#include <mavros_uas.h>
Public Types | |
| typedef boost::array< double, 9 > | Covariance3d |
| Type matching rosmsg for covariance 3x3. | |
| typedef boost::array< double, 36 > | Covariance6d |
| Type matching rosmsg for covarince 6x6. | |
| typedef Eigen::Map< const Eigen::Matrix< double, 3, 3, Eigen::RowMajor > > | EigenMapConstCovariance3d |
| typedef Eigen::Map< const Eigen::Matrix< double, 6, 6, Eigen::RowMajor > > | EigenMapConstCovariance6d |
| typedef Eigen::Map < Eigen::Matrix< double, 3, 3, Eigen::RowMajor > > | EigenMapCovariance3d |
| Eigen::Map for Covariance3d. | |
| typedef Eigen::Map < Eigen::Matrix< double, 6, 6, Eigen::RowMajor > > | EigenMapCovariance6d |
| Eigen::Map for Covariance6d. | |
| typedef std::lock_guard < std::recursive_mutex > | lock_guard |
| enum | STATIC_TRANSFORM { NED_TO_ENU, ENU_TO_NED, AIRCRAFT_TO_BASELINK, BASELINK_TO_AIRCRAFT } |
| Orientation transform options when applying rotations to data. More... | |
| typedef std::unique_lock < std::recursive_mutex > | unique_lock |
Public Member Functions | |
| bool | cmode_from_str (std::string cmode_str, uint32_t &custom_mode) |
| Lookup custom mode for given string. | |
| bool | get_armed () |
| Returns arming status. | |
| geometry_msgs::Vector3 | get_attitude_angular_velocity () |
| Get angular velocity from IMU data. | |
| sensor_msgs::Imu::Ptr | get_attitude_imu () |
| Get IMU data. | |
| geometry_msgs::Quaternion | get_attitude_orientation () |
| Get Attitude orientation quaternion. | |
| enum MAV_AUTOPILOT | get_autopilot () |
| Returns autopilot type. | |
| uint64_t | get_capabilities () |
| void | get_gps_epts (float &eph, float &epv, int &fix_type, int &satellites_visible) |
| Returns EPH, EPV, Fix type and satellites visible. | |
| sensor_msgs::NavSatFix::Ptr | get_gps_fix () |
| Retunrs last GPS RAW message. | |
| bool | get_hil_state () |
| Returns HIL status. | |
| uint8_t | get_tgt_component () |
| Return communication target component. | |
| uint8_t | get_tgt_system () |
| Return communication target system. | |
| uint64_t | get_time_offset (void) |
| enum MAV_TYPE | get_type () |
| Returns vehicle type. | |
| bool | is_ardupilotmega () |
| Check that FCU is APM. | |
| bool | is_connected () |
| Return connection status. | |
| bool | is_my_target (uint8_t sysid, uint8_t compid) |
| Check that sys/comp id's is my target. | |
| bool | is_my_target (uint8_t sysid) |
| Check that system id is my target. | |
| bool | is_px4 () |
| Check that FCU is PX4. | |
| void | set_tgt (uint8_t sys, uint8_t comp) |
| void | set_time_offset (uint64_t offset_ns) |
| void | stop (void) |
| std::string | str_mode_v10 (uint8_t base_mode, uint32_t custom_mode) |
| Represent FCU mode as string. | |
| ros::Time | synchronise_stamp (uint32_t time_boot_ms) |
| Compute FCU message time from time_boot_ms or time_usec field. | |
| ros::Time | synchronise_stamp (uint64_t time_usec) |
| template<typename T > | |
| std_msgs::Header | synchronized_header (const std::string &frame_id, const T time_stamp) |
| Create message header from time_boot_ms or time_usec stamps and frame_id. | |
| UAS () | |
| void | update_attitude_imu (sensor_msgs::Imu::Ptr &imu) |
| Store IMU data. | |
| void | update_capabilities (bool known, uint64_t caps=0) |
| void | update_connection_status (bool conn_) |
| void | update_gps_fix_epts (sensor_msgs::NavSatFix::Ptr &fix, float eph, float epv, int fix_type, int satellites_visible) |
| Store GPS RAW data. | |
| void | update_heartbeat (uint8_t type_, uint8_t autopilot_, uint8_t base_mode_) |
| ~UAS () | |
Static Public Member Functions | |
| static int | orientation_from_str (const std::string &sensor_orientation) |
| Retrieve sensor orientation number from alias name. | |
| static Eigen::Quaterniond | quaternion_from_rpy (const Eigen::Vector3d &rpy) |
| Convert euler angles to quaternion. | |
| static Eigen::Quaterniond | quaternion_from_rpy (const double roll, const double pitch, const double yaw) |
| Convert euler angles to quaternion. | |
| static double | quaternion_get_yaw (const Eigen::Quaterniond &q) |
| Get Yaw angle from quaternion. | |
| static void | quaternion_to_mavlink (const Eigen::Quaterniond &q, float qmsg[4]) |
| Store Quaternion to MAVLink float[4] format. | |
| static Eigen::Vector3d | quaternion_to_rpy (const Eigen::Quaterniond &q) |
| Convert quaternion to euler angles. | |
| static void | quaternion_to_rpy (const Eigen::Quaterniond &q, double &roll, double &pitch, double &yaw) |
| Convert quaternion to euler angles. | |
| static Eigen::Quaterniond | sensor_orientation_matching (MAV_SENSOR_ORIENTATION orientation) |
| Function to match the received orientation received by MAVLink msg and the rotation of the sensor relative to the FCU. | |
| static std::string | str_autopilot (enum MAV_AUTOPILOT ap) |
| Represent MAV_AUTOPILOT as string. | |
| static std::string | str_sensor_orientation (MAV_SENSOR_ORIENTATION orientation) |
| Retrieve alias of the orientation received by MAVLink msg. | |
| static std::string | str_system_status (enum MAV_STATE st) |
| Represent MAV_STATE as string. | |
| static std::string | str_type (enum MAV_TYPE type) |
| Represent MAV_TYPE as string. | |
| static Eigen::Vector3d | transform_frame (const Eigen::Vector3d &vec, const Eigen::Quaterniond &q) |
| Transform data experessed in one frame to another frame. | |
| static Covariance3d | transform_frame (const Covariance3d &cov, const Eigen::Quaterniond &q) |
| Transform convariance expressed in one frame to another. | |
| static Covariance6d | transform_frame (const Covariance6d &cov, const Eigen::Quaterniond &q) |
| template<class T > | |
| static T | transform_frame_aircraft_baselink (const T &in) |
| Transform data expressed in Aircraft frame to Baselink frame. | |
| template<class T > | |
| static T | transform_frame_aircraft_enu (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in aircraft frame to ENU frame. Assumes quaternion represents rotation from aircraft frame to ENU frame. | |
| template<class T > | |
| static T | transform_frame_aircraft_ned (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in aircraft frame to NED frame. Assumes quaternion represents rotation from aircraft frame to NED frame. | |
| template<class T > | |
| static T | transform_frame_baselink_aircraft (const T &in) |
| Transform data expressed in Baselink frame to Aircraft frame. | |
| template<class T > | |
| static T | transform_frame_baselink_enu (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in baselink to ENU frame. Assumes quaternion represents rotation from basel_link to ENU frame. | |
| template<class T > | |
| static T | transform_frame_enu_aircraft (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in ENU to aircraft frame. Assumes quaternion represents rotation from ENU to aircraft frame. | |
| template<class T > | |
| static T | transform_frame_enu_baselink (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in ENU to base_link frame. Assumes quaternion represents rotation from ENU to base_link frame. | |
| template<class T > | |
| static T | transform_frame_enu_ned (const T &in) |
| Transform data expressed in ENU to NED frame. | |
| template<class T > | |
| static T | transform_frame_ned_aircraft (const T &in, const Eigen::Quaterniond &q) |
| Transform data expressed in NED to aircraft frame. Assumes quaternion represents rotation from NED to aircraft frame. | |
| template<class T > | |
| static T | transform_frame_ned_enu (const T &in) |
| Transform data expressed in NED to ENU frame. | |
| static double | transform_frame_yaw_enu_ned (double yaw) |
| Transform heading from ROS to FCU frame. | |
| static double | transform_frame_yaw_ned_enu (double yaw) |
| Transform heading from FCU to ROS frame. | |
| static Eigen::Quaterniond | transform_orientation (const Eigen::Quaterniond &q, const STATIC_TRANSFORM transform) |
| Transform representation of attitude from 1 frame to another (e.g. transfrom attitude from representing from base_link -> NED to representing base_link -> ENU) | |
| template<class T > | |
| static T | transform_orientation_aircraft_baselink (const T &in) |
| Transform from attitude represented WRT aircraft frame to attitude represented WRT base_link frame. | |
| template<class T > | |
| static T | transform_orientation_baselink_aircraft (const T &in) |
| Transform from attitude represented WRT baselink frame to attitude represented WRT body frame. | |
| template<class T > | |
| static T | transform_orientation_enu_ned (const T &in) |
| Transform from attitude represented WRT ENU frame to attitude represented WRT NED frame. | |
| template<class T > | |
| static T | transform_orientation_ned_enu (const T &in) |
| Transform from attitude represented WRT NED frame to attitude represented WRT ENU frame. | |
| static Eigen::Vector3d | transform_static_frame (const Eigen::Vector3d &vec, const STATIC_TRANSFORM transform) |
| Transform data experessed in one frame to another frame. | |
| static Covariance3d | transform_static_frame (const Covariance3d &cov, const STATIC_TRANSFORM transform) |
| Transform convariance expressed in one frame to another. | |
| static Covariance6d | transform_static_frame (const Covariance6d &cov, const STATIC_TRANSFORM transform) |
Public Attributes | |
| diagnostic_updater::Updater | diag_updater |
| Mavros diagnostic updater. | |
| mavconn::MAVConnInterface::Ptr | fcu_link |
| MAVLink FCU device conection. | |
| boost::signals2::signal< void(bool)> | sig_connection_changed |
| This signal emit when status was changed. | |
| tf2_ros::TransformBroadcaster | tf2_broadcaster |
| tf2_ros::Buffer | tf2_buffer |
| tf2_ros::TransformListener | tf2_listener |
Static Private Member Functions | |
| static double | transform_frame_yaw (double yaw) |
Private Attributes | |
| std::atomic< uint8_t > | autopilot |
| std::atomic< uint8_t > | base_mode |
| std::atomic< bool > | connected |
| std::atomic< uint64_t > | fcu_capabilities |
| std::atomic< bool > | fcu_caps_known |
| float | gps_eph |
| float | gps_epv |
| sensor_msgs::NavSatFix::Ptr | gps_fix |
| int | gps_fix_type |
| int | gps_satellites_visible |
| sensor_msgs::Imu::Ptr | imu_data |
| std::recursive_mutex | mutex |
| uint8_t | target_component |
| uint8_t | target_system |
| std::atomic< uint64_t > | time_offset |
| std::atomic< uint8_t > | type |
UAS for plugins.
This class stores some useful data and provides fcu connection, mode stringify utilities.
Currently it stores:
Definition at line 80 of file mavros_uas.h.