::getLatestYPR	(	double &	yaw,
		double &	pitch,
		double &	roll
	)		`[inline, private]`

Definition at line 680 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::initDiagnostics ( ) [inline, private]

Definition at line 220 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::initDynamicReconfigure ( ) [inline, private]

Definition at line 229 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::initParameters ( ) [inline, private]

Definition at line 237 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::initPublishers ( ) [inline, private]

Definition at line 276 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::initSubscribers ( ) [inline, private]

Definition at line 294 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::initTimers ( ) [inline, private]

Definition at line 284 of file asctec_hl_interface_adapter.cpp.

bool starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::isSafeToReconfigure ( ) [inline, private]

Definition at line 768 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::landNowCallback ( const std_msgs::BoolConstPtr & msg ) [inline, private]

Definition at line 462 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::mavStatusCallback ( const asctec_hl_comm::mav_statusConstPtr & msg ) [inline, private]

Definition at line 467 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::motorEnableCallback ( const std_msgs::BoolConstPtr & msg ) [inline, private]

Definition at line 377 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::onInit ( ) [inline, virtual]

Implements nodelet::Nodelet.

Definition at line 207 of file asctec_hl_interface_adapter.cpp.

void starmac_robots_asctec::AscTecHLInterfaceAdapterNodelet::rotateRollAndPitch	(	const double	roll_cmd,
		const double	pitch_cmd,
		double &	roll_cmd_rotated,
		double &	pitch_cmd_rotated
	)		`[inline, private]`