MAVROS node implementation. More...

Collaboration diagram for Nodelib:

Classes
class	mavros::MavlinkDiag
class	mavros::MavRos
	MAVROS node class. More...
class	mavros::UAS
	UAS for plugins. More...
Namespaces
namespace	mavros
Defines
#define	DEG_TO_RAD (M_PI / 180.0f)
#define	UAS_DIAG(uasobjptr) ((uasobjptr)->diag_updater)
	helper accessor to diagnostic updater
#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 boost::array< double, 9 >	mavros::UAS::Covariance3d
	Type matching rosmsg for covariance 3x3.
typedef boost::array< double, 36 >	mavros::UAS::Covariance6d
	Type matching rosmsg for covarince 6x6.
typedef Eigen::Map< const Eigen::Matrix< double, 3, 3, Eigen::RowMajor > >	mavros::UAS::EigenMapConstCovariance3d
typedef Eigen::Map< const Eigen::Matrix< double, 6, 6, Eigen::RowMajor > >	mavros::UAS::EigenMapConstCovariance6d
typedef Eigen::Map < Eigen::Matrix< double, 3, 3, Eigen::RowMajor > >	mavros::UAS::EigenMapCovariance3d
	Eigen::Map for Covariance3d.
typedef Eigen::Map < Eigen::Matrix< double, 6, 6, Eigen::RowMajor > >	mavros::UAS::EigenMapCovariance6d
	Eigen::Map for Covariance6d.
typedef std::lock_guard < std::recursive_mutex >	mavros::UAS::lock_guard
typedef std::pair< const std::string, const Eigen::Quaterniond >	OrientationPair
typedef std::unique_lock < std::recursive_mutex >	mavros::UAS::unique_lock
Enumerations
enum	mavros::UAS::STATIC_TRANSFORM { mavros::UAS::NED_TO_ENU, mavros::UAS::ENU_TO_NED, mavros::UAS::AIRCRAFT_TO_BASELINK, mavros::UAS::BASELINK_TO_AIRCRAFT }
	Orientation transform options when applying rotations to data. More...
Functions
void	mavros::MavRos::add_plugin (std::string &pl_name, ros::V_string &blacklist, ros::V_string &whitelist)
static const Eigen::Affine3d	AIRCRAFT_BASELINK_AFFINE (AIRCRAFT_BASELINK_Q)
bool	mavros::UAS::cmode_from_str (std::string cmode_str, uint32_t &custom_mode)
	Lookup custom mode for given string.
bool	mavros::UAS::get_armed ()
	Returns arming status.
geometry_msgs::Vector3	mavros::UAS::get_attitude_angular_velocity ()
	Get angular velocity from IMU data.
sensor_msgs::Imu::Ptr	mavros::UAS::get_attitude_imu ()
	Get IMU data.
geometry_msgs::Quaternion	mavros::UAS::get_attitude_orientation ()
	Get Attitude orientation quaternion.
enum MAV_AUTOPILOT	mavros::UAS::get_autopilot ()
	Returns autopilot type.
uint64_t	mavros::UAS::get_capabilities ()
void	mavros::UAS::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	mavros::UAS::get_gps_fix ()
	Retunrs last GPS RAW message.
bool	mavros::UAS::get_hil_state ()
	Returns HIL status.
static const Eigen::Affine3d &	get_static_transform_affine (const UAS::STATIC_TRANSFORM transform)
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::MavRos::is_blacklisted (std::string &pl_name, ros::V_string &blacklist, ros::V_string &whitelist)
bool	mavros::UAS::is_connected ()
	Return connection status.
bool	mavros::UAS::is_my_target (uint8_t sysid, uint8_t compid)
	Check that sys/comp id's is my target.
bool	mavros::UAS::is_my_target (uint8_t sysid)
	Check that system id is my target.
bool	mavros::UAS::is_px4 ()
	Check that FCU is PX4.
void	mavros::MavRos::log_connect_change (bool connected)
static const OrientationPair	make_orientation (const std::string &name, const double roll, const double pitch, const double yaw)
void	mavros::MavRos::mavlink_pub_cb (const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid)
	fcu link -> ros
void	mavros::MavRos::mavlink_sub_cb (const mavros_msgs::Mavlink::ConstPtr &rmsg)
	ros -> fcu link
	mavros::MavlinkDiag::MavlinkDiag (std::string name)
	mavros::MavRos::MavRos ()
static const Eigen::Affine3d	NED_ENU_AFFINE (NED_ENU_Q)
static int	mavros::UAS::orientation_from_str (const std::string &sensor_orientation)
	Retrieve sensor orientation number from alias name.
