MAVROS node implementation. More...

Classes
union	px4::custom_mode
	PX4 custom mode. More...
class	mavros::MavlinkDiag
class	mavros::MavRos
	MAVROS node class. More...
class	mavros::UAS
	UAS for plugins. More...
Namespaces
namespace	mavros
namespace	px4
Defines
#define	UAS_FCU(uasobjptr) ((uasobjptr)->fcu_link)
	helper accessor to FCU link interface
#define	UAS_PACK_CHAN(uasobjptr)
	helper for mavlink_msg_*_pack_chan()
#define	UAS_PACK_TGT(uasobjptr)
	helper for pack messages with target fields
Typedefs
typedef std::lock_guard < std::recursive_mutex >	mavros::UAS::lock_guard
typedef std::unique_lock < std::recursive_mutex >	mavros::UAS::unique_lock
Enumerations
enum	px4::custom_mode::MAIN_MODE { px4::custom_mode::MAIN_MODE_MANUAL = 1, px4::custom_mode::MAIN_MODE_ALTCTL, px4::custom_mode::MAIN_MODE_POSCTL, px4::custom_mode::MAIN_MODE_AUTO, px4::custom_mode::MAIN_MODE_ACRO, px4::custom_mode::MAIN_MODE_OFFBOARD }
enum	px4::custom_mode::SUB_MODE_AUTO { px4::custom_mode::SUB_MODE_AUTO_READY = 1, px4::custom_mode::SUB_MODE_AUTO_TAKEOFF, px4::custom_mode::SUB_MODE_AUTO_LOITER, px4::custom_mode::SUB_MODE_AUTO_MISSION, px4::custom_mode::SUB_MODE_AUTO_RTL, px4::custom_mode::SUB_MODE_AUTO_LAND, px4::custom_mode::SUB_MODE_AUTO_RTGS }
Functions
void	mavros::MavRos::add_plugin (std::string &pl_name)
bool	mavros::MavRos::check_in_blacklist (std::string &pl_name)
bool	mavros::UAS::cmode_from_str (std::string cmode_str, uint32_t &custom_mode)
	Lookup custom mode for given string.
	px4::custom_mode::custom_mode ()
	px4::custom_mode::custom_mode (uint32_t val)
constexpr	px4::custom_mode::custom_mode (uint8_t mm, uint8_t sm)
constexpr uint32_t	px4::define_mode (enum custom_mode::MAIN_MODE mm, uint8_t sm=0)
	helper function to define any mode as uint32_t constant
constexpr uint32_t	px4::define_mode_auto (enum custom_mode::SUB_MODE_AUTO sm)
	helper function to define auto mode as uint32_t constant
tf::Vector3	mavros::UAS::get_attitude_angular_velocity ()
	Get Attitude angular velocity vector.
tf::Vector3	mavros::UAS::get_attitude_linear_acceleration ()
	Get Attitude linear acceleration vector.
tf::Quaternion	mavros::UAS::get_attitude_orientation ()
	Get Attitude orientation quaternion.
enum MAV_AUTOPILOT	mavros::UAS::get_autopilot ()
	Returns autopilot type.
bool	mavros::UAS::get_connection_status ()
	Returns connection status.
double	mavros::UAS::get_gps_altitude ()
double	mavros::UAS::get_gps_eph ()
double	mavros::UAS::get_gps_epv ()
double	mavros::UAS::get_gps_latitude ()
double	mavros::UAS::get_gps_longitude ()
bool	mavros::UAS::get_gps_status ()
uint8_t	mavros::UAS::get_tgt_component ()
	Return communication target component.
uint8_t	mavros::UAS::get_tgt_system ()
	Return communication target system.
uint64_t	mavros::UAS::get_time_offset (void)
enum MAV_TYPE	mavros::UAS::get_type ()
	Returns vehicle type.
bool	mavros::UAS::is_ardupilotmega ()
	Check that FCU is APM.
bool	mavros::UAS::is_px4 ()
	Check that FCU is PX4.
void	mavros::MavRos::log_connect_change (bool connected)
void	mavros::MavRos::mavlink_pub_cb (const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid)
void	mavros::MavRos::mavlink_sub_cb (const Mavlink::ConstPtr &rmsg)
	mavros::MavlinkDiag::MavlinkDiag (std::string name)
	mavros::MavRos::MavRos (const ros::NodeHandle &nh_)
void	mavros::MavRos::plugin_route_cb (const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid)
