MAVROS node implementation. More...

Collaboration diagram for Nodelib:

Namespaces
	mavros

	mavros::ftf

	mavros::ftf::detail

	mavros::utils

Classes
class	mavros::MavlinkDiag

class	mavros::MavRos
	MAVROS node class. More...

class	mavros::UAS
	UAS for plugins. More...

Macros
#define	UAS_DIAG(uasobjptr) ((uasobjptr)->diag_updater)
	helper accessor to diagnostic updater More...

#define	UAS_FCU(uasobjptr) ((uasobjptr)->fcu_link)
	helper accessor to FCU link interface More...

Typedefs
using	mavros::UAS::ConnectionCb = std::function< void(bool)>

using	mavros::ftf::Covariance3d = sensor_msgs::Imu::_angular_velocity_covariance_type
	Type matching rosmsg for 3x3 covariance matrix. More...

using	mavros::ftf::Covariance6d = geometry_msgs::PoseWithCovariance::_covariance_type
	Type matching rosmsg for 6x6 covariance matrix. More...

using	mavros::ftf::Covariance9d = boost::array< double, 81 >
	Type matching rosmsg for 9x9 covariance matrix. More...

using	mavros::ftf::EigenMapConstCovariance3d = Eigen::Map< const Eigen::Matrix< double, 3, 3, Eigen::RowMajor > >

using	mavros::ftf::EigenMapConstCovariance6d = Eigen::Map< const Eigen::Matrix< double, 6, 6, Eigen::RowMajor > >

using	mavros::ftf::EigenMapConstCovariance9d = Eigen::Map< const Eigen::Matrix< double, 9, 9, Eigen::RowMajor > >

using	mavros::ftf::EigenMapCovariance3d = Eigen::Map< Eigen::Matrix< double, 3, 3, Eigen::RowMajor > >
	Eigen::Map for Covariance3d. More...

using	mavros::ftf::EigenMapCovariance6d = Eigen::Map< Eigen::Matrix< double, 6, 6, Eigen::RowMajor > >
	Eigen::Map for Covariance6d. More...

using	mavros::ftf::EigenMapCovariance9d = Eigen::Map< Eigen::Matrix< double, 9, 9, Eigen::RowMajor > >
	Eigen::Map for Covariance9d. More...

using	mavros::UAS::lock_guard = std::lock_guard< std::recursive_mutex >

using	mavros::ftf::detail::Matrix6d = Eigen::Matrix< double, 6, 6 >
	Auxiliar matrices to Covariance transforms. More...

using	mavros::ftf::detail::Matrix9d = Eigen::Matrix< double, 9, 9 >

using	mavros::UAS::MAV_AUTOPILOT = mavlink::common::MAV_AUTOPILOT

using	mavros::UAS::MAV_MODE_FLAG = mavlink::common::MAV_MODE_FLAG

using	mavros::UAS::MAV_STATE = mavlink::common::MAV_STATE

using	mavros::UAS::MAV_TYPE = mavlink::common::MAV_TYPE

using	mavros::utils::OrientationPair = std::pair< const std::string, const Eigen::Quaterniond >

using	mavros::UAS::timesync_mode = utils::timesync_mode

using	mavros::UAS::unique_lock = std::unique_lock< std::recursive_mutex >

Enumerations
enum	mavros::ftf::StaticTF { mavros::ftf::StaticTF::NED_TO_ENU, mavros::ftf::StaticTF::ENU_TO_NED, mavros::ftf::StaticTF::AIRCRAFT_TO_BASELINK, mavros::ftf::StaticTF::BASELINK_TO_AIRCRAFT, mavros::ftf::StaticTF::ECEF_TO_ENU, mavros::ftf::StaticTF::ENU_TO_ECEF }
	Orientation transform options when applying rotations to data. More...

Functions
void	mavros::UAS::add_connection_change_handler (ConnectionCb cb)
	Add connection change handler callback. More...

void	mavros::MavRos::add_plugin (std::string &pl_name, ros::V_string &blacklist, ros::V_string &whitelist)
	load plugin More...

static const Eigen::Affine3d	mavros::ftf::detail::AIRCRAFT_BASELINK_AFFINE (AIRCRAFT_BASELINK_Q)
	Static vector needed for rotating between aircraft and base_link frames +PI rotation around X (Forward) axis transforms from Forward, Right, Down (aircraft) Fto Forward, Left, Up (base_link) frames. More...

bool	mavros::UAS::cmode_from_str (std::string cmode_str, uint32_t &custom_mode)
	Lookup custom mode for given string. More...

template<class T , std::size_t SIZE>
void	mavros::ftf::covariance_to_mavlink (const T &cov, std::array< float, SIZE > &covmsg)
	Convert covariance matrix to MAVLink float[n] format. More...

template<class T , std::size_t ARR_SIZE>
void	mavros::ftf::covariance_urt_to_mavlink (const T &covmap, std::array< float, ARR_SIZE > &covmsg)
	Convert upper right triangular of a covariance matrix to MAVLink float[n] format. More...

template<class T >
double	mavros::UAS::ellipsoid_to_geoid_height (T lla)
	Conversion from height above ellipsoid (WGS-84) to height above geoid (AMSL) More...

template<class T >
double	mavros::UAS::geoid_to_ellipsoid_height (T lla)
	Conversion from height above geoid (AMSL) to height above ellipsoid (WGS-84) More...

bool	mavros::UAS::get_armed ()
	Returns arming status. More...

geometry_msgs::Vector3	mavros::UAS::get_attitude_angular_velocity_enu ()
	Get angular velocity from IMU data. More...

geometry_msgs::Vector3	mavros::UAS::get_attitude_angular_velocity_ned ()
	Get angular velocity from IMU data. More...

sensor_msgs::Imu::Ptr	mavros::UAS::get_attitude_imu_enu ()
	Get IMU data [ENU]. More...

sensor_msgs::Imu::Ptr	mavros::UAS::get_attitude_imu_ned ()
	Get IMU data [NED]. More...

geometry_msgs::Quaternion	mavros::UAS::get_attitude_orientation_enu ()
	Get Attitude orientation quaternion. More...

geometry_msgs::Quaternion	mavros::UAS::get_attitude_orientation_ned ()
	Get Attitude orientation quaternion. More...

MAV_AUTOPILOT	mavros::UAS::get_autopilot ()
	Returns autopilot type. More...

uint64_t	mavros::UAS::get_capabilities ()

void	mavros::UAS::get_gps_epts (float &eph, float &epv, int &fix_type, int &satellites_visible)
	Returns EPH, EPV, Fix type and satellites visible. More...

sensor_msgs::NavSatFix::Ptr	mavros::UAS::get_gps_fix ()
	Retunrs last GPS RAW message. More...

bool	mavros::UAS::get_hil_state ()
	Returns HIL status. More...

uint8_t	mavros::UAS::get_tgt_component ()
	Return communication target component. More...

uint8_t	mavros::UAS::get_tgt_system ()
	Return communication target system. More...

uint64_t	mavros::UAS::get_time_offset (void)

timesync_mode	mavros::UAS::get_timesync_mode (void)

MAV_TYPE	mavros::UAS::get_type ()
	Returns vehicle type. More...

bool	mavros::UAS::is_ardupilotmega ()
	Check that FCU is APM. More...

bool	mavros::UAS::is_connected ()
	Return connection status. More...

bool	mavros::UAS::is_my_target (uint8_t sysid, uint8_t compid)
	Check that sys/comp id's is my target. More...

bool	mavros::UAS::is_my_target (uint8_t sysid)
	Check that system id is my target. More...

bool	mavros::UAS::is_px4 ()
	Check that FCU is PX4. More...

void	mavros::MavRos::log_connect_change (bool connected)

static const OrientationPair	mavros::utils::make_orientation (const std::string &name, const double roll, const double pitch, const double yaw)

void	mavros::MavRos::mavlink_pub_cb (const mavlink::mavlink_message_t *mmsg, const mavconn::Framing framing)
	fcu link -> ros More...

void	mavros::MavRos::mavlink_sub_cb (const mavros_msgs::Mavlink::ConstPtr &rmsg)
	ros -> fcu link More...

