#include <mavlink.h>
Public Member Functions | |
void | init (uint32_t baud_rate, uint32_t dev) override |
Mavlink (Board &board) | |
void | receive () override |
void | send_attitude_quaternion (uint8_t system_id, uint64_t timestamp_us, const turbomath::Quaternion &attitude, const turbomath::Vector &angular_velocity) override |
void | send_baro (uint8_t system_id, float altitude, float pressure, float temperature) override |
void | send_command_ack (uint8_t system_id, Command command, bool success) override |
void | send_diff_pressure (uint8_t system_id, float velocity, float pressure, float temperature) override |
void | send_error_data (uint8_t system_id, const BackupData &error_data) |
virtual void | send_gnss (uint8_t system_id, uint32_t time_of_week, uint8_t fix_type, uint64_t time, uint64_t nanos, int32_t lat, int32_t lon, int32_t height, int32_t vel_n, int32_t vel_e, int32_t vel_d, uint32_t h_acc, uint32_t v_acc, int32_t ecef_x, int32_t ecef_y, int32_t ecef_z, uint32_t p_acc, int32_t ecef_v_x, int32_t ecef_v_y, int32_t ecef_v_z, uint32_t s_acc, uint64_t rosflight_timestamp) |
void | send_gnss_raw (uint8_t system_id, uint32_t time_of_week, uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec, uint8_t valid, uint32_t t_acc, int32_t nano, uint8_t fix_type, uint8_t num_sat, int32_t lon, int32_t lat, int32_t height, int32_t height_msl, uint32_t h_acc, uint32_t v_acc, int32_t vel_n, int32_t vel_e, int32_t vel_d, int32_t g_speed, int32_t head_mot, uint32_t s_acc, uint32_t head_acc, uint16_t p_dop, uint64_t rosflight_timestamp) |
void | send_heartbeat (uint8_t system_id, bool fixed_wing) override |
void | send_imu (uint8_t system_id, uint64_t timestamp_us, const turbomath::Vector &accel, const turbomath::Vector &gyro, float temperature) override |
void | send_log_message (uint8_t system_id, LogSeverity severity, const char *text) override |
void | send_mag (uint8_t system_id, const turbomath::Vector &mag) override |
void | send_named_value_float (uint8_t system_id, uint32_t timestamp_ms, const char *const name, float value) override |
void | send_named_value_int (uint8_t system_id, uint32_t timestamp_ms, const char *const name, int32_t value) override |
void | send_output_raw (uint8_t system_id, uint32_t timestamp_ms, const float raw_outputs[8]) override |
void | send_param_value_float (uint8_t system_id, uint16_t index, const char *const name, float value, uint16_t param_count) override |
void | send_param_value_int (uint8_t system_id, uint16_t index, const char *const name, int32_t value, uint16_t param_count) override |
void | send_rc_raw (uint8_t system_id, uint32_t timestamp_ms, const uint16_t channels[8]) override |
void | send_sonar (uint8_t system_id, uint8_t type, float range, float max_range, float min_range) override |
void | send_status (uint8_t system_id, bool armed, bool failsafe, bool rc_override, bool offboard, uint8_t error_code, uint8_t control_mode, int16_t num_errors, int16_t loop_time_us) override |
void | send_timesync (uint8_t system_id, int64_t tc1, int64_t ts1) override |
void | send_version (uint8_t system_id, const char *const version) override |
Public Member Functions inherited from rosflight_firmware::CommLink | |
void | register_attitude_correction_callback (std::function< void(const turbomath::Quaternion)> callback) |
void | register_command_callback (std::function< void(Command)> callback) |
void | register_heartbeat_callback (std::function< void()> callback) |
void | register_offboard_control_callback (std::function< void(const OffboardControl &)> callback) |
void | register_param_request_list_callback (std::function< void(uint8_t)> callback) |
void | register_param_request_read_callback (std::function< void(uint8_t, const char *const ,uint16_t)> callback) |
void | register_param_set_float_callback (std::function< void(uint8_t, const char *const ,float)> callback) |
void | register_param_set_int_callback (std::function< void(uint8_t, const char *const ,int32_t)> callback) |
void | register_timesync_callback (std::function< void(int64_t, int64_t)> callback) |
Private Member Functions | |
void | handle_mavlink_message (void) |
void | handle_msg_attitude_correction (const mavlink_message_t *const msg) |
void | handle_msg_heartbeat (const mavlink_message_t *const msg) |
void | handle_msg_offboard_control (const mavlink_message_t *const msg) |
void | handle_msg_param_request_list (const mavlink_message_t *const msg) |
void | handle_msg_param_request_read (const mavlink_message_t *const msg) |
void | handle_msg_param_set (const mavlink_message_t *const msg) |
void | handle_msg_rosflight_cmd (const mavlink_message_t *const msg) |
void | handle_msg_timesync (const mavlink_message_t *const msg) |
void | send_message (const mavlink_message_t &msg) |
Private Attributes | |
Board & | board_ |
uint32_t | compid_ = 250 |
mavlink_message_t | in_buf_ |
bool | initialized_ = false |
mavlink_status_t | status_ |
rosflight_firmware::Mavlink::Mavlink | ( | Board & | board | ) |
Definition at line 40 of file mavlink.cpp.
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Definition at line 548 of file mavlink.cpp.
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Definition at line 528 of file mavlink.cpp.
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Definition at line 541 of file mavlink.cpp.
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Definition at line 493 of file mavlink.cpp.
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Definition at line 397 of file mavlink.cpp.
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Definition at line 404 of file mavlink.cpp.
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Definition at line 411 of file mavlink.cpp.
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Definition at line 434 of file mavlink.cpp.
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Definition at line 486 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 44 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 50 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 59 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 77 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 84 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 130 of file mavlink.cpp.
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Implements rosflight_firmware::CommLink.
Definition at line 378 of file mavlink.cpp.
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Implements rosflight_firmware::CommLink.
Definition at line 163 of file mavlink.cpp.
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Implements rosflight_firmware::CommLink.
Definition at line 197 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 137 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 146 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 238 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 262 of file mavlink.cpp.
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Definition at line 387 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 276 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 269 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 283 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 304 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 290 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 315 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 333 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 342 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 365 of file mavlink.cpp.
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overridevirtual |
Implements rosflight_firmware::CommLink.
Definition at line 372 of file mavlink.cpp.
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