#include <flyer_interface.h>

Public Member Functions
	FlyerInterface (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~FlyerInterface ()
Private Types
typedef dynamic_reconfigure::Server < CommConfig >	CfgCommServer
typedef dynamic_reconfigure::Server < CtrlConfig >	CfgCtrlServer
typedef dynamic_reconfigure::Server < PIDVXConfig >	CfgVXServer
typedef dynamic_reconfigure::Server < PIDVYConfig >	CfgVYServer
typedef dynamic_reconfigure::Server < PIDVZConfig >	CfgVZServer
typedef dynamic_reconfigure::Server < PIDXConfig >	CfgXServer
typedef dynamic_reconfigure::Server < PIDYawConfig >	CfgYawServer
typedef dynamic_reconfigure::Server < PIDYConfig >	CfgYServer
typedef dynamic_reconfigure::Server < PIDZConfig >	CfgZServer
typedef flyer_interface::CommConfig	CommConfig
typedef flyer_interface::CtrlConfig	CtrlConfig
typedef flyer_interface::PIDVXConfig	PIDVXConfig
typedef flyer_interface::PIDVYConfig	PIDVYConfig
typedef flyer_interface::PIDVZConfig	PIDVZConfig
typedef flyer_interface::PIDXConfig	PIDXConfig
typedef flyer_interface::PIDYawConfig	PIDYawConfig
typedef flyer_interface::PIDYConfig	PIDYConfig
typedef flyer_interface::PIDZConfig	PIDZConfig
typedef geometry_msgs::PoseStamped	PoseStamped
typedef message_filters::Subscriber < PoseStamped >	PoseStampedSubscriber
typedef message_filters::Synchronizer < SyncPolicy >	Synchronizer
typedef message_filters::sync_policies::ApproximateTime < PoseStamped, TwistStamped >	SyncPolicy
typedef geometry_msgs::TwistStamped	TwistStamped
typedef message_filters::Subscriber < TwistStamped >	TwistStampedSubscriber
Private Member Functions
bool	advanceState (mav_srvs::AdvanceState::Request &req, mav_srvs::AdvanceState::Response &res)
void	cmdPitchCallback (const mav_msgs::Pitch::ConstPtr pitch_msg)
void	cmdPoseCallback (const geometry_msgs::PoseStamped::ConstPtr cmd_pose_msg)
void	cmdRollCallback (const mav_msgs::Roll::ConstPtr roll_msg)
void	cmdThrustCallback (const mav_msgs::Thrust::ConstPtr thrust_msg)
void	cmdTimerCallback (const ros::TimerEvent &event)
void	cmdVelCallback (const geometry_msgs::TwistStamped::ConstPtr cmd_vel_msg)
void	cmdYawRateCallback (const mav_msgs::YawRate::ConstPtr yaw_rate_msg)
bool	estop (mav_srvs::ESTOP::Request &req, mav_srvs::ESTOP::Response &res)
bool	getFlightState (mav_srvs::GetFlightState::Request &req, mav_srvs::GetFlightState::Response &res)
void	heightCallback (const mav_msgs::Height::ConstPtr height_msg)
void	initializeParams ()
bool	land (mav_srvs::Land::Request &req, mav_srvs::Land::Response &res)
void	laserCallback (const PoseStamped::ConstPtr pose_msg, const TwistStamped::ConstPtr twist_msg)
void	processCtrlDebugData (uint8_t *buf, uint32_t bufLength)
void	processFlightStateData (uint8_t *buf, uint32_t bufLength)
void	processImuData (uint8_t *buf, uint32_t bufLength)
void	processPoseData (uint8_t *buf, uint32_t bufLength)
void	processRCData (uint8_t *buf, uint32_t bufLength)
void	processStatusData (uint8_t *buf, uint32_t bufLength)
void	processTimeSyncData (uint8_t *buf, uint32_t bufLength)
void	reconfig_comm_callback (CommConfig &config, uint32_t level)
void	reconfig_ctrl_callback (CtrlConfig &config, uint32_t level)
void	reconfig_vx_callback (PIDVXConfig &config, uint32_t level)
void	reconfig_vy_callback (PIDVYConfig &config, uint32_t level)
void	reconfig_vz_callback (PIDVZConfig &config, uint32_t level)
void	reconfig_x_callback (PIDXConfig &config, uint32_t level)
void	reconfig_y_callback (PIDYConfig &config, uint32_t level)