void	mavros::MavRos::plugin_route_cb (const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid)
	message router
static Eigen::Quaterniond	mavros::UAS::quaternion_from_rpy (const Eigen::Vector3d &rpy)
	Convert euler angles to quaternion.
static Eigen::Quaterniond	mavros::UAS::quaternion_from_rpy (const double roll, const double pitch, const double yaw)
	Convert euler angles to quaternion.
static double	mavros::UAS::quaternion_get_yaw (const Eigen::Quaterniond &q)
	Get Yaw angle from quaternion.
static void	mavros::UAS::quaternion_to_mavlink (const Eigen::Quaterniond &q, float qmsg[4])
	Store Quaternion to MAVLink float[4] format.
static Eigen::Vector3d	mavros::UAS::quaternion_to_rpy (const Eigen::Quaterniond &q)
	Convert quaternion to euler angles.
static void	mavros::UAS::quaternion_to_rpy (const Eigen::Quaterniond &q, double &roll, double &pitch, double &yaw)
	Convert quaternion to euler angles.
void	mavros::MavlinkDiag::run (diagnostic_updater::DiagnosticStatusWrapper &stat)
static Eigen::Quaterniond	mavros::UAS::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.
void	mavros::MavlinkDiag::set_connection_status (bool connected)
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_ns)
void	mavros::MavRos::spin ()
void	mavros::MavRos::startup_px4_usb_quirk (void)
	start mavlink app on USB
void	mavros::UAS::stop (void)
static std::string	mavros::UAS::str_autopilot (enum MAV_AUTOPILOT ap)
	Represent MAV_AUTOPILOT as string.
std::string	mavros::UAS::str_mode_v10 (uint8_t base_mode, uint32_t custom_mode)
	Represent FCU mode as string.
static std::string	mavros::UAS::str_sensor_orientation (MAV_SENSOR_ORIENTATION orientation)
	Retrieve alias of the orientation received by MAVLink msg.
static std::string	mavros::UAS::str_system_status (enum MAV_STATE st)
	Represent MAV_STATE as string.
static std::string	mavros::UAS::str_type (enum MAV_TYPE type)
	Represent MAV_TYPE as string.
ros::Time	mavros::UAS::synchronise_stamp (uint32_t time_boot_ms)
	Compute FCU message time from time_boot_ms or time_usec field.
ros::Time	mavros::UAS::synchronise_stamp (uint64_t time_usec)
template<typename T >
std_msgs::Header	mavros::UAS::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.
void	mavros::MavRos::terminate_cb ()
	fcu link termination callback
static Eigen::Vector3d	mavros::UAS::transform_frame (const Eigen::Vector3d &vec, const Eigen::Quaterniond &q)
	Transform data experessed in one frame to another frame.
static Covariance3d	mavros::UAS::transform_frame (const Covariance3d &cov, const Eigen::Quaterniond &q)
	Transform convariance expressed in one frame to another.
static Covariance6d	mavros::UAS::transform_frame (const Covariance6d &cov, const Eigen::Quaterniond &q)
template<class T >
static T	mavros::UAS::transform_frame_aircraft_baselink (const T &in)
	Transform data expressed in Aircraft frame to Baselink frame.
template<class T >
static T	mavros::UAS::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	mavros::UAS::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	mavros::UAS::transform_frame_baselink_aircraft (const T &in)
	Transform data expressed in Baselink frame to Aircraft frame.
template<class T >
static T	mavros::UAS::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	mavros::UAS::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	mavros::UAS::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	mavros::UAS::transform_frame_enu_ned (const T &in)
	Transform data expressed in ENU to NED frame.
template<class T >
static T	mavros::UAS::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	mavros::UAS::transform_frame_ned_enu (const T &in)
	Transform data expressed in NED to ENU frame.
static double	mavros::UAS::transform_frame_yaw (double yaw)
