#include <mavSensors.h>

Inheritance diagram for dji2mav::MavSensors:

Public Member Functions
void	activelySend ()
	Implement the messages actively sending function.
	MavSensors (MavHandler &handler, std::string name, uint16_t gcsNum,...)
	Constructor for Sensor Module. Recv buf size 1024.
void	passivelyReceive (mavlink_message_t &msg)
	Implement the messages passively handling function.
void	reactToSensors (uint16_t gcsIdx, mavlink_message_t &msg)
	React to sensor data from specific GCS and execute rsp.
bool	sendSensorsDataToAll ()
	Send sensors data to all GCS.
bool	sendSensorsDataToGcs (uint16_t gcsIdx)
	Send sensors data to specific GCS. Compid is set to IMU.
void	setAttitudeQuaternion (const int32_t ts, const float q0, const float q1, const float q2, const float q3, const float wx, const float wy, const float wz)
	Update the velocity data.
void	setGlobalPosition (const int32_t ts, const double lat, const double lon, const float alt, const float *height)
void	setLocalPosition (const int32_t ts, const float x, const float y, const float z)
	Update the local position data.
void	setSensorsHook (void(*func)())
	Set the responser function pointer for the sensors.
void	setVelocity (const int32_t ts, const float vx, const float vy, const float vz)
	Update the velocity data.
	~MavSensors ()
Private Attributes
SensorAtt	m_att
SensorGloPosInt	m_gloPos
void(*	m_hook )()
SensorLocPosNed	m_locPos
mavlink_message_t	m_sendAttMsg
mavlink_message_t	m_sendGloPosMsg
mavlink_message_t	m_sendLocPosMsg

Detailed Description

Definition at line 26 of file mavSensors.h.

Constructor & Destructor Documentation

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

Constructor for Sensor Module. Recv buf size 1024.

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 35 of file mavSensors.h.

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

Definition at line 61 of file mavSensors.h.

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

Implement the messages actively sending function.

Definition at line 244 of file mavSensors.h.

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

Implement the messages passively handling function.

Parameters:

msg	: The reference of received message

Definition at line 237 of file mavSensors.h.

void dji2mav::MavSensors::reactToSensors	(	uint16_t	gcsIdx,
		mavlink_message_t &	msg
	)		`[inline]`

React to sensor data from specific GCS and execute rsp.

Parameters:

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

Definition at line 217 of file mavSensors.h.

bool dji2mav::MavSensors::sendSensorsDataToAll ( ) [inline]

Send sensors data to all GCS.

Definition at line 180 of file mavSensors.h.

bool dji2mav::MavSensors::sendSensorsDataToGcs ( uint16_t gcsIdx ) [inline]

Send sensors data to specific GCS. Compid is set to IMU.

Parameters:

gcsIdx : The index of GCS

Definition at line 144 of file mavSensors.h.

void dji2mav::MavSensors::setAttitudeQuaternion	(	const int32_t *	ts,
		const float *	q0,
		const float *	q1,
		const float *	q2,
		const float *	q3,
		const float *	wx,
		const float *	wy,
		const float *	wz
	)		`[inline]`

Update the velocity data.

Parameters:

ts	: Pointer of timestamp from boot
vx	: Pointer of x axis velocity value
vy	: Pointer of y axis velocity value
vz	: Pointer of z axis velocity value

Definition at line 110 of file mavSensors.h.

void dji2mav::MavSensors::setGlobalPosition	(	const int32_t *	ts,
		const double *	lat,
		const double *	lon,
		const float *	alt,
		const float *	height
	)		`[inline]`