Eigen::Quaterniond	mavros::ftf::mavlink_to_quaternion (const std::array< float, 4 > &q)
	Convert Mavlink float[4] quaternion to Eigen. More...

template<class T , std::size_t ARR_SIZE>
void	mavros::ftf::mavlink_urt_to_covariance_matrix (const std::array< float, ARR_SIZE > &covmsg, T &covmat)
	Convert MAVLink float[n] format (upper right triangular of a covariance matrix) to Eigen::MatrixXd<n,n> full covariance matrix. More...

	mavros::MavlinkDiag::MavlinkDiag (std::string name)

	mavros::MavRos::MavRos ()

template<typename _T >
void	mavros::UAS::msg_set_target (_T &msg)

static const Eigen::Affine3d	mavros::ftf::detail::NED_ENU_AFFINE (NED_ENU_Q)
	Static vector needed for rotating between ENU and NED frames +PI rotation around X (North) axis follwed by +PI/2 rotation about Z (Down) gives the ENU frame. Similarly, a +PI rotation about X (East) followed by a +PI/2 roation about Z (Up) gives the NED frame. More...

static const Eigen::PermutationMatrix< 3 >	mavros::ftf::detail::NED_ENU_REFLECTION_XY (Eigen::Vector3i(1, 0, 2))
	Use reflections instead of rotations for NED <-> ENU transformation to avoid NaN/Inf floating point pollution across different axes since in NED <-> ENU the axes are perfectly aligned. More...

static const Eigen::DiagonalMatrix< double, 3 >	mavros::ftf::detail::NED_ENU_REFLECTION_Z (1, 1,-1)

void	mavros::MavRos::plugin_route_cb (const mavlink::mavlink_message_t *mmsg, const mavconn::Framing framing)
	message router More...

void	mavros::UAS::publish_static_transform (const std::string &frame_id, const std::string &child_id, const Eigen::Affine3d &tr)
	Publishes static transform. More...

Eigen::Quaterniond	mavros::ftf::quaternion_from_rpy (const Eigen::Vector3d &rpy)
	Convert euler angles to quaternion. More...

Eigen::Quaterniond	mavros::ftf::quaternion_from_rpy (const double roll, const double pitch, const double yaw)
	Convert euler angles to quaternion. More...

double	mavros::ftf::quaternion_get_yaw (const Eigen::Quaterniond &q)
	Get Yaw angle from quaternion. More...

void	mavros::ftf::quaternion_to_mavlink (const Eigen::Quaterniond &q, std::array< float, 4 > &qmsg)
	Store Quaternion to MAVLink float[4] format. More...

Eigen::Vector3d	mavros::ftf::quaternion_to_rpy (const Eigen::Quaterniond &q)
	Convert quaternion to euler angles. More...

void	mavros::ftf::quaternion_to_rpy (const Eigen::Quaterniond &q, double &roll, double &pitch, double &yaw)
	Convert quaternion to euler angles. More...

void	mavros::MavlinkDiag::run (diagnostic_updater::DiagnosticStatusWrapper &stat)

Eigen::Quaterniond	mavros::utils::sensor_orientation_matching (MAV_SENSOR_ORIENTATION orientation)

void	mavros::MavlinkDiag::set_connection_status (bool connected)

void	mavros::MavlinkDiag::set_mavconn (const mavconn::MAVConnInterface::Ptr &link)

void	mavros::UAS::set_tgt (uint8_t sys, uint8_t comp)

void	mavros::UAS::set_time_offset (uint64_t offset_ns)

void	mavros::UAS::set_timesync_mode (timesync_mode mode)

void	mavros::MavRos::spin ()

void	mavros::MavRos::startup_px4_usb_quirk ()
	start mavlink app on USB More...

std::string	mavros::UAS::str_mode_v10 (uint8_t base_mode, uint32_t custom_mode)
	Represent FCU mode as string. More...

ros::Time	mavros::UAS::synchronise_stamp (uint32_t time_boot_ms)
	Compute FCU message time from time_boot_ms or time_usec field. More...

ros::Time	mavros::UAS::synchronise_stamp (uint64_t time_usec)

template<typename T >
std_msgs::Header	mavros::UAS::synchronized_header (const std::string &frame_id, const T time_stamp)
	Create message header from time_boot_ms or time_usec stamps and frame_id. More...

Eigen::Vector3d	mavros::ftf::to_eigen (const geometry_msgs::Point r)
	Helper to convert common ROS geometry_msgs::Point to Eigen::Vector3d. More...

Eigen::Vector3d	mavros::ftf::to_eigen (const geometry_msgs::Vector3 r)
	Helper to convert common ROS geometry_msgs::Vector3 to Eigen::Vector3d. More...

Eigen::Quaterniond	mavros::ftf::to_eigen (const geometry_msgs::Quaternion r)
	Helper to convert common ROS geometry_msgs::Quaternion to Eigen::Quaterniond. More...

std::string	mavros::utils::to_name (MAV_TYPE e)

std::string	mavros::utils::to_string (MAV_SENSOR_ORIENTATION orientation)

std::string	mavros::utils::to_string (MAV_AUTOPILOT e)

std::string	mavros::utils::to_string (MAV_TYPE e)

std::string	mavros::utils::to_string (MAV_STATE e)

std::string	mavros::utils::to_string (ADSB_ALTITUDE_TYPE e)

std::string	mavros::utils::to_string (ADSB_EMITTER_TYPE e)

std::string	mavros::utils::to_string (MAV_ESTIMATOR_TYPE e)

std::string	mavros::utils::to_string (GPS_FIX_TYPE e)

std::string	mavros::utils::to_string (MAV_MISSION_RESULT e)

std::string	mavros::utils::to_string (MAV_FRAME e)

std::string	mavros::utils::to_string (MAV_COMPONENT e)

std::string	mavros::utils::to_string (MAV_DISTANCE_SENSOR e)

std::string	mavros::utils::to_string (LANDING_TARGET_TYPE e)

Eigen::Vector3d	mavros::ftf::detail::transform_frame (const Eigen::Vector3d &vec, const Eigen::Quaterniond &q)
	Transform data expressed in one frame to another frame. More...

Covariance3d	mavros::ftf::detail::transform_frame (const Covariance3d &cov, const Eigen::Quaterniond &q)
	Transform 3x3 convariance expressed in one frame to another. More...

Covariance6d	mavros::ftf::detail::transform_frame (const Covariance6d &cov, const Eigen::Quaterniond &q)
	Transform 6x6 convariance expressed in one frame to another. More...

Covariance9d	mavros::ftf::detail::transform_frame (const Covariance9d &cov, const Eigen::Quaterniond &q)
	Transform 9x9 convariance expressed in one frame to another. More...

template<class T >
T	mavros::ftf::transform_frame_aircraft_baselink (const T &in)
	Transform data expressed in Aircraft frame to Baselink frame. More...

template<class T >
T	mavros::ftf::transform_frame_aircraft_enu (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in aircraft frame to ENU frame. Assumes quaternion represents rotation from aircraft frame to ENU frame. More...

template<class T >
T	mavros::ftf::transform_frame_aircraft_ned (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in aircraft frame to NED frame. Assumes quaternion represents rotation from aircraft frame to NED frame. More...

template<class T >
T	mavros::ftf::transform_frame_baselink_aircraft (const T &in)
	Transform data expressed in Baselink frame to Aircraft frame. More...

template<class T >
T	mavros::ftf::transform_frame_baselink_enu (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in baselink to ENU frame. Assumes quaternion represents rotation from basel_link to ENU frame. More...

template<class T >
T	mavros::ftf::transform_frame_ecef_enu (const T &in, const T &map_origin)
	Transform data expressed in ECEF frame to ENU frame. More...

template<class T >
T	mavros::ftf::transform_frame_enu_aircraft (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in ENU to aircraft frame. Assumes quaternion represents rotation from ENU to aircraft frame. More...

template<class T >
T	mavros::ftf::transform_frame_enu_baselink (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in ENU to base_link frame. Assumes quaternion represents rotation from ENU to base_link frame. More...

template<class T >
T	mavros::ftf::transform_frame_enu_ecef (const T &in, const T &map_origin)
	Transform data expressed in ENU frame to ECEF frame. More...

template<class T >
T	mavros::ftf::transform_frame_enu_ned (const T &in)
	Transform data expressed in ENU to NED frame. More...

template<class T >
T	mavros::ftf::transform_frame_ned_aircraft (const T &in, const Eigen::Quaterniond &q)
	Transform data expressed in NED to aircraft frame. Assumes quaternion represents rotation from NED to aircraft frame. More...

template<class T >
T	mavros::ftf::transform_frame_ned_enu (const T &in)
	Transform data expressed in NED to ENU frame. More...

Eigen::Quaterniond	mavros::ftf::detail::transform_orientation (const Eigen::Quaterniond &q, const StaticTF transform)
	Transform representation of attitude from 1 frame to another (e.g. transfrom attitude from representing from base_link -> NED to representing base_link -> ENU) More...

template<class T >
T	mavros::ftf::transform_orientation_aircraft_baselink (const T &in)
	Transform from attitude represented WRT aircraft frame to attitude represented WRT base_link frame. More...

template<class T >
T	mavros::ftf::transform_orientation_baselink_aircraft (const T &in)
	Transform from attitude represented WRT baselink frame to attitude represented WRT body frame. More...

template<class T >
T	mavros::ftf::transform_orientation_enu_ned (const T &in)
	Transform from attitude represented WRT ENU frame to attitude represented WRT NED frame. More...

template<class T >
T	mavros::ftf::transform_orientation_ned_enu (const T &in)
	Transform from attitude represented WRT NED frame to attitude represented WRT ENU frame. More...

Eigen::Vector3d	mavros::ftf::detail::transform_static_frame (const Eigen::Vector3d &vec, const StaticTF transform)
	Transform data expressed in one frame to another frame. More...

Covariance3d	mavros::ftf::detail::transform_static_frame (const Covariance3d &cov, const StaticTF transform)
	Transform 3d convariance expressed in one frame to another. More...

Covariance6d	mavros::ftf::detail::transform_static_frame (const Covariance6d &cov, const StaticTF transform)
	Transform 6d convariance expressed in one frame to another. More...

Covariance9d	mavros::ftf::detail::transform_static_frame (const Covariance9d &cov, const StaticTF transform)
	Transform 9d convariance expressed in one frame to another. More...

Eigen::Vector3d	mavros::ftf::detail::transform_static_frame (const Eigen::Vector3d &vec, const Eigen::Vector3d &map_origin, const StaticTF transform)
	Transform data expressed in one frame to another frame with additional map origin parameter. More...

	mavros::UAS::UAS ()

void	mavros::UAS::update_attitude_imu_enu (sensor_msgs::Imu::Ptr &imu)
	Store IMU data [ENU]. More...

void	mavros::UAS::update_attitude_imu_ned (sensor_msgs::Imu::Ptr &imu)
	Store IMU data [NED]. More...

void	mavros::UAS::update_capabilities (bool known, uint64_t caps=0)

void	mavros::UAS::update_connection_status (bool conn_)

void	mavros::UAS::update_gps_fix_epts (sensor_msgs::NavSatFix::Ptr &fix, float eph, float epv, int fix_type, int satellites_visible)
	Store GPS RAW data. More...

void	mavros::UAS::update_heartbeat (uint8_t type_, uint8_t autopilot_, uint8_t base_mode_)

	mavros::MavRos::~MavRos ()

	mavros::UAS::~UAS ()

Variables
static const std::array< const std::string, 2 >	mavros::utils::adsb_altitude_type_strings
	ADSB_ALTITUDE_TYPE values. More...

static const std::array< const std::string, 20 >	mavros::utils::adsb_emitter_type_strings
	ADSB_EMITTER_TYPE values. More...

static const auto	mavros::ftf::detail::AIRCRAFT_BASELINK_Q = quaternion_from_rpy(M_PI, 0.0, 0.0)
	Static quaternion needed for rotating between aircraft and base_link frames +PI rotation around X (Forward) axis transforms from Forward, Right, Down (aircraft) Fto Forward, Left, Up (base_link) frames. More...

static const auto	mavros::ftf::detail::AIRCRAFT_BASELINK_R = AIRCRAFT_BASELINK_Q.normalized().toRotationMatrix()

std::atomic< uint8_t >	mavros::UAS::autopilot

std::atomic< uint8_t >	mavros::UAS::base_mode

ros::Duration	mavros::MavRos::conn_timeout

std::atomic< bool >	mavros::UAS::connected

std::vector< ConnectionCb >	mavros::UAS::connection_cb_vec

diagnostic_updater::Updater	mavros::UAS::diag_updater
	Mavros diagnostic updater. More...

std::shared_ptr< GeographicLib::Geoid >	mavros::UAS::egm96_5
	Geoid dataset used to convert between AMSL and WGS-84. More...

std::atomic< uint64_t >	mavros::UAS::fcu_capabilities

std::atomic< bool >	mavros::UAS::fcu_caps_known

mavconn::MAVConnInterface::Ptr	mavros::UAS::fcu_link
	MAVLink FCU device conection. More...

MavlinkDiag	mavros::MavRos::fcu_link_diag

diagnostic_updater::Updater	mavros::MavRos::gcs_diag_updater

mavconn::MAVConnInterface::Ptr	mavros::MavRos::gcs_link

MavlinkDiag	mavros::MavRos::gcs_link_diag

bool	mavros::MavRos::gcs_quiet_mode

float	mavros::UAS::gps_eph

float	mavros::UAS::gps_epv

sensor_msgs::NavSatFix::Ptr	mavros::UAS::gps_fix

int	mavros::UAS::gps_fix_type

static const std::array< const std::string, 9 >	mavros::utils::gps_fix_type_strings
	GPS_FIX_TYPE values. More...

int	mavros::UAS::gps_satellites_visible

sensor_msgs::Imu::Ptr	mavros::UAS::imu_enu_data

sensor_msgs::Imu::Ptr	mavros::UAS::imu_ned_data

std::atomic< bool >	mavros::MavlinkDiag::is_connected

static const std::array< const std::string, 4 >	mavros::utils::landing_target_type_strings
	LANDING_TARGET_TYPE values. More...

unsigned int	mavros::MavlinkDiag::last_drop_count

ros::Time	mavros::MavRos::last_message_received_from_gcs

std::vector< plugin::PluginBase::Ptr >	mavros::MavRos::loaded_plugins

static const std::array< const std::string, 20 >	mavros::utils::mav_autopilot_strings
	MAV_AUTOPILOT values. More...

static const std::unordered_map< size_t, const std::string >	mavros::utils::mav_comp_id_strings

static const std::array< const std::string, 5 >	mavros::utils::mav_distance_sensor_strings
	MAV_DISTANCE_SENSOR values. More...

static const std::array< const std::string, 5 >	mavros::utils::mav_estimator_type_strings
	MAV_ESTIMATOR_TYPE values. More...

static const std::array< const std::string, 20 >	mavros::utils::mav_frame_strings
	MAV_FRAME values. More...

static const std::array< const std::string, 15 >	mavros::utils::mav_mission_result_strings
	MAV_MISSION_RESULT values. More...

static const std::array< const std::string, 9 >	mavros::utils::mav_state_strings
	MAV_STATE values. More...

static const std::array< const std::string, 33 >	mavros::utils::mav_type_names
	MAV_TYPE values. More...

static const std::array< const std::string, 33 >	mavros::utils::mav_type_strings
	MAV_TYPE values. More...

UAS	mavros::MavRos::mav_uas
	UAS object passed to all plugins. More...

ros::NodeHandle	mavros::MavRos::mavlink_nh

ros::Publisher	mavros::MavRos::mavlink_pub

ros::Subscriber	mavros::MavRos::mavlink_sub

std::recursive_mutex	mavros::UAS::mutex

static const auto	mavros::ftf::detail::NED_ENU_Q = quaternion_from_rpy(M_PI, 0.0, M_PI_2)
	Static quaternion needed for rotating between ENU and NED frames NED to ENU: +PI/2 rotation about Z (Down) followed by a +PI rotation around X (old North/new East) ENU to NED: +PI/2 rotation about Z (Up) followed by a +PI rotation about X (old East/new North) More...

static const auto	mavros::ftf::detail::NED_ENU_R = NED_ENU_Q.normalized().toRotationMatrix()
	3-D matrices to fill 6-D rotation matrix applied to change covariance matrices coordinate frames More...

pluginlib::ClassLoader< plugin::PluginBase >	mavros::MavRos::plugin_loader

std::unordered_map< mavlink::msgid_t, plugin::PluginBase::Subscriptions >	mavros::MavRos::plugin_subscriptions
	FCU link -> router -> plugin handler. More...

static const std::array< const OrientationPair, 42 >	mavros::utils::sensor_orientations

uint8_t	mavros::UAS::target_component

uint8_t	mavros::UAS::target_system

tf2_ros::TransformBroadcaster	mavros::UAS::tf2_broadcaster

tf2_ros::Buffer	mavros::UAS::tf2_buffer

tf2_ros::TransformListener	mavros::UAS::tf2_listener

tf2_ros::StaticTransformBroadcaster	mavros::UAS::tf2_static_broadcaster

std::atomic< uint64_t >	mavros::UAS::time_offset

static const std::array< const std::string, 4 >	mavros::utils::timesync_mode_strings
	timesync_mode values More...

timesync_mode	mavros::UAS::tsync_mode

std::atomic< uint8_t >	mavros::UAS::type

mavconn::MAVConnInterface::WeakPtr	mavros::MavlinkDiag::weak_link

Detailed Description

MAVROS node implementation.

Macro Definition Documentation

#define UAS_DIAG ( uasobjptr ) ((uasobjptr)->diag_updater)

helper accessor to diagnostic updater

Definition at line 47 of file mavros_uas.h.

#define UAS_FCU ( uasobjptr ) ((uasobjptr)->fcu_link)

helper accessor to FCU link interface

Definition at line 41 of file mavros_uas.h.

Typedef Documentation

using mavros::UAS::ConnectionCb = std::function<void(bool)>

Definition at line 68 of file mavros_uas.h.

using mavros::ftf::Covariance3d = typedef sensor_msgs::Imu::_angular_velocity_covariance_type

Type matching rosmsg for 3x3 covariance matrix.

Definition at line 37 of file frame_tf.h.

using mavros::ftf::Covariance6d = typedef geometry_msgs::PoseWithCovariance::_covariance_type

Type matching rosmsg for 6x6 covariance matrix.

Definition at line 40 of file frame_tf.h.

using mavros::ftf::Covariance9d = typedef boost::array<double, 81>

Type matching rosmsg for 9x9 covariance matrix.

Definition at line 43 of file frame_tf.h.

using mavros::ftf::EigenMapConstCovariance3d = typedef Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor> >

Definition at line 47 of file frame_tf.h.

using mavros::ftf::EigenMapConstCovariance6d = typedef Eigen::Map<const Eigen::Matrix<double, 6, 6, Eigen::RowMajor> >

Definition at line 51 of file frame_tf.h.

using mavros::ftf::EigenMapConstCovariance9d = typedef Eigen::Map<const Eigen::Matrix<double, 9, 9, Eigen::RowMajor> >

Definition at line 55 of file frame_tf.h.

using mavros::ftf::EigenMapCovariance3d = typedef Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor> >

Eigen::Map for Covariance3d.

Definition at line 46 of file frame_tf.h.

using mavros::ftf::EigenMapCovariance6d = typedef Eigen::Map<Eigen::Matrix<double, 6, 6, Eigen::RowMajor> >

Eigen::Map for Covariance6d.

Definition at line 50 of file frame_tf.h.

using mavros::ftf::EigenMapCovariance9d = typedef Eigen::Map<Eigen::Matrix<double, 9, 9, Eigen::RowMajor> >

Eigen::Map for Covariance9d.

Definition at line 54 of file frame_tf.h.

using mavros::UAS::lock_guard = std::lock_guard<std::recursive_mutex>

Definition at line 69 of file mavros_uas.h.

using mavros::ftf::detail::Matrix6d = typedef Eigen::Matrix<double, 6, 6>

Auxiliar matrices to Covariance transforms.

Definition at line 70 of file ftf_frame_conversions.cpp.

using mavros::ftf::detail::Matrix9d = typedef Eigen::Matrix<double, 9, 9>

Definition at line 71 of file ftf_frame_conversions.cpp.

using mavros::UAS::MAV_AUTOPILOT = mavlink::common::MAV_AUTOPILOT

Definition at line 74 of file mavros_uas.h.

using mavros::UAS::MAV_MODE_FLAG = mavlink::common::MAV_MODE_FLAG

Definition at line 75 of file mavros_uas.h.

using mavros::UAS::MAV_STATE = mavlink::common::MAV_STATE

Definition at line 76 of file mavros_uas.h.

using mavros::UAS::MAV_TYPE = mavlink::common::MAV_TYPE

Definition at line 73 of file mavros_uas.h.

using mavros::utils::OrientationPair = typedef std::pair<const std::string, const Eigen::Quaterniond>

Definition at line 27 of file enum_sensor_orientation.cpp.

using mavros::UAS::timesync_mode = utils::timesync_mode

Definition at line 77 of file mavros_uas.h.

using mavros::UAS::unique_lock = std::unique_lock<std::recursive_mutex>

Definition at line 70 of file mavros_uas.h.

Enumeration Type Documentation

enum mavros::ftf::StaticTF

strong

Orientation transform options when applying rotations to data.

Enumerator
NED_TO_ENU	will change orientation from being expressed WRT NED frame to WRT ENU frame
ENU_TO_NED	change from expressed WRT ENU frame to WRT NED frame
AIRCRAFT_TO_BASELINK	change from expressed WRT aircraft frame to WRT to baselink frame
BASELINK_TO_AIRCRAFT	change from expressed WRT baselnk to WRT aircraft
ECEF_TO_ENU	change from expressed WRT ECEF frame to WRT ENU frame
ENU_TO_ECEF	change from expressed WRT ENU frame to WRT ECEF frame

Definition at line 60 of file frame_tf.h.

Function Documentation

void UAS::add_connection_change_handler ( UAS::ConnectionCb cb )

Add connection change handler callback.

Definition at line 81 of file uas_data.cpp.

void MavRos::add_plugin	(	std::string &	pl_name,
		ros::V_string &	blacklist,
		ros::V_string &	whitelist
	)

private

load plugin

Loads plugin (if not blacklisted)

Definition at line 291 of file mavros.cpp.

static const Eigen::Affine3d mavros::ftf::detail::AIRCRAFT_BASELINK_AFFINE ( AIRCRAFT_BASELINK_Q )

static

Static vector needed for rotating between aircraft and base_link frames +PI rotation around X (Forward) axis transforms from Forward, Right, Down (aircraft) Fto Forward, Left, Up (base_link) frames.

bool UAS::cmode_from_str	(	std::string	cmode_str,
		uint32_t &	custom_mode
	)

Lookup custom mode for given string.

Complimentary to str_mode_v10()

Parameters

[in]	cmode_str	string representation of mode
[out]	custom_mode	decoded value

Returns: true if success

Definition at line 250 of file uas_stringify.cpp.

template<class T , std::size_t SIZE>

void mavros::ftf::covariance_to_mavlink	(	const T &	cov,
		std::array< float, SIZE > &	covmsg
	)

inline

Convert covariance matrix to MAVLink float[n] format.

Definition at line 364 of file frame_tf.h.

template<class T , std::size_t ARR_SIZE>

void mavros::ftf::covariance_urt_to_mavlink	(	const T &	covmap,
		std::array< float, ARR_SIZE > &	covmsg
	)

inline

Convert upper right triangular of a covariance matrix to MAVLink float[n] format.

Definition at line 373 of file frame_tf.h.

template<class T >

double mavros::UAS::ellipsoid_to_geoid_height ( T lla )

inline

Conversion from height above ellipsoid (WGS-84) to height above geoid (AMSL)

Definition at line 259 of file mavros_uas.h.

template<class T >

double mavros::UAS::geoid_to_ellipsoid_height ( T lla )

inline

Conversion from height above geoid (AMSL) to height above ellipsoid (WGS-84)

Definition at line 246 of file mavros_uas.h.

bool mavros::UAS::get_armed ( )

inline

Returns arming status.

Note: There may be race condition between SET_MODE and HEARTBEAT.

Definition at line 137 of file mavros_uas.h.

geometry_msgs::Vector3 UAS::get_attitude_angular_velocity_enu ( )

Get angular velocity from IMU data.

Returns: vector3 [ENU]

Definition at line 165 of file uas_data.cpp.

geometry_msgs::Vector3 UAS::get_attitude_angular_velocity_ned ( )

Get angular velocity from IMU data.

Returns: vector3 [NED]

Definition at line 178 of file uas_data.cpp.

sensor_msgs::Imu::Ptr UAS::get_attitude_imu_enu ( )

Get IMU data [ENU].

Definition at line 127 of file uas_data.cpp.

sensor_msgs::Imu::Ptr UAS::get_attitude_imu_ned ( )

Get IMU data [NED].

Definition at line 133 of file uas_data.cpp.

geometry_msgs::Quaternion UAS::get_attitude_orientation_enu ( )

Get Attitude orientation quaternion.

