#include <mavlink.h>

Inheritance diagram for rosflight_firmware::Mavlink:

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_

Additional Inherited Members
Public Types inherited from rosflight_firmware::CommLink
enum	Command { Command::COMMAND_READ_PARAMS, Command::COMMAND_WRITE_PARAMS, Command::COMMAND_SET_PARAM_DEFAULTS, Command::COMMAND_ACCEL_CALIBRATION, Command::COMMAND_GYRO_CALIBRATION, Command::COMMAND_BARO_CALIBRATION, Command::COMMAND_AIRSPEED_CALIBRATION, Command::COMMAND_RC_CALIBRATION, Command::COMMAND_REBOOT, Command::COMMAND_REBOOT_TO_BOOTLOADER, Command::COMMAND_SEND_VERSION }

enum	LogSeverity { LogSeverity::LOG_INFO, LogSeverity::LOG_WARNING, LogSeverity::LOG_ERROR, LogSeverity::LOG_CRITICAL }

Protected Attributes inherited from rosflight_firmware::CommLink
std::function< void(const turbomath::Quaternion)>	attitude_correction_callback_

std::function< void(Command)>	command_callback_

std::function< void(void)>	heartbeat_callback_

std::function< void(const OffboardControl)>	offboard_control_callback_

std::function< void(uint8_t)>	param_request_list_callback_

std::function< void(uint8_t, const char *const, uint16_t)>	param_request_read_callback_

std::function< void(uint8_t, const char *const, float)>	param_set_float_callback_

std::function< void(uint8_t, const char *const, int32_t)>	param_set_int_callback_

std::function< void(int64_t, int64_t)>	timesync_callback_

Detailed Description

Definition at line 50 of file mavlink.h.

Constructor & Destructor Documentation

rosflight_firmware::Mavlink::Mavlink ( Board & board )

Definition at line 40 of file mavlink.cpp.

Member Function Documentation

void rosflight_firmware::Mavlink::handle_mavlink_message ( void )

private

Definition at line 548 of file mavlink.cpp.

void rosflight_firmware::Mavlink::handle_msg_attitude_correction ( const mavlink_message_t *const msg )

private

Definition at line 528 of file mavlink.cpp.

void rosflight_firmware::Mavlink::handle_msg_heartbeat ( const mavlink_message_t *const msg )

private

Definition at line 541 of file mavlink.cpp.

void rosflight_firmware::Mavlink::handle_msg_offboard_control ( const mavlink_message_t *const msg )

private

Definition at line 493 of file mavlink.cpp.

void rosflight_firmware::Mavlink::handle_msg_param_request_list ( const mavlink_message_t *const msg )

private

Definition at line 397 of file mavlink.cpp.

void rosflight_firmware::Mavlink::handle_msg_param_request_read ( const mavlink_message_t *const msg )

private

Definition at line 404 of file mavlink.cpp.

void rosflight_firmware::Mavlink::handle_msg_param_set ( const mavlink_message_t *const msg )

private

Definition at line 411 of file mavlink.cpp.

void rosflight_firmware::Mavlink::handle_msg_rosflight_cmd ( const mavlink_message_t *const msg )

private

Definition at line 434 of file mavlink.cpp.

void rosflight_firmware::Mavlink::handle_msg_timesync ( const mavlink_message_t *const msg )

private

Definition at line 486 of file mavlink.cpp.

void rosflight_firmware::Mavlink::init	(	uint32_t	baud_rate,
		uint32_t	dev
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 44 of file mavlink.cpp.

void rosflight_firmware::Mavlink::receive ( void )

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 50 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_attitude_quaternion	(	uint8_t	system_id,
		uint64_t	timestamp_us,
		const turbomath::Quaternion &	attitude,
		const turbomath::Vector &	angular_velocity
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 59 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_baro	(	uint8_t	system_id,
		float	altitude,
		float	pressure,
		float	temperature
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 77 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_command_ack	(	uint8_t	system_id,
		Command	command,
		bool	success
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 84 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_diff_pressure	(	uint8_t	system_id,
		float	velocity,
		float	pressure,
		float	temperature
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 130 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_error_data	(	uint8_t	system_id,
		const BackupData &	error_data
	)

virtual

Implements rosflight_firmware::CommLink.

Definition at line 378 of file mavlink.cpp.

void rosflight_firmware::Mavlink::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
	)

virtual

Implements rosflight_firmware::CommLink.

Definition at line 163 of file mavlink.cpp.

void rosflight_firmware::Mavlink::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
	)

virtual

Implements rosflight_firmware::CommLink.

Definition at line 197 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_heartbeat	(	uint8_t	system_id,
		bool	fixed_wing
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 137 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_imu	(	uint8_t	system_id,
		uint64_t	timestamp_us,
		const turbomath::Vector &	accel,
		const turbomath::Vector &	gyro,
		float	temperature
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 146 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_log_message	(	uint8_t	system_id,
		LogSeverity	severity,
		const char *	text
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 238 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_mag	(	uint8_t	system_id,
		const turbomath::Vector &	mag
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 262 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_message ( const mavlink_message_t & msg )

private

Definition at line 387 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_named_value_float	(	uint8_t	system_id,
		uint32_t	timestamp_ms,
		const char *const	name,
		float	value
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 276 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_named_value_int	(	uint8_t	system_id,
		uint32_t	timestamp_ms,
		const char *const	name,
		int32_t	value
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 269 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_output_raw	(	uint8_t	system_id,
		uint32_t	timestamp_ms,
		const float	raw_outputs[8]
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 283 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_param_value_float	(	uint8_t	system_id,
		uint16_t	index,
		const char *const	name,
		float	value,
		uint16_t	param_count
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 304 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_param_value_int	(	uint8_t	system_id,
		uint16_t	index,
		const char *const	name,
		int32_t	value,
		uint16_t	param_count
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 290 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_rc_raw	(	uint8_t	system_id,
		uint32_t	timestamp_ms,
		const uint16_t	channels[8]
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 315 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_sonar	(	uint8_t	system_id,
		uint8_t	type,
		float	range,
		float	max_range,
		float	min_range
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 333 of file mavlink.cpp.

void rosflight_firmware::Mavlink::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
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 342 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_timesync	(	uint8_t	system_id,
		int64_t	tc1,
		int64_t	ts1
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 365 of file mavlink.cpp.

void rosflight_firmware::Mavlink::send_version	(	uint8_t	system_id,
		const char *const	version
	)

overridevirtual

Implements rosflight_firmware::CommLink.

Definition at line 372 of file mavlink.cpp.

Member Data Documentation

Board& rosflight_firmware::Mavlink::board_

private

Definition at line 125 of file mavlink.h.

uint32_t rosflight_firmware::Mavlink::compid_ = 250

private

Definition at line 127 of file mavlink.h.

mavlink_message_t rosflight_firmware::Mavlink::in_buf_

private

Definition at line 128 of file mavlink.h.

bool rosflight_firmware::Mavlink::initialized_ = false

private

Definition at line 130 of file mavlink.h.

mavlink_status_t rosflight_firmware::Mavlink::status_

private

Definition at line 129 of file mavlink.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation