Public Member Functions | Private Member Functions | Private Attributes
mavplugin::IMUPubPlugin Class Reference

IMU data publication plugin. More...

Inheritance diagram for mavplugin::IMUPubPlugin:
Inheritance graph
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List of all members.

Public Member Functions

const message_map get_rx_handlers ()
 Return map with message rx handlers.
 IMUPubPlugin ()
void initialize (UAS &uas_)
 Plugin initializer.

Private Member Functions

void connection_cb (bool connected)
void handle_attitude (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void handle_attitude_quaternion (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void handle_highres_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void handle_raw_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void handle_scaled_imu (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void handle_scaled_pressure (const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)
void publish_imu_data (uint32_t time_boot_ms, Eigen::Quaterniond &orientation, Eigen::Vector3d &gyro)
 fill and publish imu/data message
void publish_imu_data_raw (std_msgs::Header &header, Eigen::Vector3d &gyro, Eigen::Vector3d &accel)
 fill and publish imu/data_raw message, store linear acceleration for imu/data
void publish_mag (std_msgs::Header &header, Eigen::Vector3d &mag_field)
void setup_covariance (UAS::Covariance3d &cov, double stdev)

Private Attributes

UAS::Covariance3d angular_velocity_cov
std::string frame_id
bool has_att_quat
bool has_hr_imu
bool has_scaled_imu
ros::NodeHandle imu_nh
ros::Publisher imu_pub
ros::Publisher imu_raw_pub
Eigen::Vector3d linear_accel_vec
UAS::Covariance3d linear_acceleration_cov
ros::Publisher magn_pub
UAS::Covariance3d magnetic_cov
UAS::Covariance3d orientation_cov
ros::Publisher press_pub
ros::Publisher temp_pub
UASuas
UAS::Covariance3d unk_orientation_cov

Detailed Description

IMU data publication plugin.

Definition at line 54 of file imu_pub.cpp.


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


mavros
Author(s): Vladimir Ermakov
autogenerated on Sat Jun 8 2019 19:55:20