void	reconfig_yaw_callback (PIDYawConfig &config, uint32_t level)
void	reconfig_z_callback (PIDZConfig &config, uint32_t level)
bool	retreatState (mav_srvs::AdvanceState::Request &req, mav_srvs::AdvanceState::Response &res)
void	sendCommConfig ()
void	sendCtrlConfig ()
void	sendKFConfig (bool reset)
void	sendPIDConfig ()
bool	setCtrlType (mav_srvs::SetCtrlType::Request &req, mav_srvs::SetCtrlType::Response &res)
bool	takeoff (mav_srvs::Takeoff::Request &req, mav_srvs::Takeoff::Response &res)
bool	toggleEngage (mav_srvs::ToggleEngage::Request &req, mav_srvs::ToggleEngage::Response &res)
Private Attributes
ros::ServiceServer	advance_state_srv_
std::string	base_frame_
ros::Publisher	battery_voltage_publisher_
int	baudrate_
CfgCommServer	cfg_comm_srv_
CfgCtrlServer	cfg_ctrl_srv_
CfgVXServer	cfg_vx_srv_
CfgVYServer	cfg_vy_srv_
CfgVZServer	cfg_vz_srv_
CfgXServer	cfg_x_srv_
CfgYServer	cfg_y_srv_
CfgYawServer	cfg_yaw_srv_
CfgZServer	cfg_z_srv_
float	cmd_pitch_
ros::Subscriber	cmd_pitch_subscriber_
ros::Subscriber	cmd_pose_subscriber_
float	cmd_roll_
ros::Subscriber	cmd_roll_subscriber_
float	cmd_thrust_
ros::Subscriber	cmd_thrust_subscriber_
ros::Timer	cmd_timer_
ros::Subscriber	cmd_vel_subscriber_
float	cmd_yaw_rate_
ros::Subscriber	cmd_yaw_rate_subscriber_
SerialCommunication	comm_
bool	connected_
ros::Publisher	cpu_load_avg_publisher_
int	cpu_load_index_
ros::Publisher	cpu_load_publisher_
std::vector< double >	cpu_loads_
MAV_CTRL_CFG_PKT	ctrl_cfg_packet_
ros::Publisher	debug_ax_bf_publisher_
ros::Publisher	debug_ay_bf_publisher_
ros::Publisher	debug_az_publisher_
ros::Publisher	debug_cmd_pitch_publisher_
ros::Publisher	debug_cmd_roll_publisher_
ros::Publisher	debug_cmd_thrust_publisher_
ros::Publisher	debug_cmd_yaw_publisher_
ros::Publisher	debug_cmd_yaw_rate_publisher_
ros::Publisher	debug_err_vx_bf_publisher_
ros::Publisher	debug_err_vy_bf_publisher_
ros::Publisher	debug_err_x_bf_publisher_
ros::Publisher	debug_err_y_bf_publisher_
ros::Publisher	debug_imu_wf_publisher_
ros::Publisher	debug_pid_x_i_term_publisher_
ros::Publisher	debug_pid_y_i_term_publisher_
ros::Publisher	debug_pid_yaw_i_term_publisher_
ros::Publisher	debug_pid_z_i_term_publisher_
ros::Publisher	debug_pitch_publisher_
ros::Publisher	debug_roll_publisher_
ros::Publisher	debug_vx_bf_publisher_
ros::Publisher	debug_vy_bf_publisher_
ros::Publisher	debug_yaw_publisher_
bool	enable_kf_x_
bool	enable_kf_y_
bool	enable_kf_yaw_
bool	enable_kf_z_
ros::ServiceServer	estop_srv_
std::string	fixed_frame_
uint8_t	flight_state_
ros::Publisher	flight_state_publisher_
ros::ServiceServer	get_flight_state_srv_
ros::Subscriber	height_subscriber_
ros::Publisher	imu_publisher_
ros::ServiceServer	land_srv_
boost::shared_ptr < PoseStampedSubscriber >	laser_pose_subscriber_
boost::shared_ptr < TwistStampedSubscriber >	laser_vel_subscriber_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
MAV_PID_CFG_PKT	pid_cfg_packet_
ros::Publisher	pose_publisher_
bool	publish_debug_
bool	publish_pose_
double	q_x_
double	q_y_
double	q_yaw_
double	q_z_
double	r_vx_
double	r_vy_
double	r_vz_
double	r_vz_p_
double	r_x_
double	r_y_
double	r_yaw_
double	r_z_
ros::ServiceServer	retreat_state_srv_
std::string	serial_port_rx_
std::string	serial_port_tx_
ros::ServiceServer	set_ctrl_type_srv_
boost::mutex	state_mutex_
boost::shared_ptr< Synchronizer >	sync_
ros::ServiceServer	takeoff_srv_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
ros::ServiceServer	toggle_engage_srv_
MAV_TX_FREQ_CFG_PKT	tx_freq_cfg_packet_
ros::Publisher	vel_publisher_