fcu::FlightController Class Reference

#include <FlightController.hpp>

List of all members.

Public Member Functions
bool	arm (const bool arm)
	arm arm or disarm FC
bool	arm_block ()
	arm_block attempt to arm and wait for status feedback, e.g. this method will block until the FC is able to aim
bool	disarm_block ()
	disarm_block attempt to disarm and wait for status feedback
bool	enableRxMSP ()
	enableRxMSP enable the "RX_MSP" feature The features "RX_MSP", "RX_PARALLEL_PWM", "RX_PPM" and "RX_SERIAL" are mutually exclusive. Hence one of the features "RX_PARALLEL_PWM", "RX_PPM" or "RX_SERIAL" will be disabled if active.
	FlightController (const std::string &device, const uint baudrate=115200)
std::map< std::string, uint > &	getBoxNames ()
msp::client::SubscriptionBase *	getSubscription (const msp::ID &id)
	getSubscription get pointer to subscription
bool	hasAccelerometer () const
bool	hasBarometer () const
bool	hasBind () const
bool	hasCapability (const msp::msg::Capability &cap) const
bool	hasDynBal () const
bool	hasFlap () const
bool	hasGPS () const
bool	hasMagnetometer () const
bool	hasSensor (const msp::msg::Sensor &sensor) const
bool	hasSonar () const
bool	hasSubscription (const msp::ID &id)
	hasSubscription check if message ID is subscribed
void	initBoxes ()
void	initialise ()
bool	isArmed ()
bool	isFirmware (const FirmwareType firmware_type)
	isFirmware determine firmware type (e.g. to distiguish accepted messages)
bool	isFirmwareCleanflight ()
bool	isFirmwareMultiWii ()
bool	isStatusActive (const std::string &status_name)
bool	isStatusFailsafe ()
bool	reboot ()
bool	request (msp::Request &request, const double timeout=0)
bool	request_raw (const uint8_t id, msp::ByteVector &data, const double timeout=0)
bool	respond (const msp::Response &response, const bool wait_ack=true)
bool	respond_raw (const uint8_t id, msp::ByteVector &data, const bool wait_ack=true)
bool	sendRequest (const uint8_t id)
	sendRequest send request with ID
bool	setMotors (const std::array< uint16_t, msp::msg::N_MOTOR > &motor_values)
bool	setRc (const uint16_t roll, const uint16_t pitch, const uint16_t yaw, const uint16_t throttle, const uint16_t aux1=1000, const uint16_t aux2=1000, const uint16_t aux3=1000, const uint16_t aux4=1000, const std::vector< uint16_t > auxs=std::vector< uint16_t >())
	setRc set RC channels in order: roll, pitch, yaw, throttle by using channel mapping
bool	setRc (const std::vector< uint16_t > channels)
	setRc set RC channels in raw order as it is interpreted by the FC
template<typename T , typename C >
msp::client::SubscriptionBase *	subscribe (void(C::*callback)(const T &), C *context, const double tp=0.0)
	subscribe register callback function that is called when type is received
int	updateFeatures (const std::set< std::string > &add=std::set< std::string >(), const std::set< std::string > &remove=std::set< std::string >())
	updateFeatures enable and disable features on the FC To apply updates, changes will be written to the EEPROM and the FC will reboot.
void	waitForConnection ()
bool	writeEEPROM ()
	~FlightController ()
Private Attributes
std::map< std::string, uint >	box_name_ids
std::vector< uint8_t >	channel_map
msp::client::Client	client
FirmwareType	firmware
msp::msg::Ident	ident
std::set< msp::msg::Sensor >	sensors
Static Private Attributes
static const uint8_t	MAX_MAPPABLE_RX_INPUTS = 8

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Detailed Description

Definition at line 16 of file FlightController.hpp.

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Constructor & Destructor Documentation

fcu::FlightController::FlightController	(	const std::string &	device,
		const uint	baudrate = 115200
	)

Definition at line 7 of file FlightController.cpp.

fcu::FlightController::~FlightController

(

)

Definition at line 12 of file FlightController.cpp.

---

Member Function Documentation

bool fcu::FlightController::arm

(

const bool

arm

)

arm arm or disarm FC

Parameters:

arm	true: will arm FC, false: will disarm FC

Returns:

true on success

Definition at line 158 of file FlightController.cpp.

bool fcu::FlightController::arm_block

(

)

arm_block attempt to arm and wait for status feedback, e.g. this method will block until the FC is able to aim

Returns:

Definition at line 169 of file FlightController.cpp.

bool fcu::FlightController::disarm_block

(

)

disarm_block attempt to disarm and wait for status feedback

Returns:

Definition at line 178 of file FlightController.cpp.

bool fcu::FlightController::enableRxMSP

(

)

[inline]

enableRxMSP enable the "RX_MSP" feature The features "RX_MSP", "RX_PARALLEL_PWM", "RX_PPM" and "RX_SERIAL" are mutually exclusive. Hence one of the features "RX_PARALLEL_PWM", "RX_PPM" or "RX_SERIAL" will be disabled if active.

Returns:

true on success

Definition at line 213 of file FlightController.hpp.

std::map<std::string, uint>& fcu::FlightController::getBoxNames

(

)

[inline]

Definition at line 97 of file FlightController.hpp.

msp::client::SubscriptionBase* fcu::FlightController::getSubscription

(

const msp::ID &

id

)

[inline]

getSubscription get pointer to subscription

Parameters:

id	message ID

Returns:

pointer to subscription

Definition at line 65 of file FlightController.hpp.

bool fcu::FlightController::hasAccelerometer

(

)

const [inline]

Definition at line 121 of file FlightController.hpp.

bool fcu::FlightController::hasBarometer

(

)

const [inline]

Definition at line 125 of file FlightController.hpp.

bool fcu::FlightController::hasBind

(

)

const [inline]

Definition at line 105 of file FlightController.hpp.

bool fcu::FlightController::hasCapability

(

const msp::msg::Capability &

cap

)

const [inline]

Definition at line 101 of file FlightController.hpp.

bool fcu::FlightController::hasDynBal

(

)

const [inline]

Definition at line 109 of file FlightController.hpp.

bool fcu::FlightController::hasFlap

(

)

const [inline]

Definition at line 113 of file FlightController.hpp.

bool fcu::FlightController::hasGPS

(

)

const [inline]

Definition at line 133 of file FlightController.hpp.

bool fcu::FlightController::hasMagnetometer

(

)

const [inline]

Definition at line 129 of file FlightController.hpp.

bool fcu::FlightController::hasSensor

(

const msp::msg::Sensor &

sensor

)

const [inline]

Definition at line 117 of file FlightController.hpp.

bool fcu::FlightController::hasSonar

(

)

const [inline]

Definition at line 137 of file FlightController.hpp.

bool fcu::FlightController::hasSubscription

(

const msp::ID &

id

)

[inline]

hasSubscription check if message ID is subscribed

Parameters:

id	message ID

Returns:

true if there is already a subscription

false if ID is not subscribed

Definition at line 56 of file FlightController.hpp.

void fcu::FlightController::initBoxes

(

)

Definition at line 67 of file FlightController.cpp.

void fcu::FlightController::initialise

(

)

Definition at line 23 of file FlightController.cpp.

bool fcu::FlightController::isArmed

(

)

[inline]

Definition at line 143 of file FlightController.hpp.

bool fcu::FlightController::isFirmware

(

const FirmwareType

firmware_type

)

isFirmware determine firmware type (e.g. to distiguish accepted messages)

Parameters:

firmware_type

type of firmware (enum FirmwareType)

Returns:

true if firmware is firmware_type

false if firmware is not firmware_type

Definition at line 63 of file FlightController.cpp.

bool fcu::FlightController::isFirmwareCleanflight

(

)

[inline]

Definition at line 36 of file FlightController.hpp.

bool fcu::FlightController::isFirmwareMultiWii

(

)

[inline]

Definition at line 34 of file FlightController.hpp.

bool fcu::FlightController::isStatusActive

(

const std::string &

status_name

)

Definition at line 96 of file FlightController.cpp.

bool fcu::FlightController::isStatusFailsafe

(

)

[inline]

Definition at line 145 of file FlightController.hpp.

bool fcu::FlightController::reboot

(

)

Definition at line 223 of file FlightController.cpp.

bool fcu::FlightController::request	(	msp::Request &	request,
		const double	timeout = 0
	)		[inline]

Definition at line 79 of file FlightController.hpp.

bool fcu::FlightController::request_raw	(	const uint8_t	id,
		msp::ByteVector &	data,
		const double	timeout = 0
	)		[inline]

Definition at line 83 of file FlightController.hpp.

bool fcu::FlightController::respond	(	const msp::Response &	response,
		const bool	wait_ack = true
	)		[inline]

Definition at line 87 of file FlightController.hpp.

bool fcu::FlightController::respond_raw	(	const uint8_t	id,
		msp::ByteVector &	data,
		const bool	wait_ack = true
	)		[inline]

Definition at line 91 of file FlightController.hpp.

bool fcu::FlightController::sendRequest

(

const uint8_t

id

)

[inline]

sendRequest send request with ID

Parameters:

id	message ID of request

Returns:

true on success

false on failure

Definition at line 75 of file FlightController.hpp.

bool fcu::FlightController::setMotors

(

const std::array< uint16_t, msp::msg::N_MOTOR > &

motor_values

)

Definition at line 146 of file FlightController.cpp.

bool fcu::FlightController::setRc	(	const uint16_t	roll,
		const uint16_t	pitch,
		const uint16_t	yaw,
		const uint16_t	throttle,
		const uint16_t	aux1 = 1000,
		const uint16_t	aux2 = 1000,
		const uint16_t	aux3 = 1000,
		const uint16_t	aux4 = 1000,
		const std::vector< uint16_t >	auxs = std::vector<uint16_t>()
	)

setRc set RC channels in order: roll, pitch, yaw, throttle by using channel mapping

Parameters:

roll
pitch
yaw
throttle
aux1
aux2
aux3
aux4
auxs

Returns:

Definition at line 109 of file FlightController.cpp.

bool fcu::FlightController::setRc

(

const std::vector< uint16_t >

channels

)

setRc set RC channels in raw order as it is interpreted by the FC

Parameters:

channels

list of channel values (1000-2000)

Returns:

Definition at line 140 of file FlightController.cpp.

template<typename T , typename C >

msp::client::SubscriptionBase* fcu::FlightController::subscribe	(	void(C::*)(const T &)	callback,
		C *	context,
		const double	tp = 0.0
	)		[inline]

subscribe register callback function that is called when type is received

Parameters:

callback	pointer to callback function (class method)
context	class with callback method
tp	period at a timer will send subscribed requests (in seconds), by default this is 0 and requests are not sent periodically

Returns:

pointer to subscription that is added to internal list

Definition at line 46 of file FlightController.hpp.

int fcu::FlightController::updateFeatures	(	const std::set< std::string > &	add = std::set<std::string>(),
		const std::set< std::string > &	remove = std::set<std::string>()
	)

updateFeatures enable and disable features on the FC To apply updates, changes will be written to the EEPROM and the FC will reboot.

Parameters:

add	set of features to enable
remove	set of features to disable

Returns:

1 if features have been changed

0 if no changes have been applied

-1 on failure

Definition at line 187 of file FlightController.cpp.

void fcu::FlightController::waitForConnection

(

)

Definition at line 16 of file FlightController.cpp.

bool fcu::FlightController::writeEEPROM

(

)

Definition at line 227 of file FlightController.cpp.

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Member Data Documentation

std::map<std::string, uint> fcu::FlightController::box_name_ids [private]

Definition at line 230 of file FlightController.hpp.

std::vector<uint8_t> fcu::FlightController::channel_map [private]

Definition at line 238 of file FlightController.hpp.

msp::client::Client fcu::FlightController::client [private]

Definition at line 228 of file FlightController.hpp.

FirmwareType fcu::FlightController::firmware [private]

Definition at line 236 of file FlightController.hpp.

msp::msg::Ident fcu::FlightController::ident [private]

Definition at line 232 of file FlightController.hpp.

const uint8_t fcu::FlightController::MAX_MAPPABLE_RX_INPUTS = 8 [static, private]

Definition at line 226 of file FlightController.hpp.

std::set<msp::msg::Sensor> fcu::FlightController::sensors [private]

Definition at line 234 of file FlightController.hpp.

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

• FlightController.hpp
• FlightController.cpp