Public Member Functions | Private Member Functions | Private Attributes | List of all members
rosflight_sim::SIL_Board Class Reference

#include <sil_board.h>

Inheritance diagram for rosflight_sim::SIL_Board:
Inheritance graph
[legend]

Public Member Functions

bool baro_present (void) override
 
void baro_read (float *pressure, float *temperature) override
 
void baro_update (void) override
 
void board_reset (bool bootloader) override
 
void clock_delay (uint32_t milliseconds) override
 
uint64_t clock_micros () override
 
uint32_t clock_millis () override
 
bool diff_pressure_present (void) override
 
void diff_pressure_read (float *diff_pressure, float *temperature) override
 
void diff_pressure_update (void) override
 
void gazebo_setup (gazebo::physics::LinkPtr link, gazebo::physics::WorldPtr world, gazebo::physics::ModelPtr model, ros::NodeHandle *nh, std::string mav_type)
 
rosflight_firmware::BackupData get_backup_data (void) override
 
const int * get_outputs () const
 
bool gnss_has_new_data () override
 
bool gnss_present () override
 
rosflight_firmware::GNSSRaw gnss_raw_read () override
 
rosflight_firmware::GNSSData gnss_read () override
 
void gnss_update () override
 
bool has_backup_data (void) override
 
void imu_not_responding_error () override
 
bool imu_read (float accel[3], float *temperature, float gyro[3], uint64_t *time_us) override
 
void init_board (void) override
 
void led0_off (void) override
 
void led0_on (void) override
 
void led0_toggle (void) override
 
void led1_off (void) override
 
void led1_on (void) override
 
void led1_toggle (void) override
 
bool mag_present (void) override
 
void mag_read (float mag[3]) override
 
void mag_update (void) override
 
void memory_init (void) override
 
bool memory_read (void *dest, size_t len) override
 
bool memory_write (const void *src, size_t len) override
 
bool new_imu_data () override
 
uint16_t num_sensor_errors (void) override
 
void pwm_disable (void) override
 
void pwm_init (uint32_t refresh_rate, uint16_t idle_pwm) override
 
void pwm_write (uint8_t channel, float value) override
 
void rc_init (rc_type_t rc_type) override
 
bool rc_lost (void) override
 
float rc_read (uint8_t channel) override
 
void sensors_init () override
 
 SIL_Board ()
 
bool sonar_present (void) override
 
float sonar_read (void) override
 
void sonar_update (void) override
 
- Public Member Functions inherited from rosflight_firmware::UDPBoard
uint16_t serial_bytes_available (void) override
 
void serial_flush () override
 
void serial_init (uint32_t baud_rate, uint32_t dev) override
 
uint8_t serial_read (void) override
 
void serial_write (const uint8_t *src, size_t len) override
 
void set_ports (std::string bind_host, uint16_t bind_port, std::string remote_host, uint16_t remote_port)
 
 UDPBoard (std::string bind_host="localhost", uint16_t bind_port=14525, std::string remote_host="localhost", uint16_t remote_port=14520)
 
 ~UDPBoard ()
 

Private Member Functions

bool motors_spinning ()
 
void RCCallback (const rosflight_msgs::RCRaw &msg)
 

Private Attributes

GazeboVector acc_bias_
 
double acc_bias_range_
 
double acc_bias_walk_stdev_
 
double acc_stdev_
 
double airspeed_bias_
 
double airspeed_bias_range_
 
double airspeed_bias_walk_stdev_
 
double airspeed_stdev_
 
double baro_bias_
 
double baro_bias_range_
 
double baro_bias_walk_stdev_
 
double baro_stdev_
 
double boot_time_
 
GazeboVector gravity_
 
double ground_altitude_
 
GazeboVector gyro_bias_
 
double gyro_bias_range_
 
double gyro_bias_walk_stdev_
 
double gyro_stdev_
 
uint64_t imu_update_period_us_
 
double imu_update_rate_
 
GazeboVector inertial_magnetic_field_
 
gazebo::common::Time last_time_
 
rosflight_msgs::RCRaw latestRC_
 
gazebo::physics::LinkPtr link_
 
GazeboVector mag_bias_
 
double mag_bias_range_
 
double mag_bias_walk_stdev_
 
double mag_stdev_
 
std::string mav_type_
 
gazebo::physics::ModelPtr model_
 
uint64_t next_imu_update_time_us_
 
ros::NodeHandle * nh_
 
std::normal_distribution< double > normal_distribution_
 
GazeboVector prev_vel_1_
 
GazeboVector prev_vel_2_
 
GazeboVector prev_vel_3_
 
int pwm_outputs_ [14]
 
std::default_random_engine random_generator_
 
bool rc_received_
 
ros::Subscriber rc_sub_
 
double sonar_max_range_
 
double sonar_min_range_
 
double sonar_stdev_
 
std::uniform_real_distribution< double > uniform_distribution_
 
gazebo::physics::WorldPtr world_
 

Additional Inherited Members

- Public Types inherited from rosflight_firmware::Board
enum  rc_type_t
 
- Public Attributes inherited from rosflight_firmware::Board
 RC_TYPE_PPM
 
 RC_TYPE_SBUS
 

Detailed Description

Definition at line 55 of file sil_board.h.

Constructor & Destructor Documentation

rosflight_sim::SIL_Board::SIL_Board ( )

Definition at line 40 of file sil_board.cpp.

Member Function Documentation

bool rosflight_sim::SIL_Board::baro_present ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 288 of file sil_board.cpp.

void rosflight_sim::SIL_Board::baro_read ( float *  pressure,
float *  temperature 
)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 293 of file sil_board.cpp.

void rosflight_sim::SIL_Board::baro_update ( void  )
inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 150 of file sil_board.h.

void rosflight_sim::SIL_Board::board_reset ( bool  bootloader)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 131 of file sil_board.cpp.

void rosflight_sim::SIL_Board::clock_delay ( uint32_t  milliseconds)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 147 of file sil_board.cpp.

uint64_t rosflight_sim::SIL_Board::clock_micros ( )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 142 of file sil_board.cpp.

uint32_t rosflight_sim::SIL_Board::clock_millis ( )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 137 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::diff_pressure_present ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 317 of file sil_board.cpp.

void rosflight_sim::SIL_Board::diff_pressure_read ( float *  diff_pressure,
float *  temperature 
)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 325 of file sil_board.cpp.

void rosflight_sim::SIL_Board::diff_pressure_update ( void  )
inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 154 of file sil_board.h.

void rosflight_sim::SIL_Board::gazebo_setup ( gazebo::physics::LinkPtr  link,
gazebo::physics::WorldPtr  world,
gazebo::physics::ModelPtr  model,
ros::NodeHandle *  nh,
std::string  mav_type 
)

Definition at line 49 of file sil_board.cpp.

rosflight_firmware::BackupData rosflight_sim::SIL_Board::get_backup_data ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 477 of file sil_board.cpp.

const int* rosflight_sim::SIL_Board::get_outputs ( ) const
inline

Definition at line 199 of file sil_board.h.

bool rosflight_sim::SIL_Board::gnss_has_new_data ( )
overridevirtual

Implements rosflight_firmware::Board.

bool rosflight_sim::SIL_Board::gnss_present ( )
overridevirtual

Implements rosflight_firmware::Board.

rosflight_firmware::GNSSRaw rosflight_sim::SIL_Board::gnss_raw_read ( )
overridevirtual

Implements rosflight_firmware::Board.

rosflight_firmware::GNSSData rosflight_sim::SIL_Board::gnss_read ( )
overridevirtual

Implements rosflight_firmware::Board.

void rosflight_sim::SIL_Board::gnss_update ( )
overridevirtual

Implements rosflight_firmware::Board.

bool rosflight_sim::SIL_Board::has_backup_data ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 472 of file sil_board.cpp.

void rosflight_sim::SIL_Board::imu_not_responding_error ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 256 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::imu_read ( float  accel[3],
float *  temperature,
float  gyro[3],
uint64_t *  time_us 
)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 191 of file sil_board.cpp.

void rosflight_sim::SIL_Board::init_board ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 44 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led0_off ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 465 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led0_on ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 464 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led0_toggle ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 466 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led1_off ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 469 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led1_on ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 468 of file sil_board.cpp.

void rosflight_sim::SIL_Board::led1_toggle ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 470 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::mag_present ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 283 of file sil_board.cpp.

void rosflight_sim::SIL_Board::mag_read ( float  mag[3])
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 261 of file sil_board.cpp.

void rosflight_sim::SIL_Board::mag_update ( void  )
inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 146 of file sil_board.h.

void rosflight_sim::SIL_Board::memory_init ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 416 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::memory_read ( void *  dest,
size_t  len 
)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 418 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::memory_write ( const void *  src,
size_t  len 
)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 435 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::motors_spinning ( )
private

Definition at line 454 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::new_imu_data ( )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 177 of file sil_board.cpp.

uint16_t rosflight_sim::SIL_Board::num_sensor_errors ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 172 of file sil_board.cpp.

void rosflight_sim::SIL_Board::pwm_disable ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 402 of file sil_board.cpp.

void rosflight_sim::SIL_Board::pwm_init ( uint32_t  refresh_rate,
uint16_t  idle_pwm 
)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 368 of file sil_board.cpp.

void rosflight_sim::SIL_Board::pwm_write ( uint8_t  channel,
float  value 
)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 398 of file sil_board.cpp.

void rosflight_sim::SIL_Board::rc_init ( rc_type_t  rc_type)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 413 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::rc_lost ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 408 of file sil_board.cpp.

float rosflight_sim::SIL_Board::rc_read ( uint8_t  channel)
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 384 of file sil_board.cpp.

void rosflight_sim::SIL_Board::RCCallback ( const rosflight_msgs::RCRaw &  msg)
private

Definition at line 483 of file sil_board.cpp.

void rosflight_sim::SIL_Board::sensors_init ( )
overridevirtual

TODO these sensors have noise, no bias noise params are hard coded

Implements rosflight_firmware::Board.

Definition at line 154 of file sil_board.cpp.

bool rosflight_sim::SIL_Board::sonar_present ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 345 of file sil_board.cpp.

float rosflight_sim::SIL_Board::sonar_read ( void  )
overridevirtual

Implements rosflight_firmware::Board.

Definition at line 350 of file sil_board.cpp.

void rosflight_sim::SIL_Board::sonar_update ( void  )
inlineoverridevirtual

Implements rosflight_firmware::Board.

Definition at line 158 of file sil_board.h.

Member Data Documentation

GazeboVector rosflight_sim::SIL_Board::acc_bias_
private

Definition at line 87 of file sil_board.h.

double rosflight_sim::SIL_Board::acc_bias_range_
private

Definition at line 67 of file sil_board.h.

double rosflight_sim::SIL_Board::acc_bias_walk_stdev_
private

Definition at line 68 of file sil_board.h.

double rosflight_sim::SIL_Board::acc_stdev_
private

Definition at line 66 of file sil_board.h.

double rosflight_sim::SIL_Board::airspeed_bias_
private

Definition at line 90 of file sil_board.h.

double rosflight_sim::SIL_Board::airspeed_bias_range_
private

Definition at line 80 of file sil_board.h.

double rosflight_sim::SIL_Board::airspeed_bias_walk_stdev_
private

Definition at line 78 of file sil_board.h.

double rosflight_sim::SIL_Board::airspeed_stdev_
private

Definition at line 79 of file sil_board.h.

double rosflight_sim::SIL_Board::baro_bias_
private

Definition at line 89 of file sil_board.h.

double rosflight_sim::SIL_Board::baro_bias_range_
private

Definition at line 72 of file sil_board.h.

double rosflight_sim::SIL_Board::baro_bias_walk_stdev_
private

Definition at line 70 of file sil_board.h.

double rosflight_sim::SIL_Board::baro_stdev_
private

Definition at line 71 of file sil_board.h.

double rosflight_sim::SIL_Board::boot_time_
private

Definition at line 112 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::gravity_
private

Definition at line 96 of file sil_board.h.

double rosflight_sim::SIL_Board::ground_altitude_
private

Definition at line 97 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::gyro_bias_
private

Definition at line 86 of file sil_board.h.

double rosflight_sim::SIL_Board::gyro_bias_range_
private

Definition at line 64 of file sil_board.h.

double rosflight_sim::SIL_Board::gyro_bias_walk_stdev_
private

Definition at line 63 of file sil_board.h.

double rosflight_sim::SIL_Board::gyro_stdev_
private

Definition at line 62 of file sil_board.h.

uint64_t rosflight_sim::SIL_Board::imu_update_period_us_
private

Definition at line 114 of file sil_board.h.

double rosflight_sim::SIL_Board::imu_update_rate_
private

Definition at line 60 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::inertial_magnetic_field_
private

Definition at line 58 of file sil_board.h.

gazebo::common::Time rosflight_sim::SIL_Board::last_time_
private

Definition at line 122 of file sil_board.h.

rosflight_msgs::RCRaw rosflight_sim::SIL_Board::latestRC_
private

Definition at line 105 of file sil_board.h.

gazebo::physics::LinkPtr rosflight_sim::SIL_Board::link_
private

Definition at line 101 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::mag_bias_
private

Definition at line 88 of file sil_board.h.

double rosflight_sim::SIL_Board::mag_bias_range_
private

Definition at line 76 of file sil_board.h.

double rosflight_sim::SIL_Board::mag_bias_walk_stdev_
private

Definition at line 74 of file sil_board.h.

double rosflight_sim::SIL_Board::mag_stdev_
private

Definition at line 75 of file sil_board.h.

std::string rosflight_sim::SIL_Board::mav_type_
private

Definition at line 108 of file sil_board.h.

gazebo::physics::ModelPtr rosflight_sim::SIL_Board::model_
private

Definition at line 100 of file sil_board.h.

uint64_t rosflight_sim::SIL_Board::next_imu_update_time_us_
private

Definition at line 113 of file sil_board.h.

ros::NodeHandle* rosflight_sim::SIL_Board::nh_
private

Definition at line 103 of file sil_board.h.

std::normal_distribution<double> rosflight_sim::SIL_Board::normal_distribution_
private

Definition at line 93 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::prev_vel_1_
private

Definition at line 119 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::prev_vel_2_
private

Definition at line 120 of file sil_board.h.

GazeboVector rosflight_sim::SIL_Board::prev_vel_3_
private

Definition at line 121 of file sil_board.h.

int rosflight_sim::SIL_Board::pwm_outputs_[14]
private

Definition at line 109 of file sil_board.h.

std::default_random_engine rosflight_sim::SIL_Board::random_generator_
private

Definition at line 92 of file sil_board.h.

bool rosflight_sim::SIL_Board::rc_received_
private

Definition at line 106 of file sil_board.h.

ros::Subscriber rosflight_sim::SIL_Board::rc_sub_
private

Definition at line 104 of file sil_board.h.

double rosflight_sim::SIL_Board::sonar_max_range_
private

Definition at line 83 of file sil_board.h.

double rosflight_sim::SIL_Board::sonar_min_range_
private

Definition at line 84 of file sil_board.h.

double rosflight_sim::SIL_Board::sonar_stdev_
private

Definition at line 82 of file sil_board.h.

std::uniform_real_distribution<double> rosflight_sim::SIL_Board::uniform_distribution_
private

Definition at line 94 of file sil_board.h.

gazebo::physics::WorldPtr rosflight_sim::SIL_Board::world_
private

Definition at line 99 of file sil_board.h.

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

rosflight_sim
Author(s): James Jackson, Gary Ellingson, Daniel Koch
autogenerated on Wed Jul 3 2019 20:00:29