#include <sil_board.h>

Inheritance diagram for rosflight_sim::SIL_Board:

Public Member Functions
void	backup_memory_clear (size_t len) override

void	backup_memory_init () override

bool	backup_memory_read (void *dest, size_t len) override

void	backup_memory_write (const void *src, size_t len) override

bool	baro_present (void) override

void	baro_read (float pressure, float temperature) override

void	baro_update (void) override

bool	battery_current_present () const override

float	battery_current_read () const override

void	battery_current_set_multiplier (double multiplier) override

bool	battery_voltage_present () const override

float	battery_voltage_read () const override

void	battery_voltage_set_multiplier (double multiplier) override

void	board_reset (bool bootloader) override

void	clock_delay (uint32_t milliseconds) override

uint64_t	clock_micros () override

uint32_t	clock_millis () override

bool	diff_pressure_present (void) override

void	diff_pressure_read (float diff_pressure, float temperature) override

void	diff_pressure_update (void) override

void	gazebo_setup (gazebo::physics::LinkPtr link, gazebo::physics::WorldPtr world, gazebo::physics::ModelPtr model, ros::NodeHandle *nh, std::string mav_type)

const int *	get_outputs () const

rosflight_firmware::GNSSFull	gnss_full_read () override

bool	gnss_has_new_data () override

bool	gnss_present () override

rosflight_firmware::GNSSData	gnss_read () override

void	gnss_update () override

void	imu_not_responding_error () override

bool	imu_read (float accel[3], float temperature, float gyro[3], uint64_t time_us) override

void	init_board (void) override

void	led0_off (void) override

void	led0_on (void) override

void	led0_toggle (void) override

void	led1_off (void) override

void	led1_on (void) override

void	led1_toggle (void) override

bool	mag_present (void) override

void	mag_read (float mag[3]) override

void	mag_update (void) override

void	memory_init (void) override

bool	memory_read (void *dest, size_t len) override

bool	memory_write (const void *src, size_t len) override

bool	new_imu_data () override

uint16_t	num_sensor_errors (void) override

void	pwm_disable (void) override

void	pwm_init (uint32_t refresh_rate, uint16_t idle_pwm) override

void	pwm_write (uint8_t channel, float value) override

void	rc_init (rc_type_t rc_type) override

bool	rc_lost (void) override

float	rc_read (uint8_t channel) override

void	sensors_init () override

	SIL_Board ()

bool	sonar_present (void) override

float	sonar_read (void) override

void	sonar_update (void) override

Public Member Functions inherited from rosflight_firmware::UDPBoard
uint16_t	serial_bytes_available (void) override

void	serial_flush () override

void	serial_init (uint32_t baud_rate, uint32_t dev) override

uint8_t	serial_read (void) override

void	serial_write (const uint8_t *src, size_t len) override

void	set_ports (std::string bind_host, uint16_t bind_port, std::string remote_host, uint16_t remote_port)

	UDPBoard (std::string bind_host="localhost", uint16_t bind_port=14525, std::string remote_host="localhost", uint16_t remote_port=14520)

	~UDPBoard ()

Private Member Functions
bool	motors_spinning ()

void	RCCallback (const rosflight_msgs::RCRaw &msg)

Private Attributes
GazeboVector	acc_bias_

double	acc_bias_range_

double	acc_bias_walk_stdev_

double	acc_stdev_

double	airspeed_bias_

double	airspeed_bias_range_

double	airspeed_bias_walk_stdev_

double	airspeed_stdev_

uint8_t	backup_memory_ [BACKUP_SRAM_SIZE]

double	baro_bias_

double	baro_bias_range_

double	baro_bias_walk_stdev_

double	baro_stdev_

float	battery_current_multiplier {1.0}

float	battery_voltage_multiplier {1.0}

gazebo::common::Time	boot_time_

double	gps_velocity_stdev_

GazeboVector	gravity_

GazeboVector	gyro_bias_

double	gyro_bias_range_

double	gyro_bias_walk_stdev_

double	gyro_stdev_

double	horizontal_gps_stdev_

uint64_t	imu_update_period_us_

double	imu_update_rate_

GazeboVector	inertial_magnetic_field_

ros::Time	last_rc_message_

gazebo::common::Time	last_time_

rosflight_msgs::RCRaw	latestRC_

gazebo::physics::LinkPtr	link_

GazeboVector	mag_bias_

double	mag_bias_range_

double	mag_bias_walk_stdev_

double	mag_stdev_

std::string	mav_type_

gazebo::physics::ModelPtr	model_

uint64_t	next_imu_update_time_us_

ros::NodeHandle *	nh_

std::normal_distribution< double >	normal_distribution_

double	origin_altitude_

double	origin_latitude_

double	origin_longitude_

GazeboVector	prev_vel_1_

GazeboVector	prev_vel_2_

GazeboVector	prev_vel_3_

int	pwm_outputs_ [14]

