#include <hl_interface.h>

Public Member Functions
	HLInterface (ros::NodeHandle &nh, CommPtr &comm)
	~HLInterface ()
Private Member Functions
void	cbConfig (asctec_hl_interface::HLInterfaceConfig &config, uint32_t level)
bool	cbCtrl (asctec_hl_comm::MavCtrlSrv::Request &req, asctec_hl_comm::MavCtrlSrv::Response &resp)
	ctrl service callback
bool	cbMotors (asctec_hl_comm::mav_ctrl_motors::Request &req, asctec_hl_comm::mav_ctrl_motors::Response &resp)
	service to start/stop motors
void	controlCmdCallback (const asctec_hl_comm::mav_ctrlConstPtr &msg)
void	diagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	processGpsData (uint8_t *buf, uint32_t bufLength)
void	processImuData (uint8_t *buf, uint32_t bufLength)
void	processMagData (uint8_t *buf, uint32_t bufLength)
void	processPoseEKFData (uint8_t *buf, uint32_t bufLength)
void	processRcData (uint8_t *buf, uint32_t bufLength)
void	processStatusData (uint8_t *buf, uint32_t bufLength)
void	processTimeSyncData (uint8_t *buf, uint32_t bufLength)
void	sendAccCommandLL (const asctec_hl_comm::mav_ctrl &ctrl, asctec_hl_comm::mav_ctrl *ctrl_result=NULL)
	sends an acceleration command (pitch, roll, thrust), yaw velocity to the LL processor
void	sendControlCmd (const asctec_hl_comm::mav_ctrl &ctrl, asctec_hl_comm::mav_ctrl *ctrl_result=NULL)
	evaluates the mav_ctrl message and sends the appropriate commands to the HLP
void	sendPosCommandHL (const asctec_hl_comm::mav_ctrl &ctrl, asctec_hl_comm::mav_ctrl *ctrl_result=NULL)
	sends a position (=waypoint) command to the HL. Position control on the HL has to be enabled
void	sendVelCommandHL (const asctec_hl_comm::mav_ctrl &ctrl, asctec_hl_comm::mav_ctrl *ctrl_result=NULL)
	sends a velocity command to the LLP. Velocity is controlled based on GPS
void	sendVelCommandLL (const asctec_hl_comm::mav_ctrl &ctrl, asctec_hl_comm::mav_ctrl *ctrl_result=NULL)
	sends a velocity command to the HLP. Position control on the HL has to be enabled
Private Attributes
double	angular_velocity_variance_
CommPtr &	comm_
asctec_hl_interface::HLInterfaceConfig	config_
ros::Subscriber	control_sub_
ros::ServiceServer	crtl_srv_
diagnostic_updater::FrequencyStatus	diag_imu_freq_
double	diag_imu_freq_max_
double	diag_imu_freq_min_
diagnostic_updater::Updater	diag_updater_
short	enable_ctrl_
	stores the bitmask of degrees of freedom to be controlled
std::string	frame_id_
ros::Publisher	gps_custom_pub_
ros::Publisher	gps_pub_
int16_t	gps_satellites_used_
int16_t	gps_status_
ros::Publisher	imu_pub_
	publisher for custom asctec_hl_comm/mav_imu message
ros::Publisher	imu_ros_pub_
	publisher for sensor_msgs/Imu message
int	k_stick_
	gain from AutoPilot values to 1/1000 degree for the input from the pitch and roll "stick"
int	k_stick_yaw_
	gain from AutoPilot values to 1/1000 degree for the input from the yaw "stick"
double	linear_acceleration_variance_
ros::Publisher	mag_pub_
ros::ServiceServer	motor_srv_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
ros::Publisher	rc_pub_
ReconfigureServer *	reconf_srv_
asctec_hl_comm::mav_status	status_
ros::Publisher	status_pub_

Detailed Description

Definition at line 67 of file hl_interface.h.

Constructor & Destructor Documentation

HLInterface::HLInterface	(	ros::NodeHandle &	nh,
		CommPtr &	comm
	)

Definition at line 35 of file hl_interface.cpp.

HLInterface::~HLInterface ( )

Definition at line 82 of file hl_interface.cpp.

Member Function Documentation

void HLInterface::cbConfig	(	asctec_hl_interface::HLInterfaceConfig &	config,
		uint32_t	level
	)		`[private]`

bits for the control byte: bit 0: pitch control enabled bit 1: roll control enabled bit 2: yaw control enabled bit 3: thrust control enabled bit 4: Height control enabled bit 5: GPS position control enabled

Definition at line 699 of file hl_interface.cpp.

bool HLInterface::cbCtrl	(	asctec_hl_comm::MavCtrlSrv::Request &	req,
		asctec_hl_comm::MavCtrlSrv::Response &	resp
	)		`[private]`

ctrl service callback

Definition at line 479 of file hl_interface.cpp.

bool HLInterface::cbMotors	(	asctec_hl_comm::mav_ctrl_motors::Request &	req,
		asctec_hl_comm::mav_ctrl_motors::Response &	resp
	)		`[private]`

service to start/stop motors

Definition at line 422 of file hl_interface.cpp.

void HLInterface::controlCmdCallback ( const asctec_hl_comm::mav_ctrlConstPtr & msg ) [private]

callback that listens to mav_ctrl messages message must be sent at least at 10 Hz, otherwise the mav will switch back to manual control!

Definition at line 474 of file hl_interface.cpp.

void HLInterface::diagnostic ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [private]

Definition at line 352 of file hl_interface.cpp.

void HLInterface::processGpsData	(	uint8_t *	buf,
		uint32_t	bufLength
	)		`[private]`

Definition at line 154 of file hl_interface.cpp.

void HLInterface::processImuData	(	uint8_t *	buf,
		uint32_t	bufLength
	)		`[private]`

Definition at line 87 of file hl_interface.cpp.

void HLInterface::processMagData	(	uint8_t *	buf,
		uint32_t	bufLength
	)		`[private]`

Definition at line 404 of file hl_interface.cpp.

void HLInterface::processPoseEKFData	(	uint8_t *	buf,
		uint32_t	bufLength
	)		`[private]`

void HLInterface::processRcData	(	uint8_t *	buf,
		uint32_t	bufLength
	)		`[private]`

Definition at line 213 of file hl_interface.cpp.

void HLInterface::processStatusData	(	uint8_t *	buf,
		uint32_t	bufLength
	)		`[private]`

Definition at line 232 of file hl_interface.cpp.

void HLInterface::processTimeSyncData	(	uint8_t *	buf,
		uint32_t	bufLength
	)		`[private]`

Definition at line 392 of file hl_interface.cpp.

void HLInterface::sendAccCommandLL	(	const asctec_hl_comm::mav_ctrl &	ctrl,
		asctec_hl_comm::mav_ctrl *	ctrl_result = `NULL`
	)		`[private]`

sends an acceleration command (pitch, roll, thrust), yaw velocity to the LL processor

Definition at line 563 of file hl_interface.cpp.

void HLInterface::sendControlCmd	(	const asctec_hl_comm::mav_ctrl &	ctrl,
		asctec_hl_comm::mav_ctrl *	ctrl_result = `NULL`
	)		`[private]`

evaluates the mav_ctrl message and sends the appropriate commands to the HLP

Definition at line 485 of file hl_interface.cpp.

void HLInterface::sendPosCommandHL	(	const asctec_hl_comm::mav_ctrl &	ctrl,
		asctec_hl_comm::mav_ctrl *	ctrl_result = `NULL`
	)		`[private]`

sends a position (=waypoint) command to the HL. Position control on the HL has to be enabled

Definition at line 654 of file hl_interface.cpp.

void HLInterface::sendVelCommandHL	(	const asctec_hl_comm::mav_ctrl &	ctrl,
		asctec_hl_comm::mav_ctrl *	ctrl_result = `NULL`
	)		`[private]`

sends a velocity command to the LLP. Velocity is controlled based on GPS

Definition at line 627 of file hl_interface.cpp.

void HLInterface::sendVelCommandLL	(	const asctec_hl_comm::mav_ctrl &	ctrl,
		asctec_hl_comm::mav_ctrl *	ctrl_result = `NULL`
	)		`[private]`

sends a velocity command to the HLP. Position control on the HL has to be enabled

Definition at line 605 of file hl_interface.cpp.

Member Data Documentation

double HLInterface::angular_velocity_variance_ [private]

Definition at line 128 of file hl_interface.h.

CommPtr& HLInterface::comm_ [private]

Definition at line 73 of file hl_interface.h.

asctec_hl_interface::HLInterfaceConfig HLInterface::config_ [private]

Definition at line 153 of file hl_interface.h.

ros::Subscriber HLInterface::control_sub_ [private]

Definition at line 84 of file hl_interface.h.

ros::ServiceServer HLInterface::crtl_srv_ [private]

Definition at line 87 of file hl_interface.h.

diagnostic_updater::FrequencyStatus HLInterface::diag_imu_freq_ [private]

Definition at line 157 of file hl_interface.h.

double HLInterface::diag_imu_freq_max_ [private]

Definition at line 159 of file hl_interface.h.

double HLInterface::diag_imu_freq_min_ [private]

Definition at line 158 of file hl_interface.h.

diagnostic_updater::Updater HLInterface::diag_updater_ [private]

Definition at line 156 of file hl_interface.h.

short HLInterface::enable_ctrl_ [private]

stores the bitmask of degrees of freedom to be controlled

Definition at line 133 of file hl_interface.h.

std::string HLInterface::frame_id_ [private]

Definition at line 75 of file hl_interface.h.

ros::Publisher HLInterface::gps_custom_pub_ [private]

Definition at line 78 of file hl_interface.h.

ros::Publisher HLInterface::gps_pub_ [private]

Definition at line 77 of file hl_interface.h.

int16_t HLInterface::gps_satellites_used_ [private]

Definition at line 126 of file hl_interface.h.

int16_t HLInterface::gps_status_ [private]

Definition at line 125 of file hl_interface.h.

ros::Publisher HLInterface::imu_pub_ [private]

publisher for custom asctec_hl_comm/mav_imu message

Definition at line 80 of file hl_interface.h.

ros::Publisher HLInterface::imu_ros_pub_ [private]

publisher for sensor_msgs/Imu message

Definition at line 79 of file hl_interface.h.

int HLInterface::k_stick_ [private]

gain from AutoPilot values to 1/1000 degree for the input from the pitch and roll "stick"

This value should be equal to the one that can be found when reading the controller parameters of the LLP by the AscTec AutoPilot software. It is only relevant, when this interface is used to send roll/pitch (or x/y velocity when in GPS mode) commands to the LLP.

Definition at line 140 of file hl_interface.h.

int HLInterface::k_stick_yaw_ [private]

gain from AutoPilot values to 1/1000 degree for the input from the yaw "stick"

This value should be equal to the one that can be found when reading the controller parameters of the LLP by the AscTec AutoPilot software. It is only relevant, when this interface is used to send yaw commands to the LLP.

Definition at line 147 of file hl_interface.h.

double HLInterface::linear_acceleration_variance_ [private]

Definition at line 129 of file hl_interface.h.

ros::Publisher HLInterface::mag_pub_ [private]

Definition at line 83 of file hl_interface.h.

ros::ServiceServer HLInterface::motor_srv_ [private]

Definition at line 86 of file hl_interface.h.

ros::NodeHandle HLInterface::nh_ [private]

Definition at line 71 of file hl_interface.h.

ros::NodeHandle HLInterface::pnh_ [private]

Definition at line 72 of file hl_interface.h.

ros::Publisher HLInterface::rc_pub_ [private]