static double	mavros::UAS::transform_frame_yaw_enu_ned (double yaw)
	Transform heading from ROS to FCU frame.
static double	mavros::UAS::transform_frame_yaw_ned_enu (double yaw)
	Transform heading from FCU to ROS frame.
static Eigen::Quaterniond	mavros::UAS::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	mavros::UAS::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	mavros::UAS::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	mavros::UAS::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	mavros::UAS::transform_orientation_ned_enu (const T &in)
	Transform from attitude represented WRT NED frame to attitude represented WRT ENU frame.
static Eigen::Vector3d	mavros::UAS::transform_static_frame (const Eigen::Vector3d &vec, const STATIC_TRANSFORM transform)
	Transform data experessed in one frame to another frame.
static Covariance3d	mavros::UAS::transform_static_frame (const Covariance3d &cov, const STATIC_TRANSFORM transform)
	Transform convariance expressed in one frame to another.
static Covariance6d	mavros::UAS::transform_static_frame (const Covariance6d &cov, const STATIC_TRANSFORM transform)
	mavros::UAS::UAS ()
void	mavros::UAS::update_attitude_imu (sensor_msgs::Imu::Ptr &imu)
	Store IMU data.
void	mavros::UAS::update_capabilities (bool known, uint64_t caps=0)
void	mavros::UAS::update_connection_status (bool conn_)
void	mavros::UAS::update_gps_fix_epts (sensor_msgs::NavSatFix::Ptr &fix, float eph, float epv, int fix_type, int satellites_visible)
	Store GPS RAW data.
void	mavros::UAS::update_heartbeat (uint8_t type_, uint8_t autopilot_, uint8_t base_mode_)
	mavros::MavRos::~MavRos ()
	mavros::UAS::~UAS ()
Variables
static const Eigen::Quaterniond	AIRCRAFT_BASELINK_Q = UAS::quaternion_from_rpy(M_PI, 0.0, 0.0)
std::atomic< uint8_t >	mavros::UAS::autopilot
std::atomic< uint8_t >	mavros::UAS::base_mode
std::atomic< bool >	mavros::UAS::connected
diagnostic_updater::Updater	mavros::UAS::diag_updater
	Mavros diagnostic updater.
std::atomic< uint64_t >	mavros::UAS::fcu_capabilities
std::atomic< bool >	mavros::UAS::fcu_caps_known
mavconn::MAVConnInterface::Ptr	mavros::UAS::fcu_link
	MAVLink FCU device conection.
MavlinkDiag	mavros::MavRos::fcu_link_diag
mavconn::MAVConnInterface::Ptr	mavros::MavRos::gcs_link
MavlinkDiag	mavros::MavRos::gcs_link_diag
float	mavros::UAS::gps_eph
float	mavros::UAS::gps_epv
sensor_msgs::NavSatFix::Ptr	mavros::UAS::gps_fix
int	mavros::UAS::gps_fix_type
int	mavros::UAS::gps_satellites_visible
sensor_msgs::Imu::Ptr	mavros::UAS::imu_data
std::atomic< bool >	mavros::MavlinkDiag::is_connected
unsigned int	mavros::MavlinkDiag::last_drop_count
std::vector < mavplugin::MavRosPlugin::Ptr >	mavros::MavRos::loaded_plugins
UAS	mavros::MavRos::mav_uas
	UAS object passed to all plugins.
ros::NodeHandle	mavros::MavRos::mavlink_nh
ros::Publisher	mavros::MavRos::mavlink_pub
ros::Subscriber	mavros::MavRos::mavlink_sub
std::array < mavconn::MAVConnInterface::MessageSig, 256 >	mavros::MavRos::message_route_table
	fcu link interface -> router -> plugin callback
std::recursive_mutex	mavros::UAS::mutex
static const Eigen::Quaterniond	NED_ENU_Q = UAS::quaternion_from_rpy(M_PI, 0.0, M_PI_2)
pluginlib::ClassLoader < mavplugin::MavRosPlugin >	mavros::MavRos::plugin_loader
static const std::array< const OrientationPair, 39 >	sensor_orientations
boost::signals2::signal< void(bool)>	mavros::UAS::sig_connection_changed
	This signal emit when status was changed.
uint8_t	mavros::UAS::target_component
uint8_t	mavros::UAS::target_system
tf2_ros::TransformBroadcaster	mavros::UAS::tf2_broadcaster
tf2_ros::Buffer	mavros::UAS::tf2_buffer
tf2_ros::TransformListener	mavros::UAS::tf2_listener
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 DEG_TO_RAD (M_PI / 180.0f)

