#include <mavros_uas.h>
Public Types | |
| using | CapabilitiesCb = std::function< void(MAV_CAP)> |
| using | ConnectionCb = std::function< void(bool)> |
| using | lock_guard = std::lock_guard< std::recursive_mutex > |
| using | MAV_AUTOPILOT = mavlink::minimal::MAV_AUTOPILOT |
| using | MAV_CAP = mavlink::common::MAV_PROTOCOL_CAPABILITY |
| using | MAV_MODE_FLAG = mavlink::minimal::MAV_MODE_FLAG |
| using | MAV_STATE = mavlink::minimal::MAV_STATE |
| using | MAV_TYPE = mavlink::minimal::MAV_TYPE |
| using | timesync_mode = utils::timesync_mode |
| using | unique_lock = std::unique_lock< std::recursive_mutex > |
Public Member Functions | |
| void | add_capabilities_change_handler (CapabilitiesCb cb) |
| Adds a function to the capabilities callback queue. More... | |
| void | add_connection_change_handler (ConnectionCb cb) |
| Add connection change handler callback. More... | |
| void | add_static_transform (const std::string &frame_id, const std::string &child_id, const Eigen::Affine3d &tr, std::vector< geometry_msgs::TransformStamped > &vector) |
| Add static transform. To publish all static transforms at once, we stack them in a std::vector. More... | |
| bool | cmode_from_str (std::string cmode_str, uint32_t &custom_mode) |
| Lookup custom mode for given string. More... | |
| template<class T > | |
| double | ellipsoid_to_geoid_height (T lla) |
| Conversion from height above ellipsoid (WGS-84) to height above geoid (AMSL) More... | |
| template<class T > | |
| double | geoid_to_ellipsoid_height (T lla) |
| Conversion from height above geoid (AMSL) to height above ellipsoid (WGS-84) More... | |
| bool | get_armed () |
| Returns arming status. More... | |
| geometry_msgs::Vector3 | get_attitude_angular_velocity_enu () |
| Get angular velocity from IMU data. More... | |
| geometry_msgs::Vector3 | get_attitude_angular_velocity_ned () |
| Get angular velocity from IMU data. More... | |
| sensor_msgs::Imu::Ptr | get_attitude_imu_enu () |
| Get IMU data [ENU]. More... | |
| sensor_msgs::Imu::Ptr | get_attitude_imu_ned () |
| Get IMU data [NED]. More... | |
| geometry_msgs::Quaternion | get_attitude_orientation_enu () |
| Get Attitude orientation quaternion. More... | |
| geometry_msgs::Quaternion | get_attitude_orientation_ned () |
| Get Attitude orientation quaternion. More... | |
| MAV_AUTOPILOT | get_autopilot () |
| Returns autopilot type. More... | |
| 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. More... | |
| sensor_msgs::NavSatFix::Ptr | get_gps_fix () |
| Retunrs last GPS RAW message. More... | |
| bool | get_hil_state () |
| Returns HIL status. More... | |
| uint8_t | get_tgt_component () |
| Return communication target component. More... | |
| uint8_t | get_tgt_system () |
| Return communication target system. More... | |
| uint64_t | get_time_offset (void) |
| timesync_mode | get_timesync_mode (void) |
| MAV_TYPE | get_type () |
| Returns vehicle type. More... | |
| template<typename... Ts> | |
| bool | has_capabilities (Ts...capabilities) |
| Function to check if the flight controller has a set of capabilities. More... | |
| template<typename T > | |
| bool | has_capability (T capability) |
| Function to check if the flight controller has a capability. More... | |
| bool | is_ardupilotmega () |
| Check that FCU is APM. More... | |
| bool | is_connected () |
| Return connection status. More... | |
| bool | is_my_target (uint8_t sysid, uint8_t compid) |
| Check that sys/comp id's is my target. More... | |
| bool | is_my_target (uint8_t sysid) |
| Check that system id is my target. More... | |
| bool | is_px4 () |
| Check that FCU is PX4. More... | |
| template<typename _T > | |
| void | msg_set_target (_T &msg) |
| void | publish_static_transform (const std::string &frame_id, const std::string &child_id, const Eigen::Affine3d &tr) |
| Publishes static transform. More... | |
| void | set_tgt (uint8_t sys, uint8_t comp) |
| void | set_time_offset (uint64_t offset_ns) |
| void | set_timesync_mode (timesync_mode mode) |
| std::string | str_mode_v10 (uint8_t base_mode, uint32_t custom_mode) |
| Represent FCU mode as string. More... | |
| ros::Time | synchronise_stamp (uint32_t time_boot_ms) |
| Compute FCU message time from time_boot_ms or time_usec field. More... | |
| 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. More... | |
| UAS () | |
| void | update_attitude_imu_enu (sensor_msgs::Imu::Ptr &imu) |
| Store IMU data [ENU]. More... | |
| void | update_attitude_imu_ned (sensor_msgs::Imu::Ptr &imu) |
| Store IMU data [NED]. More... | |
| void | update_capabilities (bool known, uint64_t caps=0) |
| Update the capabilities if they've changed every VERSION/timeout. More... | |
| 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. More... | |
| void | update_heartbeat (uint8_t type_, uint8_t autopilot_, uint8_t base_mode_) |
| ~UAS () | |
Public Attributes | |
| diagnostic_updater::Updater | diag_updater |
| Mavros diagnostic updater. More... | |
| std::shared_ptr< GeographicLib::Geoid > | egm96_5 |
| Geoid dataset used to convert between AMSL and WGS-84. More... | |
| mavconn::MAVConnInterface::Ptr | fcu_link |
| MAVLink FCU device conection. More... | |
| tf2_ros::TransformBroadcaster | tf2_broadcaster |
| tf2_ros::Buffer | tf2_buffer |
| tf2_ros::TransformListener | tf2_listener |
| tf2_ros::StaticTransformBroadcaster | tf2_static_broadcaster |
Private Attributes | |
| std::atomic< uint8_t > | autopilot |
| std::atomic< uint8_t > | base_mode |
| std::vector< CapabilitiesCb > | capabilities_cb_vec |
| std::atomic< bool > | connected |
| std::vector< ConnectionCb > | connection_cb_vec |
| 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_enu_data |
| sensor_msgs::Imu::Ptr | imu_ned_data |
| std::recursive_mutex | mutex |
| uint8_t | target_component |
| uint8_t | target_system |
| std::atomic< uint64_t > | time_offset |
| timesync_mode | tsync_mode |
| 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 67 of file mavros_uas.h.