std::default_random_engine	random_generator_

bool	rc_received_

ros::Subscriber	rc_sub_

double	sonar_max_range_

double	sonar_min_range_

double	sonar_stdev_

std::uniform_real_distribution< double >	uniform_distribution_

double	vertical_gps_stdev_

gazebo::physics::WorldPtr	world_

Static Private Attributes
static constexpr size_t	BACKUP_SRAM_SIZE {1024}

Additional Inherited Members
Public Types inherited from rosflight_firmware::Board
enum	rc_type_t

Public Attributes inherited from rosflight_firmware::Board
	RC_TYPE_PPM

	RC_TYPE_SBUS

Detailed Description

Definition at line 54 of file sil_board.h.

Constructor & Destructor Documentation

rosflight_sim::SIL_Board::SIL_Board ( )

Definition at line 40 of file sil_board.cpp.

Member Function Documentation

void rosflight_sim::SIL_Board::backup_memory_clear ( size_t len )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 555 of file sil_board.cpp.

void rosflight_sim::SIL_Board::backup_memory_init ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 536 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::backup_memory_read	(	void *	dest,
		size_t	len
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 538 of file sil_board.cpp.

void rosflight_sim::SIL_Board::backup_memory_write	(	const void *	src,
		size_t	len
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 549 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::baro_present ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 324 of file sil_board.cpp.

void rosflight_sim::SIL_Board::baro_read	(	float *	pressure,
		float *	temperature
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 329 of file sil_board.cpp.

void rosflight_sim::SIL_Board::baro_update ( void )

inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 161 of file sil_board.h.

bool rosflight_sim::SIL_Board::battery_current_present ( ) const

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 418 of file sil_board.cpp.

float rosflight_sim::SIL_Board::battery_current_read ( ) const

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 423 of file sil_board.cpp.

void rosflight_sim::SIL_Board::battery_current_set_multiplier ( double multiplier )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 428 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::battery_voltage_present ( ) const

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 403 of file sil_board.cpp.

float rosflight_sim::SIL_Board::battery_voltage_read ( ) const

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 408 of file sil_board.cpp.

void rosflight_sim::SIL_Board::battery_voltage_set_multiplier ( double multiplier )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 413 of file sil_board.cpp.

void rosflight_sim::SIL_Board::board_reset ( bool bootloader )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 149 of file sil_board.cpp.

void rosflight_sim::SIL_Board::clock_delay ( uint32_t milliseconds )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 165 of file sil_board.cpp.

uint64_t rosflight_sim::SIL_Board::clock_micros ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 159 of file sil_board.cpp.

uint32_t rosflight_sim::SIL_Board::clock_millis ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 153 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::diff_pressure_present ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 353 of file sil_board.cpp.

void rosflight_sim::SIL_Board::diff_pressure_read	(	float *	diff_pressure,
		float *	temperature
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 361 of file sil_board.cpp.

void rosflight_sim::SIL_Board::diff_pressure_update ( void )

inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 165 of file sil_board.h.

void rosflight_sim::SIL_Board::gazebo_setup	(	gazebo::physics::LinkPtr	link,
		gazebo::physics::WorldPtr	world,
		gazebo::physics::ModelPtr	model,
		ros::NodeHandle *	nh,
		std::string	mav_type
	)

Definition at line 56 of file sil_board.cpp.

const int* rosflight_sim::SIL_Board::get_outputs ( ) const

inline

Definition at line 223 of file sil_board.h.

rosflight_firmware::GNSSFull rosflight_sim::SIL_Board::gnss_full_read ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 634 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::gnss_has_new_data ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 630 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::gnss_present ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 568 of file sil_board.cpp.

rosflight_firmware::GNSSData rosflight_sim::SIL_Board::gnss_read ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 574 of file sil_board.cpp.

void rosflight_sim::SIL_Board::gnss_update ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 572 of file sil_board.cpp.

void rosflight_sim::SIL_Board::imu_not_responding_error ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 289 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::imu_read	(	float	accel[3],
		float *	temperature,
		float	gyro[3],
		uint64_t *	time_us
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 218 of file sil_board.cpp.

void rosflight_sim::SIL_Board::init_board ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 42 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led0_off ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 529 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led0_on ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 528 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led0_toggle ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 530 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led1_off ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 533 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led1_on ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 532 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led1_toggle ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 534 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::mag_present ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 319 of file sil_board.cpp.

void rosflight_sim::SIL_Board::mag_read ( float mag[3] )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 294 of file sil_board.cpp.

void rosflight_sim::SIL_Board::mag_update ( void )

inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 157 of file sil_board.h.

void rosflight_sim::SIL_Board::memory_init ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 480 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::memory_read	(	void *	dest,
		size_t	len
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 482 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::memory_write	(	const void *	src,
		size_t	len
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 499 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::motors_spinning ( )

private

Definition at line 518 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::new_imu_data ( )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 204 of file sil_board.cpp.

uint16_t rosflight_sim::SIL_Board::num_sensor_errors ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 199 of file sil_board.cpp.

void rosflight_sim::SIL_Board::pwm_disable ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 467 of file sil_board.cpp.

void rosflight_sim::SIL_Board::pwm_init	(	uint32_t	refresh_rate,
		uint16_t	idle_pwm
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 434 of file sil_board.cpp.

void rosflight_sim::SIL_Board::pwm_write	(	uint8_t	channel,
		float	value
	)

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 463 of file sil_board.cpp.

void rosflight_sim::SIL_Board::rc_init ( rc_type_t rc_type )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 477 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::rc_lost ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 472 of file sil_board.cpp.

float rosflight_sim::SIL_Board::rc_read ( uint8_t channel )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 449 of file sil_board.cpp.

void rosflight_sim::SIL_Board::RCCallback ( const rosflight_msgs::RCRaw & msg )

private

Definition at line 561 of file sil_board.cpp.

void rosflight_sim::SIL_Board::sensors_init ( )

overridevirtual

TODO these sensors have noise, no bias noise params are hard coded

Implements rosflight_firmware::Board.

Definition at line 170 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::sonar_present ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 381 of file sil_board.cpp.

float rosflight_sim::SIL_Board::sonar_read ( void )

overridevirtual

Implements rosflight_firmware::Board.

Definition at line 386 of file sil_board.cpp.

void rosflight_sim::SIL_Board::sonar_update ( void )

inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 169 of file sil_board.h.

Member Data Documentation

GazeboVector rosflight_sim::SIL_Board::acc_bias_

private

Definition at line 90 of file sil_board.h.

double rosflight_sim::SIL_Board::acc_bias_range_

private

Definition at line 66 of file sil_board.h.

double rosflight_sim::SIL_Board::acc_bias_walk_stdev_

private

Definition at line 67 of file sil_board.h.

double rosflight_sim::SIL_Board::acc_stdev_

private

Definition at line 65 of file sil_board.h.

double rosflight_sim::SIL_Board::airspeed_bias_

private

Definition at line 93 of file sil_board.h.

double rosflight_sim::SIL_Board::airspeed_bias_range_

private

Definition at line 79 of file sil_board.h.

double rosflight_sim::SIL_Board::airspeed_bias_walk_stdev_

private

Definition at line 77 of file sil_board.h.

double rosflight_sim::SIL_Board::airspeed_stdev_

private

Definition at line 78 of file sil_board.h.

uint8_t rosflight_sim::SIL_Board::backup_memory_[BACKUP_SRAM_SIZE]

private

Definition at line 133 of file sil_board.h.

constexpr size_t rosflight_sim::SIL_Board::BACKUP_SRAM_SIZE {1024}

staticprivate

Definition at line 132 of file sil_board.h.

double rosflight_sim::SIL_Board::baro_bias_

private

Definition at line 92 of file sil_board.h.

double rosflight_sim::SIL_Board::baro_bias_range_

private

Definition at line 71 of file sil_board.h.

double rosflight_sim::SIL_Board::baro_bias_walk_stdev_

private

Definition at line 69 of file sil_board.h.

double rosflight_sim::SIL_Board::baro_stdev_

private

Definition at line 70 of file sil_board.h.

float rosflight_sim::SIL_Board::battery_current_multiplier {1.0}

private

Definition at line 131 of file sil_board.h.

float rosflight_sim::SIL_Board::battery_voltage_multiplier {1.0}

private

Definition at line 130 of file sil_board.h.

