#include <hil_interface.h>
Inheritance diagram for rotors_hil::HilSensorLevelInterface:
Public Member Functions | |
| std::vector< mavros_msgs::Mavlink > | CollectData () |
| Gather data collected from ROS messages into MAVLINK messages. More... | |
| HilSensorLevelInterface (const Eigen::Quaterniond &q_S_B) | |
| Constructor. More... | |
| virtual | ~HilSensorLevelInterface () |
| Destructor. More... | |
 Public Member Functions inherited from rotors_hil::HilInterface | |
| virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ~HilInterface () |
| Destructor. More... | |
Private Attributes | |
| uint64_t | gps_interval_nsec_ |
| Interval between outgoing HIL_GPS messages. More... | |
| mavlink_hil_gps_t | hil_gps_msg_ |
| MAVLINK HIL_GPS message. More... | |
| mavlink_hil_sensor_t | hil_sensor_msg_ |
| MAVLINK HIL_SENSOR message. More... | |
| uint64_t | last_gps_pub_time_nsec_ |
| Nanosecond portion of the last HIL_GPS message timestamp. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from rotors_hil::HilInterface | |
| ros::Subscriber | air_speed_sub_ |
| ROS air speed subscriber. More... | |
| ros::Subscriber | gps_sub_ |
| ROS GPS subscriber. More... | |
| ros::Subscriber | ground_speed_sub_ |
| ROS ground speed subscriber. More... | |
| HilData | hil_data_ |
| Object for storing the latest data. More... | |
| HilListeners | hil_listeners_ |
| Object with callbacks for receiving data. More... | |
| ros::Subscriber | imu_sub_ |
| ROS IMU subscriber. More... | |
| ros::Subscriber | mag_sub_ |
| ROS magnetometer subscriber. More... | |
| boost::mutex | mtx_ |
| Mutex lock for thread safety of reading hil data. More... | |
| ros::NodeHandle | nh_ |
| ROS node handle. More... | |
| ros::Subscriber | pressure_sub_ |
| ROS air pressure subscriber. More... | |
| Eigen::Quaterniond | q_S_B_ |
| Rotation, in quaternion form, from body into sensor (NED) frame. More... | |
| Eigen::Matrix3f | R_S_B_ |
| Rotation, in matrix form, from body into sensor (NED) frame. More... | |
Detailed Description
Definition at line 97 of file hil_interface.h.
Constructor & Destructor Documentation
◆ HilSensorLevelInterface()
| rotors_hil::HilSensorLevelInterface::HilSensorLevelInterface | ( | const Eigen::Quaterniond & | q_S_B | ) |
Constructor.
- Parameters
-
[in] q_S_B Quaternion rotation from body frame to NED frame.
Definition at line 21 of file hil_sensor_level_interface.cpp.
◆ ~HilSensorLevelInterface()
|
virtual |
Destructor.
Definition at line 80 of file hil_sensor_level_interface.cpp.
Member Function Documentation
◆ CollectData()
|
virtual |
Gather data collected from ROS messages into MAVLINK messages.
- Returns
- Vector of MAVLINK messages (in MAVROS format) to be publised.
Implements rotors_hil::HilInterface.
Definition at line 83 of file hil_sensor_level_interface.cpp.
Member Data Documentation
◆ gps_interval_nsec_
|
private |
Interval between outgoing HIL_GPS messages.
Definition at line 116 of file hil_interface.h.
◆ hil_gps_msg_
|
private |
MAVLINK HIL_GPS message.
Definition at line 110 of file hil_interface.h.
◆ hil_sensor_msg_
|
private |
MAVLINK HIL_SENSOR message.
Definition at line 113 of file hil_interface.h.
◆ last_gps_pub_time_nsec_
|
private |
Nanosecond portion of the last HIL_GPS message timestamp.
Definition at line 119 of file hil_interface.h.
The documentation for this class was generated from the following files: