mavplugin::IMUPubPlugin Class Reference

IMU data publication plugin. More...

Inheritance diagram for mavplugin::IMUPubPlugin:

List of all members.

Public Member Functions
const message_map	get_rx_handlers ()
	Return map with message rx handlers.
	IMUPubPlugin ()
void	initialize (UAS &uas_)
	Plugin initializer.
Private Member Functions
void	connection_cb (bool connected)
void	handle_attitude (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void	handle_attitude_quaternion (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void	handle_highres_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void	handle_raw_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void	handle_scaled_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void	handle_scaled_pressure (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void	publish_imu_data (uint32_t time_boot_ms, Eigen::Quaterniond &orientation, Eigen::Vector3d &gyro)
	fill and publish imu/data message
void	publish_imu_data_raw (std_msgs::Header &header, Eigen::Vector3d &gyro, Eigen::Vector3d &accel)
	fill and publish imu/data_raw message, store linear acceleration for imu/data
void	publish_mag (std_msgs::Header &header, Eigen::Vector3d &mag_field)
void	setup_covariance (UAS::Covariance3d &cov, double stdev)
Private Attributes
UAS::Covariance3d	angular_velocity_cov
std::string	frame_id
bool	has_att_quat
bool	has_hr_imu
bool	has_scaled_imu
ros::NodeHandle	imu_nh
ros::Publisher	imu_pub
ros::Publisher	imu_raw_pub
Eigen::Vector3d	linear_accel_vec
UAS::Covariance3d	linear_acceleration_cov
ros::Publisher	magn_pub
UAS::Covariance3d	magnetic_cov
UAS::Covariance3d	orientation_cov
ros::Publisher	press_pub
ros::Publisher	temp_pub
UAS *	uas
UAS::Covariance3d	unk_orientation_cov

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Detailed Description

IMU data publication plugin.

Definition at line 54 of file imu_pub.cpp.

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The documentation for this class was generated from the following file:

• imu_pub.cpp