#include <command_manager.h>

Inheritance diagram for rosflight_firmware::CommandManager:

Classes
struct	mux_t

struct	rc_stick_override_t

Public Member Functions
const control_t &	combined_control () const

	CommandManager (ROSflight &_rf)

void	init ()

bool	offboard_control_active ()

void	override_combined_command_with_rc ()

const control_t &	rc_control () const

bool	rc_override_active ()

bool	run ()

void	set_new_offboard_command (control_t new_offboard_command)

void	set_new_rc_command (control_t new_rc_command)

Private Types
enum	att_mode_t { ATT_MODE_RATE, ATT_MODE_ANGLE }

enum	MuxChannel { MUX_X, MUX_Y, MUX_Z, MUX_F }

Private Member Functions
void	do_min_throttle_muxing ()

bool	do_roll_pitch_yaw_muxing (MuxChannel channel)

bool	do_throttle_muxing (void)

void	init_failsafe ()

void	interpret_rc (void)

void	param_change_callback (uint16_t param_id) override

bool	stick_deviated (MuxChannel channel)

Private Attributes
control_t	combined_command_

control_t &	failsafe_command_

control_t	fixedwing_failsafe_command_

control_t	multirotor_failsafe_command_

mux_t	muxes [4]

bool	new_command_

control_t	offboard_command_

control_t	rc_command_

bool	rc_override_

rc_stick_override_t	rc_stick_override_ [3] = {{RC::STICK_X, 0}, {RC::STICK_Y, 0}, {RC::STICK_Z, 0}}

ROSflight &	RF_

Detailed Description

Definition at line 70 of file command_manager.h.

Member Enumeration Documentation

enum rosflight_firmware::CommandManager::att_mode_t

private

Enumerator
ATT_MODE_RATE
ATT_MODE_ANGLE

Definition at line 114 of file command_manager.h.

enum rosflight_firmware::CommandManager::MuxChannel

private

Enumerator
MUX_X
MUX_Y
MUX_Z
MUX_F

Definition at line 120 of file command_manager.h.

Constructor & Destructor Documentation

rosflight_firmware::CommandManager::CommandManager ( ROSflight & _rf )

Definition at line 62 of file command_manager.cpp.

Member Function Documentation

const control_t& rosflight_firmware::CommandManager::combined_control ( ) const

inline

Definition at line 162 of file command_manager.h.

void rosflight_firmware::CommandManager::do_min_throttle_muxing ( )

private

bool rosflight_firmware::CommandManager::do_roll_pitch_yaw_muxing ( MuxChannel channel )

private

Definition at line 169 of file command_manager.cpp.

bool rosflight_firmware::CommandManager::do_throttle_muxing ( void )

private

Definition at line 195 of file command_manager.cpp.

void rosflight_firmware::CommandManager::init ( )

Definition at line 64 of file command_manager.cpp.

void rosflight_firmware::CommandManager::init_failsafe ( )

private

Definition at line 83 of file command_manager.cpp.

void rosflight_firmware::CommandManager::interpret_rc ( void )

private

Definition at line 93 of file command_manager.cpp.

bool rosflight_firmware::CommandManager::offboard_control_active ( )

Definition at line 233 of file command_manager.cpp.

void rosflight_firmware::CommandManager::override_combined_command_with_rc ( )

Definition at line 255 of file command_manager.cpp.

void rosflight_firmware::CommandManager::param_change_callback ( uint16_t param_id )

overrideprivatevirtual

Implements rosflight_firmware::ParamListenerInterface.

Definition at line 69 of file command_manager.cpp.

const control_t& rosflight_firmware::CommandManager::rc_control ( ) const

inline

Definition at line 163 of file command_manager.h.

bool rosflight_firmware::CommandManager::rc_override_active ( )

Definition at line 228 of file command_manager.cpp.

bool rosflight_firmware::CommandManager::run ( )

Definition at line 261 of file command_manager.cpp.

void rosflight_firmware::CommandManager::set_new_offboard_command ( control_t new_offboard_command )

Definition at line 243 of file command_manager.cpp.

void rosflight_firmware::CommandManager::set_new_rc_command ( control_t new_rc_command )

Definition at line 249 of file command_manager.cpp.

bool rosflight_firmware::CommandManager::stick_deviated ( MuxChannel channel )

private

Definition at line 148 of file command_manager.cpp.

Member Data Documentation

control_t rosflight_firmware::CommandManager::combined_command_

private

Initial value:

= {0,
                                 {false, ANGLE, 0.0},
                                 {false, ANGLE, 0.0},
                                 {false, RATE, 0.0},
                                 {false, THROTTLE, 0.0}}

Definition at line 96 of file command_manager.h.

control_t& rosflight_firmware::CommandManager::failsafe_command_

private

Definition at line 141 of file command_manager.h.

control_t rosflight_firmware::CommandManager::fixedwing_failsafe_command_

private

Initial value:

= {0,
                                           {true, PASSTHROUGH, 0.0},
                                           {true, PASSTHROUGH, 0.0},
                                           {true, PASSTHROUGH, 0.0},
                                           {true, THROTTLE, 0.0}}

Definition at line 107 of file command_manager.h.

control_t rosflight_firmware::CommandManager::multirotor_failsafe_command_

private

Initial value:

= {0,
                                            {true, ANGLE, 0.0},
                                            {true, ANGLE, 0.0},
                                            {true, RATE, 0.0},
                                            {true, THROTTLE, 0.0}}

Definition at line 102 of file command_manager.h.

mux_t rosflight_firmware::CommandManager::muxes[4]

private

Initial value:

= {{&rc_command_.x, &offboard_command_.x, &combined_command_.x},
                    {&rc_command_.y, &offboard_command_.y, &combined_command_.y},
                    {&rc_command_.z, &offboard_command_.z, &combined_command_.z},
                    {&rc_command_.F, &offboard_command_.F, &combined_command_.F}}

Definition at line 80 of file command_manager.h.

bool rosflight_firmware::CommandManager::new_command_

private

Definition at line 138 of file command_manager.h.

control_t rosflight_firmware::CommandManager::offboard_command_

private

Initial value:

= {0,
                                 {false, ANGLE, 0.0},
                                 {false, ANGLE, 0.0},
                                 {false, RATE, 0.0},
                                 {false, THROTTLE, 0.0}}

Definition at line 91 of file command_manager.h.

control_t rosflight_firmware::CommandManager::rc_command_

private

Initial value:

= {0,
                           {false, ANGLE, 0.0},
                           {false, ANGLE, 0.0},
                           {false, RATE, 0.0},
                           {false, THROTTLE, 0.0}}

Definition at line 86 of file command_manager.h.

bool rosflight_firmware::CommandManager::rc_override_

private

Definition at line 139 of file command_manager.h.

rc_stick_override_t rosflight_firmware::CommandManager::rc_stick_override_[3] = {{RC::STICK_X, 0}, {RC::STICK_Y, 0}, {RC::STICK_Z, 0}}

private

Definition at line 134 of file command_manager.h.

ROSflight& rosflight_firmware::CommandManager::RF_

private

Definition at line 136 of file command_manager.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation