mavros::std_plugins::HilPlugin Class Reference

Hil plugin. More...

Inheritance diagram for mavros::std_plugins::HilPlugin:

Public Member Functions
Subscriptions	get_subscriptions () override
	Return vector of MAVLink message subscriptions (handlers) More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	HilPlugin ()
void	initialize (UAS &uas_) override
	Plugin initializer. More...
Public Member Functions inherited from mavros::plugin::PluginBase
virtual	~PluginBase ()

Private Member Functions
void	gps_cb (const mavros_msgs::HilGPS::ConstPtr &req)
	Send hil_gps to FCU. Message specification: https://mavlink.io/en/messages/common.html#HIL_GPS. More...
void	handle_hil_actuator_controls (const mavlink::mavlink_message_t *msg, mavlink::common::msg::HIL_ACTUATOR_CONTROLS &hil_actuator_controls)
void	handle_hil_controls (const mavlink::mavlink_message_t *msg, mavlink::common::msg::HIL_CONTROLS &hil_controls)
void	optical_flow_cb (const mavros_msgs::OpticalFlowRad::ConstPtr &req)
	Send simulated optical flow to FCU. Message specification: https://mavlink.io/en/messages/common.html#HIL_OPTICAL_FLOW. More...
void	rcin_raw_cb (const mavros_msgs::RCIn::ConstPtr &req)
	Send simulated received RAW values of the RC channels to the FCU. Message specification: https://mavlink.io/en/messages/common.html#HIL_RC_INPUTS_RAW. More...
void	sensor_cb (const mavros_msgs::HilSensor::ConstPtr &req)
	Send hil_sensor to FCU. Message specification: https://mavlink.io/en/messages/common.html#HIL_SENSOR. More...
void	state_quat_cb (const mavros_msgs::HilStateQuaternion::ConstPtr &req)
	Send hil_state_quaternion to FCU. Message specification: https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION. More...

Private Attributes
Eigen::Quaterniond	enu_orientation
ros::Publisher	hil_actuator_controls_pub
ros::Publisher	hil_controls_pub
ros::Subscriber	hil_flow_sub
ros::Subscriber	hil_gps_sub
ros::NodeHandle	hil_nh
ros::Subscriber	hil_rcin_sub
ros::Subscriber	hil_sensor_sub
ros::Subscriber	hil_state_quaternion_sub

Additional Inherited Members
Public Types inherited from mavros::plugin::PluginBase
using	ConstPtr = boost::shared_ptr< PluginBase const >
using	HandlerCb = mavconn::MAVConnInterface::ReceivedCb
	generic message handler callback More...
using	HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb >
	Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More...
using	Ptr = boost::shared_ptr< PluginBase >
using	Subscriptions = std::vector< HandlerInfo >
	Subscriptions vector. More...
Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void	capabilities_cb (UAS::MAV_CAP capabilities)
virtual void	connection_cb (bool connected)
void	enable_capabilities_cb ()
void	enable_connection_cb ()
template<class _C >
HandlerInfo	make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
template<class _C , class _T >
HandlerInfo	make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
	PluginBase ()
	Plugin constructor Should not do anything before initialize() More...
Protected Attributes inherited from mavros::plugin::PluginBase
UAS *	m_uas

Detailed Description

Hil plugin.

Definition at line 40 of file hil.cpp.

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

• hil.cpp