Definition at line 19 of file uas_sensor_orientation.cpp.

#define UAS_DIAG ( uasobjptr ) ((uasobjptr)->diag_updater)

helper accessor to diagnostic updater

Definition at line 43 of file mavros_uas.h.

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

helper accessor to FCU link interface

Definition at line 37 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 51 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 61 of file mavros_uas.h.

Typedef Documentation

typedef boost::array<double, 9> mavros::UAS::Covariance3d

Type matching rosmsg for covariance 3x3.

Definition at line 86 of file mavros_uas.h.

typedef boost::array<double, 36> mavros::UAS::Covariance6d

Type matching rosmsg for covarince 6x6.

Definition at line 88 of file mavros_uas.h.

typedef Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor> > mavros::UAS::EigenMapConstCovariance3d

Definition at line 92 of file mavros_uas.h.

typedef Eigen::Map<const Eigen::Matrix<double, 6, 6, Eigen::RowMajor> > mavros::UAS::EigenMapConstCovariance6d

Definition at line 95 of file mavros_uas.h.

typedef Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor> > mavros::UAS::EigenMapCovariance3d

Eigen::Map for Covariance3d.

Definition at line 91 of file mavros_uas.h.

typedef Eigen::Map<Eigen::Matrix<double, 6, 6, Eigen::RowMajor> > mavros::UAS::EigenMapCovariance6d

Eigen::Map for Covariance6d.

Definition at line 94 of file mavros_uas.h.

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

Definition at line 82 of file mavros_uas.h.

typedef std::pair<const std::string, const Eigen::Quaterniond> OrientationPair

Definition at line 24 of file uas_sensor_orientation.cpp.

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

Definition at line 83 of file mavros_uas.h.

Enumeration Type Documentation

enum mavros::UAS::STATIC_TRANSFORM

Orientation transform options when applying rotations to data.

Enumerator:

NED_TO_ENU	will change orinetation from being expressed WRT NED frame to WRT ENU frame
ENU_TO_NED	change from expressed WRT ENU frame to WRT NED frame
AIRCRAFT_TO_BASELINK	change from expressed WRT aircraft frame to WRT to baselink frame
BASELINK_TO_AIRCRAFT	change from expressed WRT baselnk to WRT aircraft

Definition at line 422 of file mavros_uas.h.

Function Documentation

void mavros::MavRos::add_plugin	(	std::string &	pl_name,
		ros::V_string &	blacklist,
		ros::V_string &	whitelist
	)		`[private]`

static const Eigen::Affine3d AIRCRAFT_BASELINK_AFFINE ( AIRCRAFT_BASELINK_Q ) [static]

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 214 of file uas_stringify.cpp.