void	mavros::MavlinkDiag::run (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	mavros::UAS::set_attitude_angular_velocity (tf::Vector3 &vec)
	Store Attitude angular velocity vector.
void	mavros::UAS::set_attitude_linear_acceleration (tf::Vector3 &vec)
	Store Attitude linear acceleration vector.
void	mavros::UAS::set_attitude_orientation (tf::Quaternion &quat)
	Store Attitude orientation quaternion.
void	mavros::MavlinkDiag::set_connection_status (bool connected)
void	mavros::UAS::set_gps_llae (double latitude, double longitude, double altitude, double eph, double epv)
	Store GPS Lat/Long/Alt and EPH/EPV data.
void	mavros::UAS::set_gps_status (bool fix_status_)
void	mavros::MavlinkDiag::set_mavconn (const mavconn::MAVConnInterface::Ptr &link)
void	mavros::UAS::set_tgt (uint8_t sys, uint8_t comp)
void	mavros::UAS::set_time_offset (uint64_t offset)
void	mavros::MavRos::spin ()
void	mavros::MavRos::startup_px4_usb_quirk (void)
void	mavros::UAS::stop (void)
std::string	mavros::UAS::str_mode_v10 (uint8_t base_mode, uint32_t custom_mode)
	Represent FCU mode as string.
void	mavros::MavRos::terminate_cb ()
	mavros::UAS::UAS ()
void	mavros::UAS::update_connection_status (bool conn_)
void	mavros::UAS::update_heartbeat (uint8_t type_, uint8_t autopilot_)
	mavros::MavRos::~MavRos ()
	mavros::UAS::~UAS ()
Variables
struct {
uint8_t px4::custom_mode::main_mode
uint16_t px4::custom_mode::reserved
uint8_t px4::custom_mode::sub_mode
};
tf::Vector3	mavros::UAS::angular_velocity
std::atomic< uint8_t >	mavros::UAS::autopilot
std::atomic< bool >	mavros::UAS::connected
uint32_t	px4::custom_mode::data
float	px4::custom_mode::data_float
diagnostic_updater::Updater	mavros::MavRos::diag_updater
mavconn::MAVConnInterface::Ptr	mavros::UAS::fcu_link
	MAVLink FCU device conection.
MavlinkDiag	mavros::MavRos::fcu_link_diag
std::atomic< bool >	mavros::UAS::fix_status
mavconn::MAVConnInterface::Ptr	mavros::MavRos::gcs_link
MavlinkDiag	mavros::MavRos::gcs_link_diag
double	mavros::UAS::gps_altitude
double	mavros::UAS::gps_eph
double	mavros::UAS::gps_epv
double	mavros::UAS::gps_latitude
double	mavros::UAS::gps_longitude
bool	mavros::MavlinkDiag::is_connected
unsigned int	mavros::MavlinkDiag::last_drop_count
tf::Vector3	mavros::UAS::linear_acceleration
std::vector < mavplugin::MavRosPlugin::Ptr >	mavros::MavRos::loaded_plugins
uint8_t px4::custom_mode::main_mode
UAS	mavros::MavRos::mav_uas
ros::NodeHandle	mavros::MavRos::mavlink_node_handle
ros::Publisher	mavros::MavRos::mavlink_pub
ros::Subscriber	mavros::MavRos::mavlink_sub
std::array < mavconn::MAVConnInterface::MessageSig, 256 >	mavros::MavRos::message_route_table
std::recursive_mutex	mavros::UAS::mutex
	Compute FCU message time from time_boot_ms field.
ros::NodeHandle	mavros::MavRos::node_handle
tf::Quaternion	mavros::UAS::orientation
std::vector< std::string >	mavros::MavRos::plugin_blacklist
pluginlib::ClassLoader < mavplugin::MavRosPlugin >	mavros::MavRos::plugin_loader
uint16_t px4::custom_mode::reserved
boost::signals2::signal< void(bool)>	mavros::UAS::sig_connection_changed
	This signal emit when status was changed.
uint8_t px4::custom_mode::sub_mode
uint8_t	mavros::UAS::target_component
uint8_t	mavros::UAS::target_system
std::atomic< uint64_t >	mavros::UAS::time_offset
std::atomic< uint8_t >	mavros::UAS::type
mavconn::MAVConnInterface::WeakPtr	mavros::MavlinkDiag::weak_link

Detailed Description

MAVROS node implementation.

Define Documentation

#define UAS_FCU ( uasobjptr ) ((uasobjptr)->fcu_link)

helper accessor to FCU link interface

Definition at line 39 of file mavros_uas.h.

#define UAS_PACK_CHAN ( uasobjptr )

Value:

UAS_FCU(uasobjptr)->get_system_id(),            \
        UAS_FCU(uasobjptr)->get_component_id(),         \
        UAS_FCU(uasobjptr)->get_channel()

helper for mavlink_msg_*_pack_chan()

Filler for first arguments of *_pack_chan functions.

Definition at line 47 of file mavros_uas.h.

#define UAS_PACK_TGT ( uasobjptr )

Value:

(uasobjptr)->get_tgt_system(),                  \
        (uasobjptr)->get_tgt_component()

helper for pack messages with target fields

Filler for target_system, target_component fields.

Definition at line 57 of file mavros_uas.h.

Typedef Documentation

typedef std::lock_guard<std::recursive_mutex> mavros::UAS::lock_guard

Definition at line 78 of file mavros_uas.h.

typedef std::unique_lock<std::recursive_mutex> mavros::UAS::unique_lock

Definition at line 79 of file mavros_uas.h.

Enumeration Type Documentation

enum px4::custom_mode::MAIN_MODE

Enumerator:

MAIN_MODE_MANUAL
MAIN_MODE_ALTCTL
MAIN_MODE_POSCTL
MAIN_MODE_AUTO
MAIN_MODE_ACRO
MAIN_MODE_OFFBOARD

Definition at line 28 of file px4_custom_mode.h.

enum px4::custom_mode::SUB_MODE_AUTO

Enumerator:

SUB_MODE_AUTO_READY
SUB_MODE_AUTO_TAKEOFF
SUB_MODE_AUTO_LOITER
SUB_MODE_AUTO_MISSION
SUB_MODE_AUTO_RTL
SUB_MODE_AUTO_LAND
SUB_MODE_AUTO_RTGS

Definition at line 37 of file px4_custom_mode.h.

Function Documentation

void mavros::MavRos::add_plugin ( std::string & pl_name ) [private]

bool mavros::MavRos::check_in_blacklist ( std::string & pl_name ) [private]

bool UAS::cmode_from_str	(	std::string	cmode_str,
		uint32_t &	custom_mode
	)

Lookup custom mode for given string.

Complimentary to str_mode_v10()

Parameters:

[in]	cmode_str	string representation of mode
[out]	custom_mode	decoded value

Returns:: true if success

Definition at line 201 of file uas.cpp.

px4::custom_mode::custom_mode ( ) [inline]

Definition at line 55 of file px4_custom_mode.h.

px4::custom_mode::custom_mode ( uint32_t val ) [inline, explicit]

Definition at line 58 of file px4_custom_mode.h.

constexpr px4::custom_mode::custom_mode	(	uint8_t	mm,
		uint8_t	sm
	)		`[inline]`

Definition at line 61 of file px4_custom_mode.h.

constexpr uint32_t px4::define_mode	(	enum custom_mode::MAIN_MODE	mm,
		uint8_t	sm = `0`
	)

helper function to define any mode as uint32_t constant

Parameters:

mm	main mode
sm	sub mode (currently used only in auto mode)

Returns:: uint32_t representation

Definition at line 75 of file px4_custom_mode.h.

constexpr uint32_t px4::define_mode_auto ( enum custom_mode::SUB_MODE_AUTO sm )

helper function to define auto mode as uint32_t constant

Same as define_mode(custom_mode::MAIN_MODE_AUTO, sm)

Parameters:

sm	auto sub mode

Returns:: uint32_t representation

Definition at line 87 of file px4_custom_mode.h.

tf::Vector3 mavros::UAS::get_attitude_angular_velocity ( ) [inline]

Get Attitude angular velocity vector.

Returns:: angilar velocity [ENU, body-fixed]

Definition at line 171 of file mavros_uas.h.

tf::Vector3 mavros::UAS::get_attitude_linear_acceleration ( ) [inline]

Get Attitude linear acceleration vector.

Returns:: linear acceleration [ENU, body-fixed]

Definition at line 189 of file mavros_uas.h.

tf::Quaternion mavros::UAS::get_attitude_orientation ( ) [inline]

Get Attitude orientation quaternion.

Returns:: orientation quaternion [ENU, body-fixed]

Definition at line 207 of file mavros_uas.h.

enum MAV_AUTOPILOT mavros::UAS::get_autopilot ( ) [inline]

Returns autopilot type.

Definition at line 139 of file mavros_uas.h.

bool mavros::UAS::get_connection_status ( ) [inline]

Returns connection status.

Definition at line 124 of file mavros_uas.h.

double mavros::UAS::get_gps_altitude ( ) [inline]

Definition at line 252 of file mavros_uas.h.

double mavros::UAS::get_gps_eph ( ) [inline]

Definition at line 257 of file mavros_uas.h.

double mavros::UAS::get_gps_epv ( ) [inline]

Definition at line 262 of file mavros_uas.h.

double mavros::UAS::get_gps_latitude ( ) [inline]

Definition at line 242 of file mavros_uas.h.

double mavros::UAS::get_gps_longitude ( ) [inline]

Definition at line 247 of file mavros_uas.h.

bool mavros::UAS::get_gps_status ( ) [inline]

Definition at line 271 of file mavros_uas.h.

uint8_t mavros::UAS::get_tgt_component ( ) [inline]

Return communication target component.

Definition at line 156 of file mavros_uas.h.

uint8_t mavros::UAS::get_tgt_system ( ) [inline]

Return communication target system.

Definition at line 149 of file mavros_uas.h.

uint64_t mavros::UAS::get_time_offset ( void ) [inline]

Definition at line 280 of file mavros_uas.h.

enum MAV_TYPE mavros::UAS::get_type ( ) [inline]

Returns vehicle type.

Definition at line 131 of file mavros_uas.h.

bool mavros::UAS::is_ardupilotmega ( ) [inline]

Check that FCU is APM.

Definition at line 289 of file mavros_uas.h.

bool mavros::UAS::is_px4 ( ) [inline]

Check that FCU is PX4.

Definition at line 296 of file mavros_uas.h.

void mavros::MavRos::log_connect_change ( bool connected ) [private]

void mavros::MavRos::mavlink_pub_cb	(	const mavlink_message_t *	mmsg,
		uint8_t	sysid,
		uint8_t	compid
	)		`[private]`

void mavros::MavRos::mavlink_sub_cb ( const Mavlink::ConstPtr & rmsg ) [private]

MavlinkDiag::MavlinkDiag ( std::string name ) [explicit]

Definition at line 28 of file mavlink_diag.cpp.

MavRos::MavRos ( const ros::NodeHandle & nh_ ) [explicit]

Definition at line 34 of file mavros.cpp.

void mavros::MavRos::plugin_route_cb	(	const mavlink_message_t *	mmsg,
		uint8_t	sysid,
		uint8_t	compid
	)		`[private]`

void MavlinkDiag::run ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [virtual]

Implements diagnostic_updater::DiagnosticTask.

Definition at line 34 of file mavlink_diag.cpp.

void mavros::UAS::set_attitude_angular_velocity ( tf::Vector3 & vec ) [inline]

Store Attitude angular velocity vector.

Parameters:

[in] vec angular velocity [ENU, body-fixed]

Definition at line 180 of file mavros_uas.h.

void mavros::UAS::set_attitude_linear_acceleration ( tf::Vector3 & vec ) [inline]

Store Attitude linear acceleration vector.

