Public Member Functions | Private Member Functions | Private Attributes | List of all members
mavros::std_plugins::HilPlugin Class Reference

Hil plugin. More...

Inheritance diagram for mavros::std_plugins::HilPlugin:
Inheritance graph
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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
UASm_uas
 

Detailed Description

Hil plugin.

Definition at line 40 of file hil.cpp.


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


mavros
Author(s): Vladimir Ermakov
autogenerated on Tue Jun 1 2021 02:36:27