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

Returns arming status.

Note:: There may be race condition between SET_MODE and HEARTBEAT.

Definition at line 162 of file mavros_uas.h.

geometry_msgs::Vector3 UAS::get_attitude_angular_velocity ( )

Get angular velocity from IMU data.

Returns:: vector3

Definition at line 115 of file uas_data.cpp.

sensor_msgs::Imu::Ptr UAS::get_attitude_imu ( )

Get IMU data.

Definition at line 96 of file uas_data.cpp.

geometry_msgs::Quaternion UAS::get_attitude_orientation ( )

Get Attitude orientation quaternion.

Returns:: orientation quaternion [ENU]

Definition at line 102 of file uas_data.cpp.

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

Returns autopilot type.

Definition at line 152 of file mavros_uas.h.

uint64_t UAS::get_capabilities ( )

Definition at line 70 of file uas_data.cpp.

void UAS::get_gps_epts	(	float &	eph,
		float &	epv,
		int &	fix_type,
		int &	satellites_visible
	)

Returns EPH, EPV, Fix type and satellites visible.

Definition at line 145 of file uas_data.cpp.

sensor_msgs::NavSatFix::Ptr UAS::get_gps_fix ( )

Retunrs last GPS RAW message.

Definition at line 156 of file uas_data.cpp.

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

Returns HIL status.

Definition at line 170 of file mavros_uas.h.

static const Eigen::Affine3d& get_static_transform_affine ( const UAS::STATIC_TRANSFORM transform ) [inline, static]

Definition at line 36 of file uas_frame_conversions.cpp.

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

Return communication target component.

Definition at line 187 of file mavros_uas.h.

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

Return communication target system.

Definition at line 180 of file mavros_uas.h.

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

Definition at line 244 of file mavros_uas.h.

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

Returns vehicle type.

Definition at line 144 of file mavros_uas.h.

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

Check that FCU is APM.

Definition at line 298 of file mavros_uas.h.

bool mavros::MavRos::is_blacklisted	(	std::string &	pl_name,
		ros::V_string &	blacklist,
		ros::V_string &	whitelist
	)		`[private]`

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

Return connection status.

Definition at line 125 of file mavros_uas.h.

bool mavros::UAS::is_my_target	(	uint8_t	sysid,
		uint8_t	compid
	)		`[inline]`

Check that sys/comp id's is my target.

Definition at line 284 of file mavros_uas.h.

bool mavros::UAS::is_my_target ( uint8_t sysid ) [inline]

Check that system id is my target.

Definition at line 291 of file mavros_uas.h.

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

Check that FCU is PX4.

Definition at line 305 of file mavros_uas.h.

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

static const OrientationPair make_orientation	(	const std::string &	name,
		const double	roll,
		const double	pitch,
		const double	yaw
	)		`[static]`

Definition at line 27 of file uas_sensor_orientation.cpp.

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

fcu link -> ros

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

ros -> fcu link

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

Definition at line 18 of file mavlink_diag.cpp.

MavRos::MavRos ( )

Definition at line 29 of file mavros.cpp.

static const Eigen::Affine3d NED_ENU_AFFINE ( NED_ENU_Q ) [static]

int UAS::orientation_from_str ( const std::string & sensor_orientation ) [static]

Retrieve sensor orientation number from alias name.

Definition at line 100 of file uas_sensor_orientation.cpp.

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

message router

Eigen::Quaterniond UAS::quaternion_from_rpy ( const Eigen::Vector3d & rpy ) [static]

Convert euler angles to quaternion.

Definition at line 25 of file uas_quaternion_utils.cpp.

static Eigen::Quaterniond mavros::UAS::quaternion_from_rpy	(	const double	roll,
		const double	pitch,
		const double	yaw
	)		`[inline, static]`

Convert euler angles to quaternion.

Returns:: quaternion, same as tf::quaternionFromRPY() but in Eigen format.

Definition at line 378 of file mavros_uas.h.

double UAS::quaternion_get_yaw ( const Eigen::Quaterniond & q ) [static]

Get Yaw angle from quaternion.

Replacement function for tf::getYaw()

Definition at line 41 of file uas_quaternion_utils.cpp.

static void mavros::UAS::quaternion_to_mavlink	(	const Eigen::Quaterniond &	q,
		float	qmsg[4]
	)		`[inline, static]`

Store Quaternion to MAVLink float[4] format.

MAVLink uses wxyz order, wile Eigen::Quaterniond uses xyzw internal order, so it can't be stored to array using Eigen::Map.

Definition at line 412 of file mavros_uas.h.

Eigen::Vector3d UAS::quaternion_to_rpy ( const Eigen::Quaterniond & q ) [static]

Convert quaternion to euler angles.

Reverse operation to quaternion_from_rpy()

Definition at line 35 of file uas_quaternion_utils.cpp.

static void mavros::UAS::quaternion_to_rpy	(	const Eigen::Quaterniond &	q,
		double &	roll,
		double &	pitch,
		double &	yaw
	)		`[inline, static]`

Convert quaternion to euler angles.

Definition at line 392 of file mavros_uas.h.

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

Implements diagnostic_updater::DiagnosticTask.

Definition at line 24 of file mavlink_diag.cpp.

Eigen::Quaterniond UAS::sensor_orientation_matching ( MAV_SENSOR_ORIENTATION orientation ) [static]

Function to match the received orientation received by MAVLink msg and the rotation of the sensor relative to the FCU.

Definition at line 89 of file uas_sensor_orientation.cpp.

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

Definition at line 34 of file mavlink_diag.h.

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

Definition at line 30 of file mavlink_diag.h.

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

Definition at line 191 of file mavros_uas.h.

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

Definition at line 240 of file mavros_uas.h.

void mavros::MavRos::spin ( )

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

start mavlink app on USB

void UAS::stop ( void )

Stop UAS

Definition at line 40 of file uas_data.cpp.

std::string UAS::str_autopilot ( enum MAV_AUTOPILOT ap ) [static]

Represent MAV_AUTOPILOT as string.

Definition at line 261 of file uas_stringify.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 153 of file uas_stringify.cpp.

std::string UAS::str_sensor_orientation ( MAV_SENSOR_ORIENTATION orientation ) [static]

Retrieve alias of the orientation received by MAVLink msg.

Definition at line 78 of file uas_sensor_orientation.cpp.

std::string UAS::str_system_status ( enum MAV_STATE st ) [static]

Represent MAV_STATE as string.

Definition at line 322 of file uas_stringify.cpp.

std::string UAS::str_type ( enum MAV_TYPE type ) [static]

Represent MAV_TYPE as string.

Definition at line 302 of file uas_stringify.cpp.

ros::Time UAS::synchronise_stamp ( uint32_t time_boot_ms )

Compute FCU message time from time_boot_ms or time_usec field.

Uses time_offset for calculation

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

Definition at line 32 of file uas_timesync.cpp.

ros::Time UAS::synchronise_stamp ( uint64_t time_usec )

Definition at line 44 of file uas_timesync.cpp.

template<typename T >

std_msgs::Header mavros::UAS::synchronized_header	(	const std::string &	frame_id,
		const T	time_stamp
	)		`[inline]`

Create message header from time_boot_ms or time_usec stamps and frame_id.

Setting frame_id and stamp are pretty common, this little helper should reduce LOC.

Parameters:

[in]	frame_id	frame for header
[in]	time_stamp	mavlink message time

Returns:: Header with syncronized stamp and frame id

Definition at line 272 of file mavros_uas.h.

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

fcu link termination callback

Eigen::Vector3d UAS::transform_frame	(	const Eigen::Vector3d &	vec,
		const Eigen::Quaterniond &	q
	)		`[static]`

Transform data experessed in one frame to another frame.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 139 of file uas_frame_conversions.cpp.

UAS::Covariance3d UAS::transform_frame	(	const Covariance3d &	cov,
		const Eigen::Quaterniond &	q
	)		`[static]`

Transform convariance expressed in one frame to another.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 145 of file uas_frame_conversions.cpp.

UAS::Covariance6d UAS::transform_frame	(	const Covariance6d &	cov,
		const Eigen::Quaterniond &	q
	)		`[static]`

Todo:: implement me!!!

Definition at line 158 of file uas_frame_conversions.cpp.

template<class T >

static T mavros::UAS::transform_frame_aircraft_baselink ( const T & in ) [inline, static]

Transform data expressed in Aircraft frame to Baselink frame.

Definition at line 531 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_aircraft_enu	(	const T &	in,
		const Eigen::Quaterniond &	q
	)		`[inline, static]`

Transform data expressed in aircraft frame to ENU frame. Assumes quaternion represents rotation from aircraft frame to ENU frame.

Definition at line 567 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_aircraft_ned	(	const T &	in,
		const Eigen::Quaterniond &	q
	)		`[inline, static]`

Transform data expressed in aircraft frame to NED frame. Assumes quaternion represents rotation from aircraft frame to NED frame.

Definition at line 549 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_baselink_aircraft ( const T & in ) [inline, static]

Transform data expressed in Baselink frame to Aircraft frame.

Definition at line 540 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_baselink_enu	(	const T &	in,
		const Eigen::Quaterniond &	q
	)		`[inline, static]`

Transform data expressed in baselink to ENU frame. Assumes quaternion represents rotation from basel_link to ENU frame.

Definition at line 594 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_enu_aircraft	(	const T &	in,
		const Eigen::Quaterniond &	q
	)		`[inline, static]`

Transform data expressed in ENU to aircraft frame. Assumes quaternion represents rotation from ENU to aircraft frame.

Definition at line 576 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_enu_baselink	(	const T &	in,
		const Eigen::Quaterniond &	q
	)		`[inline, static]`

Transform data expressed in ENU to base_link frame. Assumes quaternion represents rotation from ENU to base_link frame.

Definition at line 585 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_enu_ned ( const T & in ) [inline, static]

Transform data expressed in ENU to NED frame.

Definition at line 522 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_ned_aircraft	(	const T &	in,
		const Eigen::Quaterniond &	q
	)		`[inline, static]`

Transform data expressed in NED to aircraft frame. Assumes quaternion represents rotation from NED to aircraft frame.

Definition at line 558 of file mavros_uas.h.

template<class T >

static T mavros::UAS::transform_frame_ned_enu ( const T & in ) [inline, static]

Transform data expressed in NED to ENU frame.

Definition at line 513 of file mavros_uas.h.

static double mavros::UAS::transform_frame_yaw ( double yaw ) [inline, static, private]

Definition at line 637 of file mavros_uas.h.

static double mavros::UAS::transform_frame_yaw_enu_ned ( double yaw ) [inline, static]

Transform heading from ROS to FCU frame.

Definition at line 601 of file mavros_uas.h.

static double mavros::UAS::transform_frame_yaw_ned_enu ( double yaw ) [inline, static]

Transform heading from FCU to ROS frame.

Definition at line 608 of file mavros_uas.h.

Eigen::Quaterniond UAS::transform_orientation	(	const Eigen::Quaterniond &	q,
		const STATIC_TRANSFORM	transform
	)		`[static]`

Transform representation of attitude from 1 frame to another (e.g. transfrom attitude from representing from base_link -> NED to representing base_link -> ENU)

Transform for vector3.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 60 of file uas_frame_conversions.cpp.

template<class T >

static T mavros::UAS::transform_orientation_aircraft_baselink ( const T & in ) [inline, static]