Returns: orientation quaternion [ENU]

Definition at line 139 of file uas_data.cpp.

geometry_msgs::Quaternion UAS::get_attitude_orientation_ned ( )

Get Attitude orientation quaternion.

Returns: orientation quaternion [NED]

Definition at line 152 of file uas_data.cpp.

MAV_AUTOPILOT mavros::UAS::get_autopilot ( )

inline

Returns autopilot type.

Definition at line 127 of file mavros_uas.h.

uint64_t UAS::get_capabilities ( )

Definition at line 95 of file uas_data.cpp.

void UAS::get_gps_epts	(	float &	eph,
		float &	epv,
		int &	fix_type,
		int &	satellites_visible
	)

Returns EPH, EPV, Fix type and satellites visible.

Definition at line 208 of file uas_data.cpp.

sensor_msgs::NavSatFix::Ptr UAS::get_gps_fix ( )

Retunrs last GPS RAW message.

Definition at line 219 of file uas_data.cpp.

bool mavros::UAS::get_hil_state ( )

inline

Returns HIL status.

Definition at line 145 of file mavros_uas.h.

uint8_t mavros::UAS::get_tgt_component ( )

inline

Return communication target component.

Definition at line 162 of file mavros_uas.h.

uint8_t mavros::UAS::get_tgt_system ( )

inline

Return communication target system.

Definition at line 155 of file mavros_uas.h.

uint64_t mavros::UAS::get_time_offset ( void )

inline

Definition at line 289 of file mavros_uas.h.

timesync_mode mavros::UAS::get_timesync_mode ( void )

inline

Definition at line 297 of file mavros_uas.h.

MAV_TYPE mavros::UAS::get_type ( )

inline

Returns vehicle type.

Definition at line 119 of file mavros_uas.h.

bool mavros::UAS::is_ardupilotmega ( )

inline

Check that FCU is APM.

Definition at line 360 of file mavros_uas.h.

bool mavros::UAS::is_connected ( )

inline

Return connection status.

Definition at line 95 of file mavros_uas.h.

bool mavros::UAS::is_my_target	(	uint8_t	sysid,
		uint8_t	compid
	)

inline

Check that sys/comp id's is my target.

Definition at line 346 of file mavros_uas.h.

bool mavros::UAS::is_my_target ( uint8_t sysid )

inline

Check that system id is my target.

Definition at line 353 of file mavros_uas.h.

bool mavros::UAS::is_px4 ( )

inline

Check that FCU is PX4.

Definition at line 367 of file mavros_uas.h.

void MavRos::log_connect_change ( bool connected )

private

Definition at line 369 of file mavros.cpp.

static const OrientationPair mavros::utils::make_orientation	(	const std::string &	name,
		const double	roll,
		const double	pitch,
		const double	yaw
	)

static

Definition at line 30 of file enum_sensor_orientation.cpp.

void MavRos::mavlink_pub_cb	(	const mavlink::mavlink_message_t *	mmsg,
		const mavconn::Framing	framing
	)

private

fcu link -> ros

Definition at line 207 of file mavros.cpp.

void MavRos::mavlink_sub_cb ( const mavros_msgs::Mavlink::ConstPtr & rmsg )

private

ros -> fcu link

Definition at line 219 of file mavros.cpp.

Eigen::Quaterniond mavros::ftf::mavlink_to_quaternion ( const std::array< float, 4 > & q )

inline

Convert Mavlink float[4] quaternion to Eigen.

Definition at line 355 of file frame_tf.h.

template<class T , std::size_t ARR_SIZE>

void mavros::ftf::mavlink_urt_to_covariance_matrix	(	const std::array< float, ARR_SIZE > &	covmsg,
		T &	covmat
	)

inline

Convert MAVLink float[n] format (upper right triangular of a covariance matrix) to Eigen::MatrixXd<n,n> full covariance matrix.

Definition at line 394 of file frame_tf.h.

MavlinkDiag::MavlinkDiag ( std::string name )

explicit

Definition at line 18 of file mavlink_diag.cpp.

MavRos::MavRos ( )

Definition at line 31 of file mavros.cpp.

template<typename _T >

void mavros::UAS::msg_set_target ( _T & msg )

inline

Helper template to set target id's of message.

Definition at line 338 of file mavros_uas.h.

static const Eigen::Affine3d mavros::ftf::detail::NED_ENU_AFFINE ( NED_ENU_Q )

static

Static vector needed for rotating between ENU and NED frames +PI rotation around X (North) axis follwed by +PI/2 rotation about Z (Down) gives the ENU frame. Similarly, a +PI rotation about X (East) followed by a +PI/2 roation about Z (Up) gives the NED frame.

static const Eigen::PermutationMatrix<3> mavros::ftf::detail::NED_ENU_REFLECTION_XY ( Eigen::Vector3i(1, 0, 2) )

static

Use reflections instead of rotations for NED <-> ENU transformation to avoid NaN/Inf floating point pollution across different axes since in NED <-> ENU the axes are perfectly aligned.

static const Eigen::DiagonalMatrix<double,3> mavros::ftf::detail::NED_ENU_REFLECTION_Z	(	1	,
		1	,
		-	1
	)

static

void MavRos::plugin_route_cb	(	const mavlink::mavlink_message_t *	mmsg,
		const mavconn::Framing	framing
	)

private

message router

Definition at line 229 of file mavros.cpp.

void UAS::publish_static_transform	(	const std::string &	frame_id,
		const std::string &	child_id,
		const Eigen::Affine3d &	tr
	)

Publishes static transform.

Parameters

frame_id	parent frame for transform
child_id	child frame for transform
tr	transform

Definition at line 228 of file uas_data.cpp.

Eigen::Quaterniond mavros::ftf::quaternion_from_rpy ( const Eigen::Vector3d & rpy )

Convert euler angles to quaternion.

Definition at line 27 of file ftf_quaternion_utils.cpp.

Eigen::Quaterniond mavros::ftf::quaternion_from_rpy	(	const double	roll,
		const double	pitch,
		const double	yaw
	)

inline

Convert euler angles to quaternion.

Returns: quaternion, same as tf::quaternionFromRPY() but in Eigen format.

Definition at line 309 of file frame_tf.h.

double mavros::ftf::quaternion_get_yaw ( const Eigen::Quaterniond & q )

Get Yaw angle from quaternion.

Replacement function for tf::getYaw()

Definition at line 43 of file ftf_quaternion_utils.cpp.

void mavros::ftf::quaternion_to_mavlink	(	const Eigen::Quaterniond &	q,
		std::array< float, 4 > &	qmsg
	)

inline

Store Quaternion to MAVLink float[4] format.

MAVLink uses wxyz order, wile Eigen::Quaterniond uses xyzw internal order, so it can't be stored to array using Eigen::Map.

Definition at line 344 of file frame_tf.h.

Eigen::Vector3d mavros::ftf::quaternion_to_rpy ( const Eigen::Quaterniond & q )

Convert quaternion to euler angles.

Reverse operation to quaternion_from_rpy()

Definition at line 37 of file ftf_quaternion_utils.cpp.

void mavros::ftf::quaternion_to_rpy	(	const Eigen::Quaterniond &	q,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

inline

Convert quaternion to euler angles.

Definition at line 323 of file frame_tf.h.

void MavlinkDiag::run ( diagnostic_updater::DiagnosticStatusWrapper & stat )

virtual

Implements diagnostic_updater::DiagnosticTask.

Definition at line 24 of file mavlink_diag.cpp.

Eigen::Quaterniond mavros::utils::sensor_orientation_matching ( MAV_SENSOR_ORIENTATION orientation )

Definition at line 134 of file enum_sensor_orientation.cpp.

void mavros::MavlinkDiag::set_connection_status ( bool connected )

inline

Definition at line 34 of file mavlink_diag.h.

void mavros::MavlinkDiag::set_mavconn ( const mavconn::MAVConnInterface::Ptr & link )

inline

Definition at line 30 of file mavlink_diag.h.

void mavros::UAS::set_tgt	(	uint8_t	sys,
		uint8_t	comp
	)

inline

Definition at line 166 of file mavros_uas.h.

void mavros::UAS::set_time_offset ( uint64_t offset_ns )

inline

Definition at line 285 of file mavros_uas.h.

void mavros::UAS::set_timesync_mode ( timesync_mode mode )

inline

Definition at line 293 of file mavros_uas.h.

void MavRos::spin ( )

Definition at line 186 of file mavros.cpp.

void MavRos::startup_px4_usb_quirk ( )

private

start mavlink app on USB

Definition at line 357 of file mavros.cpp.

std::string UAS::str_mode_v10	(	uint8_t	base_mode,
		uint32_t	custom_mode
	)

Represent FCU mode as string.