gazebo::common::Time rosflight_sim::SIL_Board::boot_time_

private

Definition at line 118 of file sil_board.h.

double rosflight_sim::SIL_Board::gps_velocity_stdev_

private

Definition at line 87 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::gravity_

private

Definition at line 99 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::gyro_bias_

private

Definition at line 89 of file sil_board.h.

double rosflight_sim::SIL_Board::gyro_bias_range_

private

Definition at line 63 of file sil_board.h.

double rosflight_sim::SIL_Board::gyro_bias_walk_stdev_

private

Definition at line 62 of file sil_board.h.

double rosflight_sim::SIL_Board::gyro_stdev_

private

Definition at line 61 of file sil_board.h.

double rosflight_sim::SIL_Board::horizontal_gps_stdev_

private

Definition at line 85 of file sil_board.h.

uint64_t rosflight_sim::SIL_Board::imu_update_period_us_

private

Definition at line 120 of file sil_board.h.

double rosflight_sim::SIL_Board::imu_update_rate_

private

Definition at line 59 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::inertial_magnetic_field_

private

Definition at line 57 of file sil_board.h.

ros::Time rosflight_sim::SIL_Board::last_rc_message_

private

Definition at line 112 of file sil_board.h.

gazebo::common::Time rosflight_sim::SIL_Board::last_time_

private

Definition at line 128 of file sil_board.h.

rosflight_msgs::RCRaw rosflight_sim::SIL_Board::latestRC_

private

Definition at line 110 of file sil_board.h.

gazebo::physics::LinkPtr rosflight_sim::SIL_Board::link_

private

Definition at line 106 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::mag_bias_

private

Definition at line 91 of file sil_board.h.

double rosflight_sim::SIL_Board::mag_bias_range_

private

Definition at line 75 of file sil_board.h.

double rosflight_sim::SIL_Board::mag_bias_walk_stdev_

private

Definition at line 73 of file sil_board.h.

double rosflight_sim::SIL_Board::mag_stdev_

private

Definition at line 74 of file sil_board.h.

std::string rosflight_sim::SIL_Board::mav_type_

private

Definition at line 114 of file sil_board.h.

gazebo::physics::ModelPtr rosflight_sim::SIL_Board::model_

private

Definition at line 105 of file sil_board.h.

uint64_t rosflight_sim::SIL_Board::next_imu_update_time_us_

private

Definition at line 119 of file sil_board.h.

ros::NodeHandle* rosflight_sim::SIL_Board::nh_

private

Definition at line 108 of file sil_board.h.

std::normal_distribution<double> rosflight_sim::SIL_Board::normal_distribution_

private

Definition at line 96 of file sil_board.h.

double rosflight_sim::SIL_Board::origin_altitude_

private

Definition at line 102 of file sil_board.h.

double rosflight_sim::SIL_Board::origin_latitude_

private

Definition at line 100 of file sil_board.h.

double rosflight_sim::SIL_Board::origin_longitude_

private

Definition at line 101 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::prev_vel_1_

private

Definition at line 125 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::prev_vel_2_

private

Definition at line 126 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::prev_vel_3_

private

Definition at line 127 of file sil_board.h.

int rosflight_sim::SIL_Board::pwm_outputs_[14]

private

Definition at line 115 of file sil_board.h.

std::default_random_engine rosflight_sim::SIL_Board::random_generator_

private

Definition at line 95 of file sil_board.h.

bool rosflight_sim::SIL_Board::rc_received_

private

Definition at line 111 of file sil_board.h.

ros::Subscriber rosflight_sim::SIL_Board::rc_sub_

private

Definition at line 109 of file sil_board.h.

double rosflight_sim::SIL_Board::sonar_max_range_

private

Definition at line 82 of file sil_board.h.

double rosflight_sim::SIL_Board::sonar_min_range_

private

Definition at line 83 of file sil_board.h.

double rosflight_sim::SIL_Board::sonar_stdev_

private

Definition at line 81 of file sil_board.h.

std::uniform_real_distribution<double> rosflight_sim::SIL_Board::uniform_distribution_

private

Definition at line 97 of file sil_board.h.

double rosflight_sim::SIL_Board::vertical_gps_stdev_

private

Definition at line 86 of file sil_board.h.

gazebo::physics::WorldPtr rosflight_sim::SIL_Board::world_

private

Definition at line 104 of file sil_board.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation