rosflight_firmware Namespace Reference

Namespaces
	nanoprintf

Classes
class	AirbourneBoard
class	Board
class	BreezyBoard
class	CommandManager
class	CommLinkInterface
class	CommManager
struct	control_channel_t
struct	control_t
class	Controller
class	Estimator
struct	GNSSData
struct	GNSSFull
class	Mavlink
class	Mixer
struct	mux_t
class	ParamListenerInterface
class	Params
class	RC
struct	rc_stick_override_t
class	ROSflight
class	Sensors
class	StateManager
class	testBoard
class	UDPBoard

Enumerations
enum	: uint16_t {   PARAM_BAUD_RATE = 0, PARAM_SERIAL_DEVICE, PARAM_SYSTEM_ID, PARAM_STREAM_HEARTBEAT_RATE,   PARAM_STREAM_STATUS_RATE, PARAM_STREAM_ATTITUDE_RATE, PARAM_STREAM_IMU_RATE, PARAM_STREAM_MAG_RATE,   PARAM_STREAM_BARO_RATE, PARAM_STREAM_AIRSPEED_RATE, PARAM_STREAM_SONAR_RATE, PARAM_STREAM_GNSS_RATE,   PARAM_STREAM_GNSS_FULL_RATE, PARAM_STREAM_BATTERY_STATUS_RATE, PARAM_STREAM_OUTPUT_RAW_RATE, PARAM_STREAM_RC_RAW_RATE,   PARAM_MAX_COMMAND, PARAM_PID_ROLL_RATE_P, PARAM_PID_ROLL_RATE_I, PARAM_PID_ROLL_RATE_D,   PARAM_PID_PITCH_RATE_P, PARAM_PID_PITCH_RATE_I, PARAM_PID_PITCH_RATE_D, PARAM_PID_YAW_RATE_P,   PARAM_PID_YAW_RATE_I, PARAM_PID_YAW_RATE_D, PARAM_PID_ROLL_ANGLE_P, PARAM_PID_ROLL_ANGLE_I,   PARAM_PID_ROLL_ANGLE_D, PARAM_PID_PITCH_ANGLE_P, PARAM_PID_PITCH_ANGLE_I, PARAM_PID_PITCH_ANGLE_D,   PARAM_X_EQ_TORQUE, PARAM_Y_EQ_TORQUE, PARAM_Z_EQ_TORQUE, PARAM_PID_TAU,   PARAM_MOTOR_PWM_SEND_RATE, PARAM_MOTOR_IDLE_THROTTLE, PARAM_FAILSAFE_THROTTLE, PARAM_SPIN_MOTORS_WHEN_ARMED,   PARAM_INIT_TIME, PARAM_FILTER_KP_ACC, PARAM_FILTER_KI, PARAM_FILTER_KP_EXT,   PARAM_FILTER_ACCEL_MARGIN, PARAM_FILTER_USE_QUAD_INT, PARAM_FILTER_USE_MAT_EXP, PARAM_FILTER_USE_ACC,   PARAM_CALIBRATE_GYRO_ON_ARM, PARAM_GYRO_XY_ALPHA, PARAM_GYRO_Z_ALPHA, PARAM_ACC_ALPHA,   PARAM_GYRO_X_BIAS, PARAM_GYRO_Y_BIAS, PARAM_GYRO_Z_BIAS, PARAM_ACC_X_BIAS,   PARAM_ACC_Y_BIAS, PARAM_ACC_Z_BIAS, PARAM_ACC_X_TEMP_COMP, PARAM_ACC_Y_TEMP_COMP,   PARAM_ACC_Z_TEMP_COMP, PARAM_MAG_A11_COMP, PARAM_MAG_A12_COMP, PARAM_MAG_A13_COMP,   PARAM_MAG_A21_COMP, PARAM_MAG_A22_COMP, PARAM_MAG_A23_COMP, PARAM_MAG_A31_COMP,   PARAM_MAG_A32_COMP, PARAM_MAG_A33_COMP, PARAM_MAG_X_BIAS, PARAM_MAG_Y_BIAS,   PARAM_MAG_Z_BIAS, PARAM_BARO_BIAS, PARAM_GROUND_LEVEL, PARAM_DIFF_PRESS_BIAS,   PARAM_RC_TYPE, PARAM_RC_X_CHANNEL, PARAM_RC_Y_CHANNEL, PARAM_RC_Z_CHANNEL,   PARAM_RC_F_CHANNEL, PARAM_RC_ATTITUDE_OVERRIDE_CHANNEL, PARAM_RC_THROTTLE_OVERRIDE_CHANNEL, PARAM_RC_ATT_CONTROL_TYPE_CHANNEL,   PARAM_RC_ARM_CHANNEL, PARAM_RC_NUM_CHANNELS, PARAM_RC_SWITCH_5_DIRECTION, PARAM_RC_SWITCH_6_DIRECTION,   PARAM_RC_SWITCH_7_DIRECTION, PARAM_RC_SWITCH_8_DIRECTION, PARAM_RC_OVERRIDE_DEVIATION, PARAM_OVERRIDE_LAG_TIME,   PARAM_RC_OVERRIDE_TAKE_MIN_THROTTLE, PARAM_RC_ATTITUDE_MODE, PARAM_RC_MAX_ROLL, PARAM_RC_MAX_PITCH,   PARAM_RC_MAX_ROLLRATE, PARAM_RC_MAX_PITCHRATE, PARAM_RC_MAX_YAWRATE, PARAM_MIXER,   PARAM_FIXED_WING, PARAM_ELEVATOR_REVERSE, PARAM_AILERON_REVERSE, PARAM_RUDDER_REVERSE,   PARAM_FC_ROLL, PARAM_FC_PITCH, PARAM_FC_YAW, PARAM_ARM_THRESHOLD,   PARAM_OFFBOARD_TIMEOUT, PARAM_BATTERY_VOLTAGE_MULTIPLIER, PARAM_BATTERY_CURRENT_MULTIPLIER, PARAM_BATTERY_VOLTAGE_ALPHA,   PARAM_BATTERY_CURRENT_ALPHA, PARAMS_COUNT }
enum	att_mode_t { ATT_MODE_RATE, ATT_MODE_ANGLE }
enum	control_type_t { RATE, ANGLE, THROTTLE, PASSTHROUGH }
enum	GNSSFixType { GNSS_FIX_TYPE_NO_FIX, GNSS_FIX_TYPE_FIX, GNSS_FIX_RTK_FLOAT, GNSS_FIX_RTK_FIXED }
enum	param_type_t { PARAM_TYPE_INT32, PARAM_TYPE_FLOAT, PARAM_TYPE_INVALID }

