#include <mavHeartbeat.h>

Inheritance diagram for dji2mav::MavHeartbeat:

Public Member Functions
void	activelySend ()
	Implement the messages actively sending function.
	MavHeartbeat (MavHandler &handler, std::string name, uint16_t gcsNum,...)
	Constructor for Heartbeat Module. Recv buf size 4096.
void	passivelyReceive (mavlink_message_t &msg)
	Implement the messages passively handling function.
void	reactToHeartbeat (uint16_t gcsIdx, const mavlink_message_t *msg)
	React to heartbeat from specific GCS and execute hook.
bool	sendHeartbeatToAll ()
	Send heartbeat to all GCS.
bool	sendHeartbeatToGcs (uint16_t gcsIdx)
	Send heartbeat to specific GCS. Compid is set to ALL.
void	setAutopilot (uint8_t mavAutopilot)
	Set autopilot.
void	setBaseMode (uint8_t mavMode)
	Set base mode.
void	setCustomMode (uint32_t customMode)
	Set custom mode.
void	setHeartbeatData (uint8_t mavType, uint8_t mavAutopilot, uint8_t mavMode, uint32_t customMode, uint8_t mavStatus, uint8_t mavVersion)
	Set the heartbeat package raw data.
void	setHeartbeatHook (void(*func)())
	Set the responser function pointer for the heartbeat.
void	setMavlinkVersion (uint8_t mavVersion)
	Set mavlink version.
void	setSystemStatus (uint8_t mavStatus)
	Set status.
void	setType (uint8_t mavType)
	Set type.
	~MavHeartbeat ()
Private Attributes
mavlink_heartbeat_t	m_hbMsg
void(*	m_hook )()
mavlink_message_t	m_sendMsg

Detailed Description

Definition at line 23 of file mavHeartbeat.h.

Constructor & Destructor Documentation

dji2mav::MavHeartbeat::MavHeartbeat	(	MavHandler &	handler,
		std::string	name,
		uint16_t	gcsNum,
			...
	)		`[inline]`

Constructor for Heartbeat Module. Recv buf size 4096.

Parameters:

handler	: The reference of MavHandler Object
name	: The name of this module
gcsNum	: The number of GCS that the module employs
...	: The indexes of GCS list, should be uint16_t

Definition at line 32 of file mavHeartbeat.h.

dji2mav::MavHeartbeat::~MavHeartbeat ( ) [inline]

Definition at line 61 of file mavHeartbeat.h.

Member Function Documentation

void dji2mav::MavHeartbeat::activelySend ( ) [inline, virtual]

Implement the messages actively sending function.

Implements dji2mav::MavModule.

Definition at line 216 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::passivelyReceive ( mavlink_message_t & msg ) [inline, virtual]

Implement the messages passively handling function.

Parameters:

msg	: The reference of received message

Implements dji2mav::MavModule.

Definition at line 209 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::reactToHeartbeat	(	uint16_t	gcsIdx,
		const mavlink_message_t *	msg
	)		`[inline]`

React to heartbeat from specific GCS and execute hook.

Parameters:

gcsIdx	: Get the index of GCS
msg	: Get the received message

Definition at line 189 of file mavHeartbeat.h.

bool dji2mav::MavHeartbeat::sendHeartbeatToAll ( ) [inline]

Send heartbeat to all GCS.

Returns:: True if succeed or false if fail

Definition at line 169 of file mavHeartbeat.h.

bool dji2mav::MavHeartbeat::sendHeartbeatToGcs ( uint16_t gcsIdx ) [inline]

Send heartbeat to specific GCS. Compid is set to ALL.

Parameters:

gcsIdx : The index of GCS

Returns:: True if succeed or false if fail

Definition at line 150 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::setAutopilot ( uint8_t mavAutopilot ) [inline]

Set autopilot.

Parameters:

mavAutopilot : Default full supporting for everything

Definition at line 104 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::setBaseMode ( uint8_t mavMode ) [inline]

Set base mode.

Parameters:

mavMode : Default autocontrol and disarmed

Definition at line 113 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::setCustomMode ( uint32_t customMode ) [inline]

Set custom mode.

Parameters:

customMode : Default 0. Defined by user

Definition at line 122 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::setHeartbeatData	(	uint8_t	mavType,
		uint8_t	mavAutopilot,
		uint8_t	mavMode,
		uint32_t	customMode,
		uint8_t	mavStatus,
		uint8_t	mavVersion
	)		`[inline]`

Set the heartbeat package raw data.

Parameters:

mavType	: Default quadrotor type
mavAutopilot	: Default full supporting for every
mavMode	: Default autocontrol and disarmed
customMode	: Default 0. Defined by user
mavStatus	: Default vehicle grounded and standby
mavVersion	: Default 3

Definition at line 76 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::setHeartbeatHook ( void(*)() func ) [inline]

Set the responser function pointer for the heartbeat.

Parameters:

The	function pointer that is to be set

Definition at line 200 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::setMavlinkVersion ( uint8_t mavVersion ) [inline]

Set mavlink version.

Parameters:

mavVersion : Default 3

Definition at line 140 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::setSystemStatus ( uint8_t mavStatus ) [inline]

Set status.

Parameters:

mavStatus : Default vehicle grounded and standby

Definition at line 131 of file mavHeartbeat.h.

void dji2mav::MavHeartbeat::setType ( uint8_t mavType ) [inline]

Set type.

Parameters:

mavType : Default quadrotor type

Definition at line 95 of file mavHeartbeat.h.

Member Data Documentation

mavlink_heartbeat_t dji2mav::MavHeartbeat::m_hbMsg [private]

Definition at line 224 of file mavHeartbeat.h.

void(* dji2mav::MavHeartbeat::m_hook)() [private]

Definition at line 226 of file mavHeartbeat.h.

mavlink_message_t dji2mav::MavHeartbeat::m_sendMsg [private]

Definition at line 223 of file mavHeartbeat.h.

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

mavHeartbeat.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation