mavros::std_plugins::IMUPlugin Class Reference

IMU and attitude data publication plugin. More...

Inheritance diagram for mavros::std_plugins::IMUPlugin:

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

Private Member Functions
void	connection_cb (bool connected) override
void	handle_attitude (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ATTITUDE &att)
	Handle ATTITUDE MAVlink message. Message specification: https://mavlink.io/en/messages/common.html#ATTITUDE. More...
void	handle_attitude_quaternion (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ATTITUDE_QUATERNION &att_q)
	Handle ATTITUDE_QUATERNION MAVlink message. Message specification: https://mavlink.io/en/messages/common.html/#ATTITUDE_QUATERNION. More...
void	handle_highres_imu (const mavlink::mavlink_message_t *msg, mavlink::common::msg::HIGHRES_IMU &imu_hr)
	Handle HIGHRES_IMU MAVlink message. Message specification: https://mavlink.io/en/messages/common.html/#HIGHRES_IMU. More...
void	handle_raw_imu (const mavlink::mavlink_message_t *msg, mavlink::common::msg::RAW_IMU &imu_raw)
	Handle RAW_IMU MAVlink message. Message specification: https://mavlink.io/en/messages/common.html/#RAW_IMU. More...
void	handle_scaled_imu (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SCALED_IMU &imu_raw)
	Handle SCALED_IMU MAVlink message. Message specification: https://mavlink.io/en/messages/common.html/#SCALED_IMU. More...
void	handle_scaled_pressure (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SCALED_PRESSURE &press)
	Handle SCALED_PRESSURE MAVlink message. Message specification: https://mavlink.io/en/messages/common.html/#SCALED_PRESSURE. More...
void	publish_imu_data (uint32_t time_boot_ms, Eigen::Quaterniond &orientation_enu, Eigen::Quaterniond &orientation_ned, Eigen::Vector3d &gyro_flu, Eigen::Vector3d &gyro_frd)
	Fill and publish IMU data message. More...
void	publish_imu_data_raw (std_msgs::Header &header, Eigen::Vector3d &gyro_flu, Eigen::Vector3d &accel_flu, Eigen::Vector3d &accel_frd)
	Fill and publish IMU data_raw message; store linear acceleration for IMU data. More...
void	publish_mag (std_msgs::Header &header, Eigen::Vector3d &mag_field)
	Publish magnetic field data. More...
void	setup_covariance (ftf::Covariance3d &cov, double stdev)
	Setup 3x3 covariance matrix. More...

Private Attributes
ftf::Covariance3d	angular_velocity_cov
ros::Publisher	diff_press_pub
std::string	frame_id
bool	has_att_quat
bool	has_hr_imu
bool	has_raw_imu
bool	has_scaled_imu
ros::NodeHandle	imu_nh
ros::Publisher	imu_pub
ros::Publisher	imu_raw_pub
Eigen::Vector3d	linear_accel_vec_flu
Eigen::Vector3d	linear_accel_vec_frd
ftf::Covariance3d	linear_acceleration_cov
ros::Publisher	magn_pub
ftf::Covariance3d	magnetic_cov
ftf::Covariance3d	orientation_cov
bool	received_linear_accel
ros::Publisher	static_press_pub
ros::Publisher	temp_baro_pub
ros::Publisher	temp_imu_pub
ftf::Covariance3d	unk_orientation_cov

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)
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

IMU and attitude data publication plugin.

Definition at line 46 of file imu.cpp.

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

• imu.cpp