Port pymavlink mavutil.mode_string_v10

Supported FCU's:

APM:Plane
APM:Copter
PX4

Parameters

[in]	base_mode	base mode
[in]	custom_mode	custom mode data

Definition at line 185 of file uas_stringify.cpp.

ros::Time UAS::synchronise_stamp ( uint32_t time_boot_ms )

Compute FCU message time from time_boot_ms or time_usec field.

Uses time_offset for calculation

Returns: FCU time if it is known else current wall time.

Definition at line 32 of file uas_timesync.cpp.

ros::Time UAS::synchronise_stamp ( uint64_t time_usec )

Definition at line 44 of file uas_timesync.cpp.

template<typename T >

std_msgs::Header mavros::UAS::synchronized_header	(	const std::string &	frame_id,
		const T	time_stamp
	)

inline

Create message header from time_boot_ms or time_usec stamps and frame_id.

Setting frame_id and stamp are pretty common, this little helper should reduce LOC.

Parameters

[in]	frame_id	frame for header
[in]	time_stamp	mavlink message time

Returns: Header with syncronized stamp and frame id

Definition at line 325 of file mavros_uas.h.

Eigen::Vector3d mavros::ftf::to_eigen ( const geometry_msgs::Point r )

inline

Helper to convert common ROS geometry_msgs::Point to Eigen::Vector3d.

Definition at line 423 of file frame_tf.h.

Eigen::Vector3d mavros::ftf::to_eigen ( const geometry_msgs::Vector3 r )

inline

Helper to convert common ROS geometry_msgs::Vector3 to Eigen::Vector3d.

Definition at line 427 of file frame_tf.h.

Eigen::Quaterniond mavros::ftf::to_eigen ( const geometry_msgs::Quaternion r )

inline

Helper to convert common ROS geometry_msgs::Quaternion to Eigen::Quaterniond.

Definition at line 431 of file frame_tf.h.

std::string mavros::utils::to_name ( MAV_TYPE e )

Definition at line 243 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( MAV_SENSOR_ORIENTATION orientation )

Definition at line 123 of file enum_sensor_orientation.cpp.

std::string mavros::utils::to_string ( MAV_AUTOPILOT e )

Definition at line 131 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( MAV_TYPE e )

Definition at line 192 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( MAV_STATE e )

Definition at line 280 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( ADSB_ALTITUDE_TYPE e )

Definition at line 343 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( ADSB_EMITTER_TYPE e )

Definition at line 381 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( MAV_ESTIMATOR_TYPE e )

Definition at line 404 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( GPS_FIX_TYPE e )

Definition at line 431 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( MAV_MISSION_RESULT e )

Definition at line 474 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( MAV_FRAME e )

Definition at line 512 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( MAV_COMPONENT e )

Definition at line 582 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( MAV_DISTANCE_SENSOR e )

Definition at line 632 of file enum_to_string.cpp.

std::string mavros::utils::to_string ( LANDING_TARGET_TYPE e )

Definition at line 654 of file enum_to_string.cpp.

Eigen::Vector3d mavros::ftf::detail::transform_frame	(	const Eigen::Vector3d &	vec,
		const Eigen::Quaterniond &	q
	)

Transform data expressed in one frame to another frame.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 229 of file ftf_frame_conversions.cpp.

Covariance3d mavros::ftf::detail::transform_frame	(	const Covariance3d &	cov,
		const Eigen::Quaterniond &	q
	)

Transform 3x3 convariance expressed in one frame to another.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 235 of file ftf_frame_conversions.cpp.

Covariance6d mavros::ftf::detail::transform_frame	(	const Covariance6d &	cov,
		const Eigen::Quaterniond &	q
	)

Transform 6x6 convariance expressed in one frame to another.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 245 of file ftf_frame_conversions.cpp.

Covariance9d mavros::ftf::detail::transform_frame	(	const Covariance9d &	cov,
		const Eigen::Quaterniond &	q
	)

Transform 9x9 convariance expressed in one frame to another.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 260 of file ftf_frame_conversions.cpp.

template<class T >

T mavros::ftf::transform_frame_aircraft_baselink ( const T & in )

inline

Transform data expressed in Aircraft frame to Baselink frame.

Definition at line 205 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_aircraft_enu	(	const T &	in,
		const Eigen::Quaterniond &	q
	)

inline

Transform data expressed in aircraft frame to ENU frame. Assumes quaternion represents rotation from aircraft frame to ENU frame.

Definition at line 265 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_aircraft_ned	(	const T &	in,
		const Eigen::Quaterniond &	q
	)

inline

Transform data expressed in aircraft frame to NED frame. Assumes quaternion represents rotation from aircraft frame to NED frame.

Definition at line 247 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_baselink_aircraft ( const T & in )

inline

Transform data expressed in Baselink frame to Aircraft frame.

Definition at line 214 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_baselink_enu	(	const T &	in,
		const Eigen::Quaterniond &	q
	)

inline

Transform data expressed in baselink to ENU frame. Assumes quaternion represents rotation from basel_link to ENU frame.

Definition at line 292 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_ecef_enu	(	const T &	in,
		const T &	map_origin
	)

inline

Transform data expressed in ECEF frame to ENU frame.

Parameters

in	local ECEF coordinates [m]
map_origin	geodetic origin [lla]

Returns: local ENU coordinates [m].

Definition at line 226 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_enu_aircraft	(	const T &	in,
		const Eigen::Quaterniond &	q
	)

inline

Transform data expressed in ENU to aircraft frame. Assumes quaternion represents rotation from ENU to aircraft frame.

Definition at line 274 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_enu_baselink	(	const T &	in,
		const Eigen::Quaterniond &	q
	)

inline

Transform data expressed in ENU to base_link frame. Assumes quaternion represents rotation from ENU to base_link frame.

Definition at line 283 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_enu_ecef	(	const T &	in,
		const T &	map_origin
	)

inline

Transform data expressed in ENU frame to ECEF frame.

Parameters

in	local ENU coordinates [m]
map_origin	geodetic origin [lla]

Returns: local ECEF coordinates [m].

Definition at line 238 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_enu_ned ( const T & in )

inline

Transform data expressed in ENU to NED frame.

Definition at line 196 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_ned_aircraft	(	const T &	in,
		const Eigen::Quaterniond &	q
	)

inline

Transform data expressed in NED to aircraft frame. Assumes quaternion represents rotation from NED to aircraft frame.

Definition at line 256 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_frame_ned_enu ( const T & in )

inline

Transform data expressed in NED to ENU frame.

Definition at line 187 of file frame_tf.h.

Eigen::Quaterniond mavros::ftf::detail::transform_orientation	(	const Eigen::Quaterniond &	q,
		const StaticTF	transform
	)

Transform representation of attitude from 1 frame to another (e.g. transfrom attitude from representing from base_link -> NED to representing base_link -> ENU)

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 74 of file ftf_frame_conversions.cpp.

template<class T >

T mavros::ftf::transform_orientation_aircraft_baselink ( const T & in )

inline

Transform from attitude represented WRT aircraft frame to attitude represented WRT base_link frame.

Definition at line 170 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_orientation_baselink_aircraft ( const T & in )

inline

Transform from attitude represented WRT baselink frame to attitude represented WRT body frame.

Definition at line 179 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_orientation_enu_ned ( const T & in )

inline

Transform from attitude represented WRT ENU frame to attitude represented WRT NED frame.

Definition at line 161 of file frame_tf.h.

template<class T >

T mavros::ftf::transform_orientation_ned_enu ( const T & in )

inline

Transform from attitude represented WRT NED frame to attitude represented WRT ENU frame.

Definition at line 152 of file frame_tf.h.

Eigen::Vector3d mavros::ftf::detail::transform_static_frame	(	const Eigen::Vector3d &	vec,
		const StaticTF	transform
	)

Transform data expressed in one frame to another frame.

General function. Please use specialized variants.

Definition at line 91 of file ftf_frame_conversions.cpp.

Covariance3d mavros::ftf::detail::transform_static_frame	(	const Covariance3d &	cov,
		const StaticTF	transform
	)

Transform 3d convariance expressed in one frame to another.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 104 of file ftf_frame_conversions.cpp.

