mavros::std_plugins::CommandPlugin Class Reference

Command plugin. More...

Inheritance diagram for mavros::std_plugins::CommandPlugin:

Public Member Functions
	CommandPlugin ()
Subscriptions	get_subscriptions ()
	Return vector of MAVLink message subscriptions (handlers) More...
void	initialize (UAS &uas_)
	Plugin initializer. More...
Public Member Functions inherited from mavros::plugin::PluginBase
virtual	~PluginBase ()

Private Types
using	L_CommandTransaction = std::list< CommandTransaction >

Private Member Functions
bool	arming_cb (mavros_msgs::CommandBool::Request &req, mavros_msgs::CommandBool::Response &res)
void	command_int (bool broadcast, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, int32_t x, int32_t y, float z)
bool	command_int_cb (mavros_msgs::CommandInt::Request &req, mavros_msgs::CommandInt::Response &res)
void	command_long (bool broadcast, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
bool	command_long_cb (mavros_msgs::CommandLong::Request &req, mavros_msgs::CommandLong::Response &res)
void	handle_command_ack (const mavlink::mavlink_message_t *msg, mavlink::common::msg::COMMAND_ACK &ack)
bool	land_cb (mavros_msgs::CommandTOL::Request &req, mavros_msgs::CommandTOL::Response &res)
bool	send_command_int (bool broadcast, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, int32_t x, int32_t y, float z, unsigned char &success)
bool	send_command_long_and_wait (bool broadcast, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, unsigned char &success, uint8_t &result)
bool	set_home_cb (mavros_msgs::CommandHome::Request &req, mavros_msgs::CommandHome::Response &res)
template<typename MsgT >
void	set_target (MsgT &cmd, bool broadcast)
bool	takeoff_cb (mavros_msgs::CommandTOL::Request &req, mavros_msgs::CommandTOL::Response &res)
bool	trigger_control_cb (mavros_msgs::CommandTriggerControl::Request &req, mavros_msgs::CommandTriggerControl::Response &res)
bool	trigger_interval_cb (mavros_msgs::CommandTriggerInterval::Request &req, mavros_msgs::CommandTriggerInterval::Response &res)
bool	wait_ack_for (CommandTransaction &tr)

Private Attributes
const ros::Duration	ACK_TIMEOUT_DT
L_CommandTransaction	ack_waiting_list
ros::ServiceServer	arming_srv
ros::NodeHandle	cmd_nh
ros::ServiceServer	command_int_srv
ros::ServiceServer	command_long_srv
ros::ServiceServer	land_srv
std::mutex	mutex
ros::ServiceServer	set_home_srv
ros::ServiceServer	takeoff_srv
ros::ServiceServer	trigger_control_srv
ros::ServiceServer	trigger_interval_srv
bool	use_comp_id_system_control

Static Private Attributes
static constexpr int	ACK_TIMEOUT_MS = 5000

Additional Inherited Members
Public Types inherited from mavros::plugin::PluginBase
using	ConstPtr = boost::shared_ptr< PluginBase const >
using	HandlerCb = mavconn::MAVConnInterface::ReceivedCb
	generic message handler callback More...
using	HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb >
	Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More...
using	Ptr = boost::shared_ptr< PluginBase >
using	Subscriptions = std::vector< HandlerInfo >
	Subscriptions vector. More...
Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void	connection_cb (bool connected)
void	enable_connection_cb ()
template<class _C >
HandlerInfo	make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
template<class _C , class _T >
HandlerInfo	make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
	PluginBase ()
	Plugin constructor Should not do anything before initialize() More...
Protected Attributes inherited from mavros::plugin::PluginBase
UAS *	m_uas

Detailed Description

Command plugin.

Send any command via COMMAND_LONG

Definition at line 55 of file command.cpp.

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

• command.cpp