MultiWiiNode Class Reference

Public Member Functions
void	dynconf_callback (multiwii::UpdateRatesConfig &config, uint32_t)
fcu::FlightController &	fc () const
void	motor_control (const mavros_msgs::ActuatorControl &motors)
	MultiWiiNode ()
void	onAltitude (const msp::msg::Altitude &altitude)
void	onAnalog (const msp::msg::Analog &analog)
void	onAttitude (const msp::msg::Attitude &attitude)
void	onImu (const msp::msg::RawImu &imu)
	callbacks for published messages More...
void	onMotor (const msp::msg::Motor &motor)
void	onRc (const msp::msg::Rc &rc)
void	onServo (const msp::msg::Servo &servo)
void	onSonarAltitude (const msp::msg::SonarAltitude &sonar_altitude)
void	rc_override_AERT1234 (const mavros_msgs::OverrideRCIn &rc)
	callbacks for subscribed messages More...
void	rc_override_raw (const mavros_msgs::OverrideRCIn &rc)
void	setDynamicConfigureCallback ()
	setDynamicConfigureCallback set the callback This will call the callback once for initialisation More...
void	setup ()
	~MultiWiiNode ()

Private Attributes
float	acc_1g
ros::Publisher	altitude_pub
ros::Publisher	battery_pub
dynamic_reconfigure::Server< multiwii::UpdateRatesConfig >	dyn_conf_srv
fcu::FlightController *	fcu
float	gyro_unit
ros::Publisher	heading_pub
ros::Publisher	imu_pub
float	magn_gain
ros::Publisher	magn_pub
ros::Subscriber	motor_control_sub
ros::Publisher	motors_pub
ros::NodeHandle	nh
ros::Publisher	pose_stamped_pub
ros::Publisher	rc_in_pub
ros::Subscriber	rc_in_sub
ros::Subscriber	rc_in_sub2
ros::Publisher	rpy_pub
ros::Publisher	servo_pub
float	si_unit_1g
ros::Publisher	sonar_altitude_pub
std::string	tf_base_frame
tf::TransformBroadcaster	tf_broadcaster
ros::Publisher	vis_pub

Detailed Description

Definition at line 40 of file multiwii_node.cpp.

Constructor & Destructor Documentation

MultiWiiNode::MultiWiiNode ( )

inline

Definition at line 72 of file multiwii_node.cpp.

MultiWiiNode::~MultiWiiNode ( )

inline

Definition at line 105 of file multiwii_node.cpp.

Member Function Documentation

void MultiWiiNode::dynconf_callback ( multiwii::UpdateRatesConfig &  config, uint32_t    )

inline

Definition at line 162 of file multiwii_node.cpp.

fcu::FlightController& MultiWiiNode::fc ( ) const

inline

Definition at line 109 of file multiwii_node.cpp.

void MultiWiiNode::motor_control ( const mavros_msgs::ActuatorControl &  motors )

inline

Definition at line 361 of file multiwii_node.cpp.

void MultiWiiNode::onAltitude ( const msp::msg::Altitude &  altitude )

inline

Definition at line 281 of file multiwii_node.cpp.

void MultiWiiNode::onAnalog ( const msp::msg::Analog &  analog )

inline

Definition at line 321 of file multiwii_node.cpp.

void MultiWiiNode::onAttitude ( const msp::msg::Attitude &  attitude )

inline

Definition at line 243 of file multiwii_node.cpp.

void MultiWiiNode::onImu ( const msp::msg::RawImu &  imu )

inline

callbacks for published messages

IMU data

magnetic field vector

heading from magnetic field

Definition at line 187 of file multiwii_node.cpp.

void MultiWiiNode::onMotor ( const msp::msg::Motor &  motor )

inline

Definition at line 313 of file multiwii_node.cpp.

void MultiWiiNode::onRc ( const msp::msg::Rc &  rc )

inline

Definition at line 297 of file multiwii_node.cpp.

void MultiWiiNode::onServo ( const msp::msg::Servo &  servo )

inline

Definition at line 305 of file multiwii_node.cpp.

void MultiWiiNode::onSonarAltitude ( const msp::msg::SonarAltitude &  sonar_altitude )

inline

Definition at line 330 of file multiwii_node.cpp.

void MultiWiiNode::rc_override_AERT1234 ( const mavros_msgs::OverrideRCIn &  rc )

inline

callbacks for subscribed messages

Definition at line 350 of file multiwii_node.cpp.

void MultiWiiNode::rc_override_raw ( const mavros_msgs::OverrideRCIn &  rc )

inline

Definition at line 355 of file multiwii_node.cpp.

void MultiWiiNode::setDynamicConfigureCallback ( )

inline

setDynamicConfigureCallback set the callback This will call the callback once for initialisation

Definition at line 157 of file multiwii_node.cpp.

void MultiWiiNode::setup ( )

inline

Definition at line 113 of file multiwii_node.cpp.

Member Data Documentation

float MultiWiiNode::acc_1g

private

Definition at line 45 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::altitude_pub

private

Definition at line 62 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::battery_pub

private

Definition at line 59 of file multiwii_node.cpp.

dynamic_reconfigure::Server<multiwii::UpdateRatesConfig> MultiWiiNode::dyn_conf_srv

private

Definition at line 51 of file multiwii_node.cpp.

fcu::FlightController* MultiWiiNode::fcu

private

Definition at line 43 of file multiwii_node.cpp.

float MultiWiiNode::gyro_unit

private

Definition at line 46 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::heading_pub

private

Definition at line 60 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::imu_pub

private

Definition at line 53 of file multiwii_node.cpp.

float MultiWiiNode::magn_gain

private

Definition at line 47 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::magn_pub

private

Definition at line 54 of file multiwii_node.cpp.

ros::Subscriber MultiWiiNode::motor_control_sub

private

Definition at line 67 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::motors_pub

private

Definition at line 58 of file multiwii_node.cpp.

ros::NodeHandle MultiWiiNode::nh

private

Definition at line 42 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::pose_stamped_pub

private

Definition at line 55 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::rc_in_pub

private

Definition at line 57 of file multiwii_node.cpp.

ros::Subscriber MultiWiiNode::rc_in_sub

private

Definition at line 65 of file multiwii_node.cpp.

ros::Subscriber MultiWiiNode::rc_in_sub2

private

Definition at line 66 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::rpy_pub

private

Definition at line 56 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::servo_pub

private

Definition at line 57 of file multiwii_node.cpp.

float MultiWiiNode::si_unit_1g

private

Definition at line 48 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::sonar_altitude_pub

private

Definition at line 63 of file multiwii_node.cpp.

std::string MultiWiiNode::tf_base_frame

private

Definition at line 49 of file multiwii_node.cpp.

tf::TransformBroadcaster MultiWiiNode::tf_broadcaster

private

Definition at line 69 of file multiwii_node.cpp.

ros::Publisher MultiWiiNode::vis_pub

private

Definition at line 61 of file multiwii_node.cpp.

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

• multiwii_node.cpp