Covariance6d mavros::ftf::detail::transform_static_frame	(	const Covariance6d &	cov,
		const StaticTF	transform
	)

Transform 6d convariance expressed in one frame to another.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 124 of file ftf_frame_conversions.cpp.

Covariance9d mavros::ftf::detail::transform_static_frame	(	const Covariance9d &	cov,
		const StaticTF	transform
	)

Transform 9d convariance expressed in one frame to another.

General function. Please use specialized enu-ned and ned-enu variants.

Definition at line 155 of file ftf_frame_conversions.cpp.

Eigen::Vector3d mavros::ftf::detail::transform_static_frame	(	const Eigen::Vector3d &	vec,
		const Eigen::Vector3d &	map_origin,
		const StaticTF	transform
	)

Transform data expressed in one frame to another frame with additional map origin parameter.

General function. Please use specialized variants.

Degrees to radians

Compute transform from ECEF to ENU: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates ϕ = latitude λ = longitude The rotation is composed by a counter-clockwise rotation over the Z-axis by an angle of 90 + λ followed by a counter-clockwise rotation over the east-axis by an angle of 90 - ϕ. R = [-sinλ cosλ 0.0 -cosλ*sinϕ -sinλ*sinϕ cosϕ cosλ*cosϕ sinλ*cosϕ sinϕ ] [East, North, Up] = R * [∂x, ∂y, ∂z] where both [East, North, Up] and [∂x, ∂y, ∂z] are local coordinates relative to map origin.

Degrees to radians

Compute transform from ECEF to ENU: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates ϕ = latitude λ = longitude The rotation is composed by a counter-clockwise rotation over the Z-axis by an angle of 90 + λ followed by a counter-clockwise rotation over the east-axis by an angle of 90 - ϕ. R = [-sinλ cosλ 0.0 -cosλ*sinϕ -sinλ*sinϕ cosϕ cosλ*cosϕ sinλ*cosϕ sinϕ ] [East, North, Up] = R * [∂x, ∂y, ∂z] where both [East, North, Up] and [∂x, ∂y, ∂z] are local coordinates relative to map origin.

Definition at line 188 of file ftf_frame_conversions.cpp.

UAS::UAS ( )

Definition at line 24 of file uas_data.cpp.

void UAS::update_attitude_imu_enu ( sensor_msgs::Imu::Ptr & imu )

Store IMU data [ENU].

Definition at line 115 of file uas_data.cpp.

void UAS::update_attitude_imu_ned ( sensor_msgs::Imu::Ptr & imu )

Store IMU data [NED].

Definition at line 121 of file uas_data.cpp.

void UAS::update_capabilities	(	bool	known,
		uint64_t	caps = `0`
	)

Definition at line 106 of file uas_data.cpp.

void UAS::update_connection_status ( bool conn_ )

Update autopilot connection status (every HEARTBEAT/conn_timeout)

Definition at line 70 of file uas_data.cpp.

void UAS::update_gps_fix_epts	(	sensor_msgs::NavSatFix::Ptr &	fix,
		float	eph,
		float	epv,
		int	fix_type,
		int	satellites_visible
	)

Store GPS RAW data.

Definition at line 194 of file uas_data.cpp.

void UAS::update_heartbeat	(	uint8_t	type_,
		uint8_t	autopilot_,
		uint8_t	base_mode_
	)

Update autopilot type on every HEARTBEAT

Definition at line 63 of file uas_data.cpp.

mavros::MavRos::~MavRos ( )

inline

Definition at line 38 of file mavros.h.

mavros::UAS::~UAS ( )

inline

Definition at line 80 of file mavros_uas.h.

Variable Documentation

const std::array<const std::string, 2> mavros::utils::adsb_altitude_type_strings

static

Initial value:

{{
 "PRESSURE_QNH",                  
 "GEOMETRIC",                     
}}

ADSB_ALTITUDE_TYPE values.

Definition at line 338 of file enum_to_string.cpp.

const std::array<const std::string, 20> mavros::utils::adsb_emitter_type_strings

static

Initial value:

{{
 "NO_INFO",
 "LIGHT",
 "SMALL",
 "LARGE",
 "HIGH_VORTEX_LARGE",
 "HEAVY",
 "HIGHLY_MANUV",
 "ROTOCRAFT",
 "UNASSIGNED",
 "GLIDER",
 "LIGHTER_AIR",
 "PARACHUTE",
 "ULTRA_LIGHT",
 "UNASSIGNED2",
 "UAV",
 "SPACE",
 "UNASSGINED3",
 "EMERGENCY_SURFACE",
 "SERVICE_SURFACE",
 "POINT_OBSTACLE",
}}

ADSB_EMITTER_TYPE values.

Definition at line 358 of file enum_to_string.cpp.

const auto mavros::ftf::detail::AIRCRAFT_BASELINK_Q = quaternion_from_rpy(M_PI, 0.0, 0.0)

static

Static quaternion needed for rotating between aircraft and base_link frames +PI rotation around X (Forward) axis transforms from Forward, Right, Down (aircraft) Fto Forward, Left, Up (base_link) frames.

Definition at line 36 of file ftf_frame_conversions.cpp.

const auto mavros::ftf::detail::AIRCRAFT_BASELINK_R = AIRCRAFT_BASELINK_Q.normalized().toRotationMatrix()

static

Definition at line 57 of file ftf_frame_conversions.cpp.

std::atomic<uint8_t> mavros::UAS::autopilot

private

Definition at line 401 of file mavros_uas.h.

std::atomic<uint8_t> mavros::UAS::base_mode

private

Definition at line 402 of file mavros_uas.h.

ros::Duration mavros::MavRos::conn_timeout

private

Definition at line 48 of file mavros.h.

std::atomic<bool> mavros::UAS::connected

private

Definition at line 407 of file mavros_uas.h.

std::vector<ConnectionCb> mavros::UAS::connection_cb_vec

private

Definition at line 408 of file mavros_uas.h.

diagnostic_updater::Updater mavros::UAS::diag_updater

Mavros diagnostic updater.

Definition at line 90 of file mavros_uas.h.

std::shared_ptr<GeographicLib::Geoid> mavros::UAS::egm96_5

Geoid dataset used to convert between AMSL and WGS-84.

That class loads egm96_5 dataset to RAM, it is about 24 MiB.

Definition at line 239 of file mavros_uas.h.

std::atomic<uint64_t> mavros::UAS::fcu_capabilities

private

Definition at line 423 of file mavros_uas.h.

std::atomic<bool> mavros::UAS::fcu_caps_known

private

Definition at line 422 of file mavros_uas.h.

mavconn::MAVConnInterface::Ptr mavros::UAS::fcu_link

MAVLink FCU device conection.

Definition at line 80 of file mavros_uas.h.

MavlinkDiag mavros::MavRos::fcu_link_diag

private

Definition at line 54 of file mavros.h.

diagnostic_updater::Updater mavros::MavRos::gcs_diag_updater

private

Definition at line 53 of file mavros.h.

mavconn::MAVConnInterface::Ptr mavros::MavRos::gcs_link

private

Definition at line 45 of file mavros.h.

MavlinkDiag mavros::MavRos::gcs_link_diag

private

Definition at line 55 of file mavros.h.

bool mavros::MavRos::gcs_quiet_mode

private

Definition at line 46 of file mavros.h.

float mavros::UAS::gps_eph

private

Definition at line 414 of file mavros_uas.h.

float mavros::UAS::gps_epv

private

Definition at line 415 of file mavros_uas.h.

sensor_msgs::NavSatFix::Ptr mavros::UAS::gps_fix

private

Definition at line 413 of file mavros_uas.h.

int mavros::UAS::gps_fix_type

private

Definition at line 416 of file mavros_uas.h.

const std::array<const std::string, 9> mavros::utils::gps_fix_type_strings

static

Initial value:

{{
 "NO_GPS",                        
 "NO_FIX",                        
 "2D_FIX",                        
 "3D_FIX",                        
 "DGPS",                          
 "RTK_FLOAT",                     
 "RTK_FIXED",                     
 "STATIC",                        
 "PPP",                           
}}

GPS_FIX_TYPE values.