Functions
uint16_t	checksum_fletcher16 (const uint8_t *src, size_t len, bool finalize=true, uint16_t start=0)
	Fletcher 16-bit checksum. More...
uint16_t	num_sensor_errors ()
turbomath::Vector	vector_max (turbomath::Vector a, turbomath::Vector b)
turbomath::Vector	vector_min (turbomath::Vector a, turbomath::Vector b)

Variables
rc_stick_override_t	rc_stick_override [] = {{RC::STICK_X, 0}, {RC::STICK_Y, 0}, {RC::STICK_Z, 0}}

Enumeration Type Documentation

anonymous enum

anonymous enum : uint16_t

Enumerator
PARAM_BAUD_RATE
PARAM_SERIAL_DEVICE
PARAM_SYSTEM_ID
PARAM_STREAM_HEARTBEAT_RATE
PARAM_STREAM_STATUS_RATE
PARAM_STREAM_ATTITUDE_RATE
PARAM_STREAM_IMU_RATE
PARAM_STREAM_MAG_RATE
PARAM_STREAM_BARO_RATE
PARAM_STREAM_AIRSPEED_RATE
PARAM_STREAM_SONAR_RATE
PARAM_STREAM_GNSS_RATE
PARAM_STREAM_GNSS_FULL_RATE
PARAM_STREAM_BATTERY_STATUS_RATE
PARAM_STREAM_OUTPUT_RAW_RATE
PARAM_STREAM_RC_RAW_RATE
PARAM_MAX_COMMAND
PARAM_PID_ROLL_RATE_P
PARAM_PID_ROLL_RATE_I
PARAM_PID_ROLL_RATE_D
PARAM_PID_PITCH_RATE_P
PARAM_PID_PITCH_RATE_I
PARAM_PID_PITCH_RATE_D
PARAM_PID_YAW_RATE_P
PARAM_PID_YAW_RATE_I
PARAM_PID_YAW_RATE_D
PARAM_PID_ROLL_ANGLE_P
PARAM_PID_ROLL_ANGLE_I
PARAM_PID_ROLL_ANGLE_D
PARAM_PID_PITCH_ANGLE_P
PARAM_PID_PITCH_ANGLE_I
PARAM_PID_PITCH_ANGLE_D
PARAM_X_EQ_TORQUE
PARAM_Y_EQ_TORQUE
PARAM_Z_EQ_TORQUE
PARAM_PID_TAU
PARAM_MOTOR_PWM_SEND_RATE
PARAM_MOTOR_IDLE_THROTTLE
PARAM_FAILSAFE_THROTTLE
PARAM_SPIN_MOTORS_WHEN_ARMED
PARAM_INIT_TIME
PARAM_FILTER_KP_ACC
PARAM_FILTER_KI
PARAM_FILTER_KP_EXT
PARAM_FILTER_ACCEL_MARGIN
PARAM_FILTER_USE_QUAD_INT
PARAM_FILTER_USE_MAT_EXP
PARAM_FILTER_USE_ACC
PARAM_CALIBRATE_GYRO_ON_ARM
PARAM_GYRO_XY_ALPHA
PARAM_GYRO_Z_ALPHA
PARAM_ACC_ALPHA
PARAM_GYRO_X_BIAS
PARAM_GYRO_Y_BIAS
PARAM_GYRO_Z_BIAS
PARAM_ACC_X_BIAS
PARAM_ACC_Y_BIAS
PARAM_ACC_Z_BIAS
PARAM_ACC_X_TEMP_COMP
PARAM_ACC_Y_TEMP_COMP
PARAM_ACC_Z_TEMP_COMP
PARAM_MAG_A11_COMP
PARAM_MAG_A12_COMP
PARAM_MAG_A13_COMP
PARAM_MAG_A21_COMP
PARAM_MAG_A22_COMP
PARAM_MAG_A23_COMP
PARAM_MAG_A31_COMP
PARAM_MAG_A32_COMP
PARAM_MAG_A33_COMP
PARAM_MAG_X_BIAS
PARAM_MAG_Y_BIAS
PARAM_MAG_Z_BIAS
PARAM_BARO_BIAS
PARAM_GROUND_LEVEL
PARAM_DIFF_PRESS_BIAS
PARAM_RC_TYPE
PARAM_RC_X_CHANNEL
PARAM_RC_Y_CHANNEL
PARAM_RC_Z_CHANNEL
PARAM_RC_F_CHANNEL
PARAM_RC_ATTITUDE_OVERRIDE_CHANNEL
PARAM_RC_THROTTLE_OVERRIDE_CHANNEL
PARAM_RC_ATT_CONTROL_TYPE_CHANNEL
PARAM_RC_ARM_CHANNEL
PARAM_RC_NUM_CHANNELS
PARAM_RC_SWITCH_5_DIRECTION
PARAM_RC_SWITCH_6_DIRECTION
PARAM_RC_SWITCH_7_DIRECTION
PARAM_RC_SWITCH_8_DIRECTION
PARAM_RC_OVERRIDE_DEVIATION
PARAM_OVERRIDE_LAG_TIME
PARAM_RC_OVERRIDE_TAKE_MIN_THROTTLE
PARAM_RC_ATTITUDE_MODE
PARAM_RC_MAX_ROLL
PARAM_RC_MAX_PITCH
PARAM_RC_MAX_ROLLRATE
PARAM_RC_MAX_PITCHRATE
PARAM_RC_MAX_YAWRATE
PARAM_MIXER
PARAM_FIXED_WING
PARAM_ELEVATOR_REVERSE
PARAM_AILERON_REVERSE
PARAM_RUDDER_REVERSE
PARAM_FC_ROLL
PARAM_FC_PITCH
PARAM_FC_YAW
PARAM_ARM_THRESHOLD
PARAM_OFFBOARD_TIMEOUT
PARAM_BATTERY_VOLTAGE_MULTIPLIER
PARAM_BATTERY_CURRENT_MULTIPLIER
PARAM_BATTERY_VOLTAGE_ALPHA
PARAM_BATTERY_CURRENT_ALPHA
PARAMS_COUNT

Definition at line 42 of file param.h.

att_mode_t

enum rosflight_firmware::att_mode_t

Enumerator
ATT_MODE_RATE
ATT_MODE_ANGLE

Definition at line 41 of file command_manager.cpp.

control_type_t

enum rosflight_firmware::control_type_t

Enumerator
RATE
ANGLE
THROTTLE
PASSTHROUGH

Definition at line 46 of file command_manager.h.

GNSSFixType

enum rosflight_firmware::GNSSFixType

Enumerator
GNSS_FIX_TYPE_NO_FIX
GNSS_FIX_TYPE_FIX
GNSS_FIX_RTK_FLOAT
GNSS_FIX_RTK_FIXED

Definition at line 46 of file sensors.h.

param_type_t

enum rosflight_firmware::param_type_t

Enumerator
PARAM_TYPE_INT32
PARAM_TYPE_FLOAT
PARAM_TYPE_INVALID

Definition at line 222 of file param.h.

Function Documentation

checksum_fletcher16()

uint16_t rosflight_firmware::checksum_fletcher16 ( const uint8_t *  src, size_t  len, bool  finalize = true, uint16_t  start = 0  )

inline

Fletcher 16-bit checksum.

Parameters

src	Pointer to data on which to compute the checksum
len	Number of bytes in the data
finalize	Whether to finalize the checksum; set to false for intermediate chunks of non-contiguous data
start	Value at which to start the checksum, set for subsequent calls on chunks of non-contiguous data

Returns

uint16_t Fletcher 16-bit checksum

Definition at line 52 of file util.h.

num_sensor_errors()

uint16_t rosflight_firmware::num_sensor_errors

(

)

Definition at line 301 of file breezy_board.cpp.

vector_max()

turbomath::Vector rosflight_firmware::vector_max	(	turbomath::Vector	a,
		turbomath::Vector	b
	)

Definition at line 426 of file sensors.cpp.

vector_min()

turbomath::Vector rosflight_firmware::vector_min	(	turbomath::Vector	a,
		turbomath::Vector	b
	)

Definition at line 431 of file sensors.cpp.

Variable Documentation

rc_stick_override

rc_stick_override_t rosflight_firmware::rc_stick_override[] = {{RC::STICK_X, 0}, {RC::STICK_Y, 0}, {RC::STICK_Z, 0}}

Definition at line 53 of file command_manager.cpp.