include/rosflight.h
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1 /*
2  * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
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31 
32 #ifndef ROSFLIGHT_FIRMWARE_ROSFLIGHT_H
33 #define ROSFLIGHT_FIRMWARE_ROSFLIGHT_H
34 
35 #include <cstdint>
36 
37 #include "interface/comm_link.h"
39 
40 #include "board.h"
41 #include "param.h"
42 #include "sensors.h"
43 #include "estimator.h"
44 #include "rc.h"
45 #include "controller.h"
46 #include "comm_manager.h"
47 #include "mixer.h"
48 #include "state_manager.h"
49 #include "command_manager.h"
50 
51 namespace rosflight_firmware
52 {
53 
54 class ROSflight
55 {
56 
57 public:
58  ROSflight(Board& board, CommLinkInterface& comm_link);
59 
62 
64 
72 
73  uint32_t loop_time_us;
74 
78  void init();
79 
83  void run();
84 
85  uint32_t get_loop_time_us();
86 
87 private:
88  static constexpr size_t num_param_listeners_ = 7;
92  &controller_,
93  &estimator_,
94  &mixer_,
95  &rc_,
96  &sensors_
97  };
98 };
99 
100 } // namespace rosflight_firmware
101 
102 #endif // ROSFLIGHT_FIRMWARE_ROSFLIGHT_H
static constexpr size_t num_param_listeners_
ParamListenerInterface *const param_listeners_[num_param_listeners_]
void run()
Main loop for the ROSflight autopilot flight stack.
Definition: rosflight.cpp:95
void init()
Main initialization routine for the ROSflight autopilot flight stack.
Definition: rosflight.cpp:55
ROSflight(Board &board, CommLinkInterface &comm_link)
Definition: rosflight.cpp:38


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:19