Definition at line 419 of file enum_to_string.cpp.

int mavros::UAS::gps_satellites_visible

private

Definition at line 417 of file mavros_uas.h.

sensor_msgs::Imu::Ptr mavros::UAS::imu_enu_data

private

Definition at line 410 of file mavros_uas.h.

sensor_msgs::Imu::Ptr mavros::UAS::imu_ned_data

private

Definition at line 411 of file mavros_uas.h.

std::atomic<bool> mavros::MavlinkDiag::is_connected

private

Definition at line 41 of file mavlink_diag.h.

const std::array<const std::string, 4> mavros::utils::landing_target_type_strings

static

Initial value:

{{
 "LIGHT_BEACON",                  
 "RADIO_BEACON",                  
 "VISION_FIDUCIAL",               
 "VISION_OTHER",                  
}}

LANDING_TARGET_TYPE values.

Definition at line 647 of file enum_to_string.cpp.

unsigned int mavros::MavlinkDiag::last_drop_count

private

Definition at line 40 of file mavlink_diag.h.

ros::Time mavros::MavRos::last_message_received_from_gcs

private

Definition at line 47 of file mavros.h.

std::vector<plugin::PluginBase::Ptr> mavros::MavRos::loaded_plugins

private

Definition at line 58 of file mavros.h.

const std::array<const std::string, 20> mavros::utils::mav_autopilot_strings

static

Initial value:

{{
 "Generic autopilot",             
 "Reserved for future use",       
 "SLUGS autopilot",               
 "ArduPilot",                     
 "OpenPilot",                     
 "Generic autopilot only supporting simple waypoints", 
 "Generic autopilot supporting waypoints and other simple navigation commands", 
 "Generic autopilot supporting the full mission command set", 
 "No valid autopilot",            
 "PPZ UAV",                       
 "UAV Dev Board",                 
 "FlexiPilot",                    
 "PX4 Autopilot",                 
 "SMACCMPilot",                   
 "AutoQuad",                      
 "Armazila",                      
 "Aerob",                         
 "ASLUAV autopilot",              
 "SmartAP Autopilot",             
 "AirRails",                      
}}

MAV_AUTOPILOT values.

Definition at line 108 of file enum_to_string.cpp.

const std::unordered_map<size_t, const std::string> mavros::utils::mav_comp_id_strings

static

Definition at line 538 of file enum_to_string.cpp.

const std::array<const std::string, 5> mavros::utils::mav_distance_sensor_strings

static

Initial value:

{{
 "LASER",                         
 "ULTRASOUND",                    
 "INFRARED",                      
 "RADAR",                         
 "UNKNOWN",                       
}}

MAV_DISTANCE_SENSOR values.

Definition at line 624 of file enum_to_string.cpp.

const std::array<const std::string, 5> mavros::utils::mav_estimator_type_strings

static

Initial value:

{{
 "NAIVE",                         
 "VISION",                        
 "VIO",                           
 "GPS",                           
 "GPS_INS",                       
}}

MAV_ESTIMATOR_TYPE values.

Definition at line 396 of file enum_to_string.cpp.

const std::array<const std::string, 20> mavros::utils::mav_frame_strings

static

Initial value:

{{
 "GLOBAL",                        
 "LOCAL_NED",                     
 "MISSION",                       
 "GLOBAL_RELATIVE_ALT",           
 "LOCAL_ENU",                     
 "GLOBAL_INT",                    
 "GLOBAL_RELATIVE_ALT_INT",       
 "LOCAL_OFFSET_NED",              
 "BODY_NED",                      
 "BODY_OFFSET_NED",               
 "GLOBAL_TERRAIN_ALT",            
 "GLOBAL_TERRAIN_ALT_INT",        
 "BODY_FRD",                      
 "BODY_FLU",                      
 "MOCAP_NED",                     
 "MOCAP_ENU",                     
 "VISION_NED",                    
 "VISION_ENU",                    
 "ESTIM_NED",                     
 "ESTIM_ENU",                     
}}

MAV_FRAME values.

Definition at line 489 of file enum_to_string.cpp.

const std::array<const std::string, 15> mavros::utils::mav_mission_result_strings

static

Initial value:

{{
 "mission accepted OK",           
 "generic error / not accepting mission commands at all right now", 
 "coordinate frame is not supported", 
 "command is not supported",      
 "mission item exceeds storage space", 
 "one of the parameters has an invalid value", 
 "param1 has an invalid value",   
 "param2 has an invalid value",   
 "param3 has an invalid value",   
 "param4 has an invalid value",   
 "x/param5 has an invalid value", 
 "y/param6 has an invalid value", 
 "param7 has an invalid value",   
 "received waypoint out of sequence", 
 "not accepting any mission commands from this communication partner", 
}}

MAV_MISSION_RESULT values.

Definition at line 456 of file enum_to_string.cpp.

const std::array<const std::string, 9> mavros::utils::mav_state_strings

static

Initial value:

{{
 "Uninit",                        
 "Boot",                          
 "Calibrating",                   
 "Standby",                       
 "Active",                        
 "Critical",                      
 "Emergency",                     
 "Poweroff",                      
 "Flight_Termination",            
}}

MAV_STATE values.

Definition at line 268 of file enum_to_string.cpp.

const std::array<const std::string, 33> mavros::utils::mav_type_names

static

MAV_TYPE values.

Definition at line 207 of file enum_to_string.cpp.

const std::array<const std::string, 33> mavros::utils::mav_type_strings

static

MAV_TYPE values.

Definition at line 156 of file enum_to_string.cpp.

UAS mavros::MavRos::mav_uas

private

UAS object passed to all plugins.

Definition at line 64 of file mavros.h.

ros::NodeHandle mavros::MavRos::mavlink_nh

private

Definition at line 43 of file mavros.h.

ros::Publisher mavros::MavRos::mavlink_pub

private

Definition at line 50 of file mavros.h.

ros::Subscriber mavros::MavRos::mavlink_sub

private

Definition at line 51 of file mavros.h.

std::recursive_mutex mavros::UAS::mutex

private

Definition at line 398 of file mavros_uas.h.

const auto mavros::ftf::detail::NED_ENU_Q = quaternion_from_rpy(M_PI, 0.0, M_PI_2)

static

Static quaternion needed for rotating between ENU and NED frames NED to ENU: +PI/2 rotation about Z (Down) followed by a +PI rotation around X (old North/new East) ENU to NED: +PI/2 rotation about Z (Up) followed by a +PI rotation about X (old East/new North)

Definition at line 29 of file ftf_frame_conversions.cpp.

const auto mavros::ftf::detail::NED_ENU_R = NED_ENU_Q.normalized().toRotationMatrix()

static

3-D matrices to fill 6-D rotation matrix applied to change covariance matrices coordinate frames

Definition at line 56 of file ftf_frame_conversions.cpp.

pluginlib::ClassLoader<plugin::PluginBase> mavros::MavRos::plugin_loader

private

Definition at line 57 of file mavros.h.

std::unordered_map<mavlink::msgid_t, plugin::PluginBase::Subscriptions> mavros::MavRos::plugin_subscriptions

private

FCU link -> router -> plugin handler.

Definition at line 61 of file mavros.h.

const std::array<const OrientationPair, 42> mavros::utils::sensor_orientations

static

Definition at line 76 of file enum_sensor_orientation.cpp.

uint8_t mavros::UAS::target_component

private

Definition at line 405 of file mavros_uas.h.

uint8_t mavros::UAS::target_system

private

Definition at line 404 of file mavros_uas.h.

tf2_ros::TransformBroadcaster mavros::UAS::tf2_broadcaster

Definition at line 271 of file mavros_uas.h.

tf2_ros::Buffer mavros::UAS::tf2_buffer

Definition at line 269 of file mavros_uas.h.

tf2_ros::TransformListener mavros::UAS::tf2_listener

Definition at line 270 of file mavros_uas.h.

tf2_ros::StaticTransformBroadcaster mavros::UAS::tf2_static_broadcaster

Definition at line 272 of file mavros_uas.h.

std::atomic<uint64_t> mavros::UAS::time_offset

private

Definition at line 419 of file mavros_uas.h.

const std::array<const std::string, 4> mavros::utils::timesync_mode_strings

static

Initial value:

{{
 "NONE",
 "MAVLINK",
 "ONBOARD",
 "PASSTHROUGH",
}}

timesync_mode values

Definition at line 303 of file enum_to_string.cpp.

timesync_mode mavros::UAS::tsync_mode

private

Definition at line 420 of file mavros_uas.h.

std::atomic<uint8_t> mavros::UAS::type

private

Definition at line 400 of file mavros_uas.h.

mavconn::MAVConnInterface::WeakPtr mavros::MavlinkDiag::weak_link

private

Definition at line 39 of file mavlink_diag.h.

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