Public Member Functions
	AscTecAdapter ()
Private Member Functions
asctec_msgs::CtrlInput	assemble_command (double roll, double pitch, double yaw_rate, int thrust, bool enable_roll, bool enable_pitch, bool enable_yaw, bool enable_thrust)
void	cfgCallback (starmac_robots_asctec::AscTecAdapterConfig &config, uint32_t level)
int	computeThrust (double alt_cmd, ros::Duration &dt)
double	computeYawRate (double yaw_cmd, ros::Duration &dt)
void	controlInputCallback (const flyer_controller::control_mode_outputConstPtr &msg)
void	deadmanCallback (const ros::TimerEvent &e)
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	getLatestYPR (double &yaw, double &pitch, double &roll)
void	imuCallback (const asctec_msgs::IMUCalcDataConstPtr &msg)
void	initDiagnostics ()
void	initDynamicReconfigure ()
void	initParameters ()
void	initPublishers ()
void	initSubscribers ()
void	initTimers ()
bool	isSafeToReconfigure ()
void	landNowCallback (const std_msgs::BoolConstPtr &msg)
void	llStatusCallback (asctec_msgs::LLStatus msg)
void	motorEnableCallback (std_msgs::Bool msg)
void	rotateRollAndPitch (const double roll_cmd, const double pitch_cmd, double &roll_cmd_rotated, double &pitch_cmd_rotated)
void	setAltControllerParams (double KP, double KI, double KD, double Ilimit)
void	setYawControllerParams (double KP, double KI, double KD, double Ilimit)
void	stateCallback (nav_msgs::Odometry msg)
Private Attributes
double	accel_bias
double	alt_d_term
double	alt_dd_term
double	alt_i_term
double	alt_Ilimit
double	alt_KD
double	alt_KDD
double	alt_KI
double	alt_KP
double	alt_p_term
control_toolbox::Pid	alt_pid
double	alt_slew_rate_limit
bool	battery_low_warning_sent
ros::Subscriber	control_input_sub
bool	deadman
ros::Duration	deadman_timeout
ros::Timer	deadman_timer
diagnostic_updater::Updater	diag_updater
dynamic_reconfigure::Server < starmac_robots_asctec::AscTecAdapterConfig >	dyn_reconfig_srv
ros::Publisher	estop_pub
bool	estop_sent
diagnostic_updater::FrequencyStatus	freq_status
bool	got_first_state
ros::Publisher	imu_pub
ros::Subscriber	imu_sub
bool	land_now
double	land_now_min_thrust_ratio
ros::Subscriber	land_now_sub
unsigned int	land_now_thrust_decrease_rate
ros::Time	last_imu_time
ros::Time	last_ll_status_time
ros::Time	last_motor_enable_time
ros::Time	last_state_time
double	last_z_accel
double	latest_battery_voltage
asctec_msgs::LLStatus	latest_ll_status
bool	latest_motor_enable
nav_msgs::Odometry	latest_state
ros::Subscriber	ll_status_sub
ros::Duration	max_control_input_age
double	max_freq
ros::Duration	max_ll_status_age
ros::Duration	max_motor_enable_age
ros::Duration	max_state_age
int	max_thrust
double	min_battery_voltage
double	min_freq
ros::Subscriber	motor_enable_sub
ros::NodeHandle	nh
ros::NodeHandle	nh_priv
int	nominal_thrust
asctec_msgs::CtrlInput	null_input
ros::Publisher	output
double	pitch_slew_rate_limit
double	pitch_trim
flyer_controller::control_mode_output	prev_control_input_msg
ros::Time	prev_control_input_time
double	roll_slew_rate_limit
double	roll_trim
ros::Subscriber	state_sub
bool	thrust_autoadjust
double	thrust_mult
double	yaw_Ilimit
double	yaw_KD
double	yaw_KI
double	yaw_KP
double	yaw_offset
control_toolbox::Pid	yaw_pid
double	yaw_rate_limit
double	yaw_slew_rate_limit
asctec_msgs::CtrlInput	zero_thrust_full_left_yaw

Detailed Description

Definition at line 85 of file asctec_adapter.cpp.

Constructor & Destructor Documentation

starmac_robots_asctec::AscTecAdapter::AscTecAdapter ( ) [inline]

Definition at line 170 of file asctec_adapter.cpp.

Member Function Documentation

asctec_msgs::CtrlInput starmac_robots_asctec::AscTecAdapter::assemble_command	(	double	roll,
		double	pitch,
		double	yaw_rate,
		int	thrust,
		bool	enable_roll,
		bool	enable_pitch,
		bool	enable_yaw,
		bool	enable_thrust
	)		`[inline, private]`

Definition at line 687 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::cfgCallback	(	starmac_robots_asctec::AscTecAdapterConfig &	config,
		uint32_t	level
	)		`[inline, private]`

Definition at line 307 of file asctec_adapter.cpp.

int starmac_robots_asctec::AscTecAdapter::computeThrust	(	double	alt_cmd,
		ros::Duration &	dt
	)		`[inline, private]`

Definition at line 608 of file asctec_adapter.cpp.

double starmac_robots_asctec::AscTecAdapter::computeYawRate	(	double	yaw_cmd,
		ros::Duration &	dt
	)		`[inline, private]`

Definition at line 659 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::controlInputCallback ( const flyer_controller::control_mode_outputConstPtr & msg ) [inline, private]

Definition at line 478 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::deadmanCallback ( const ros::TimerEvent & e ) [inline, private]

Definition at line 701 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline, private]

Definition at line 334 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::getLatestYPR	(	double &	yaw,
		double &	pitch,
		double &	roll
	)		`[inline, private]`

Definition at line 674 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::imuCallback ( const asctec_msgs::IMUCalcDataConstPtr & msg ) [inline, private]

Definition at line 404 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::initDiagnostics ( ) [inline, private]

Definition at line 217 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::initDynamicReconfigure ( ) [inline, private]

Definition at line 226 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::initParameters ( ) [inline, private]

Definition at line 234 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::initPublishers ( ) [inline, private]

Definition at line 274 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::initSubscribers ( ) [inline, private]

Definition at line 291 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::initTimers ( ) [inline, private]

Definition at line 282 of file asctec_adapter.cpp.

bool starmac_robots_asctec::AscTecAdapter::isSafeToReconfigure ( ) [inline, private]

Definition at line 760 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::landNowCallback ( const std_msgs::BoolConstPtr & msg ) [inline, private]

Definition at line 454 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::llStatusCallback ( asctec_msgs::LLStatus msg ) [inline, private]

Definition at line 459 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::motorEnableCallback ( std_msgs::Bool msg ) [inline, private]

Definition at line 370 of file asctec_adapter.cpp.

void starmac_robots_asctec::AscTecAdapter::rotateRollAndPitch	(	const double	roll_cmd,
		const double	pitch_cmd,
		double &	roll_cmd_rotated,
		double &	pitch_cmd_rotated
	)		`[inline, private]`