Parameters:

[in] vec linear acceleration [ENU, body-fixed]

Definition at line 198 of file mavros_uas.h.

void mavros::UAS::set_attitude_orientation ( tf::Quaternion & quat ) [inline]

Store Attitude orientation quaternion.

Parameters:

[in] quat orientation [ENU, body-fixed]

Definition at line 216 of file mavros_uas.h.

void mavros::MavlinkDiag::set_connection_status ( bool connected ) [inline]

Definition at line 45 of file mavlink_diag.h.

void mavros::UAS::set_gps_llae	(	double	latitude,
		double	longitude,
		double	altitude,
		double	eph,
		double	epv
	)		`[inline]`

Store GPS Lat/Long/Alt and EPH/EPV data.

Parameters:

[in]	latitude	in deg
[in]	longitude	in deg
[in]	altitude	in m
[in]	eph	in m
[in]	epv	in m

Definition at line 232 of file mavros_uas.h.

void mavros::UAS::set_gps_status ( bool fix_status_ ) [inline]

Definition at line 267 of file mavros_uas.h.

void mavros::MavlinkDiag::set_mavconn ( const mavconn::MAVConnInterface::Ptr & link ) [inline]

Definition at line 41 of file mavlink_diag.h.

void mavros::UAS::set_tgt	(	uint8_t	sys,
		uint8_t	comp
	)		`[inline]`

Definition at line 160 of file mavros_uas.h.

void mavros::UAS::set_time_offset ( uint64_t offset ) [inline]

Definition at line 276 of file mavros_uas.h.

void mavros::MavRos::spin ( )

void mavros::MavRos::startup_px4_usb_quirk ( void ) [private]

void UAS::stop ( void )

Stop UAS

Definition at line 49 of file uas.cpp.

std::string UAS::str_mode_v10	(	uint8_t	base_mode,
		uint32_t	custom_mode
	)

Represent FCU mode as string.

Port pymavlink mavutil.mode_string_v10

Supported FCU's:

APM:Plane
APM:Copter
PX4

Parameters:

[in]	base_mode	base mode
[in]	custom_mode	custom mode data

Definition at line 149 of file uas.cpp.

void mavros::MavRos::terminate_cb ( ) [private]

UAS::UAS ( )

Definition at line 31 of file uas.cpp.

void mavros::UAS::update_connection_status ( bool conn_ ) [inline]

Update autopilot connection status (every HEARTBEAT/conn_timeout)

Definition at line 107 of file mavros_uas.h.

void mavros::UAS::update_heartbeat	(	uint8_t	type_,
		uint8_t	autopilot_
	)		`[inline]`

Update autopilot type on every HEARTBEAT

Definition at line 99 of file mavros_uas.h.

mavros::MavRos::~MavRos ( ) [inline]

Definition at line 50 of file mavros.h.

mavros::UAS::~UAS ( ) [inline]

Definition at line 82 of file mavros_uas.h.

Variable Documentation

struct { ... }

tf::Vector3 mavros::UAS::angular_velocity [private]

Definition at line 343 of file mavros_uas.h.

std::atomic<uint8_t> mavros::UAS::autopilot [private]

Definition at line 339 of file mavros_uas.h.

std::atomic<bool> mavros::UAS::connected [private]

Definition at line 342 of file mavros_uas.h.

uint32_t px4::custom_mode::data

Definition at line 52 of file px4_custom_mode.h.

float px4::custom_mode::data_float

Definition at line 53 of file px4_custom_mode.h.

diagnostic_updater::Updater mavros::MavRos::diag_updater [private]

Definition at line 63 of file mavros.h.

mavconn::MAVConnInterface::Ptr mavros::UAS::fcu_link

MAVLink FCU device conection.

Definition at line 92 of file mavros_uas.h.

MavlinkDiag mavros::MavRos::fcu_link_diag [private]

Definition at line 64 of file mavros.h.

std::atomic<bool> mavros::UAS::fix_status [private]

Definition at line 351 of file mavros_uas.h.

mavconn::MAVConnInterface::Ptr mavros::MavRos::gcs_link [private]

Definition at line 58 of file mavros.h.

MavlinkDiag mavros::MavRos::gcs_link_diag [private]

Definition at line 65 of file mavros.h.

double mavros::UAS::gps_altitude [private]

Definition at line 348 of file mavros_uas.h.

double mavros::UAS::gps_eph [private]

Definition at line 349 of file mavros_uas.h.

double mavros::UAS::gps_epv [private]

Definition at line 350 of file mavros_uas.h.

double mavros::UAS::gps_latitude [private]

Definition at line 346 of file mavros_uas.h.

double mavros::UAS::gps_longitude [private]

Definition at line 347 of file mavros_uas.h.

bool mavros::MavlinkDiag::is_connected [private]

Definition at line 52 of file mavlink_diag.h.

unsigned int mavros::MavlinkDiag::last_drop_count [private]

Definition at line 51 of file mavlink_diag.h.

tf::Vector3 mavros::UAS::linear_acceleration [private]

Definition at line 344 of file mavros_uas.h.

std::vector<mavplugin::MavRosPlugin::Ptr> mavros::MavRos::loaded_plugins [private]

Definition at line 68 of file mavros.h.

uint8_t px4::custom_mode::main_mode

Definition at line 49 of file px4_custom_mode.h.

uint8_t { ... } ::main_mode

Definition at line 49 of file px4_custom_mode.h.

UAS mavros::MavRos::mav_uas [private]

Definition at line 72 of file mavros.h.

ros::NodeHandle mavros::MavRos::mavlink_node_handle [private]

Definition at line 56 of file mavros.h.

ros::Publisher mavros::MavRos::mavlink_pub [private]

Definition at line 60 of file mavros.h.

ros::Subscriber mavros::MavRos::mavlink_sub [private]

Definition at line 61 of file mavros.h.

std::array<mavconn::MAVConnInterface::MessageSig, 256> mavros::MavRos::message_route_table [private]

Definition at line 71 of file mavros.h.

std::recursive_mutex mavros::UAS::mutex [private]

Compute FCU message time from time_boot_ms field.

Uses time_offset for calculation

Todo:

Returns:: FCU time if if is known else current wall time.

Definition at line 337 of file mavros_uas.h.

ros::NodeHandle mavros::MavRos::node_handle [private]

Definition at line 55 of file mavros.h.

tf::Quaternion mavros::UAS::orientation [private]

Definition at line 345 of file mavros_uas.h.

std::vector<std::string> mavros::MavRos::plugin_blacklist [private]

Definition at line 69 of file mavros.h.

pluginlib::ClassLoader<mavplugin::MavRosPlugin> mavros::MavRos::plugin_loader [private]

Definition at line 67 of file mavros.h.

uint16_t { ... } ::reserved

Definition at line 48 of file px4_custom_mode.h.

uint16_t px4::custom_mode::reserved

Definition at line 48 of file px4_custom_mode.h.

boost::signals2::signal<void(bool)> mavros::UAS::sig_connection_changed

This signal emit when status was changed.

Parameters:

bool	connection status

Definition at line 119 of file mavros_uas.h.

uint8_t px4::custom_mode::sub_mode

Definition at line 50 of file px4_custom_mode.h.

uint8_t { ... } ::sub_mode

Definition at line 50 of file px4_custom_mode.h.

uint8_t mavros::UAS::target_component [private]

Definition at line 341 of file mavros_uas.h.

uint8_t mavros::UAS::target_system [private]

Definition at line 340 of file mavros_uas.h.

std::atomic<uint64_t> mavros::UAS::time_offset [private]

Definition at line 352 of file mavros_uas.h.

std::atomic<uint8_t> mavros::UAS::type [private]

Definition at line 338 of file mavros_uas.h.

mavconn::MAVConnInterface::WeakPtr mavros::MavlinkDiag::weak_link [private]

Definition at line 50 of file mavlink_diag.h.

Classes

Namespaces

Defines

Typedefs

Enumerations

Functions

Variables

Detailed Description

Define Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation