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Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
vmount::InputMavlinkCmdMount Class Reference

class InputMavlinkCmdMount Input based on the VEHICLE_CMD_DO_MOUNT_CONTROL mavlink command More...

#include <input_mavlink.h>

Inheritance diagram for vmount::InputMavlinkCmdMount:
Collaboration diagram for vmount::InputMavlinkCmdMount:

Public Member Functions

 InputMavlinkCmdMount (bool stabilize)
 
virtual ~InputMavlinkCmdMount ()
 
virtual void print_status ()
 report status to stdout More...
 
- Public Member Functions inherited from vmount::InputBase
virtual ~InputBase ()
 
virtual int update (unsigned int timeout_ms, ControlData **control_data, bool already_active)
 Wait for an input update, with a timeout. More...
 

Protected Member Functions

virtual int update_impl (unsigned int timeout_ms, ControlData **control_data, bool already_active)
 
virtual int initialize ()
 
- Protected Member Functions inherited from vmount::InputBase
void control_data_set_lon_lat (double lon, double lat, float altitude, float roll_angle=0.f, float pitch_fixed_angle=-10.f)
 

Private Member Functions

void _ack_vehicle_command (vehicle_command_s *cmd)
 

Private Attributes

int _vehicle_command_sub = -1
 
bool _stabilize [3] = { false, false, false }
 
int32_t _mav_sys_id {1}
 our mavlink system id More...
 
int32_t _mav_comp_id {1}
 our mavlink component id More...
 

Additional Inherited Members

- Protected Attributes inherited from vmount::InputBase
ControlData _control_data
 

Detailed Description

class InputMavlinkCmdMount Input based on the VEHICLE_CMD_DO_MOUNT_CONTROL mavlink command

Definition at line 80 of file input_mavlink.h.

Constructor & Destructor Documentation

◆ InputMavlinkCmdMount()

vmount::InputMavlinkCmdMount::InputMavlinkCmdMount ( bool  stabilize)

Definition at line 178 of file input_mavlink.cpp.

References _mav_comp_id, _mav_sys_id, param_find(), param_get(), and PARAM_INVALID.

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◆ ~InputMavlinkCmdMount()

vmount::InputMavlinkCmdMount::~InputMavlinkCmdMount ( )
virtual

Definition at line 194 of file input_mavlink.cpp.

References _vehicle_command_sub, and orb_unsubscribe().

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Member Function Documentation

◆ _ack_vehicle_command()

void vmount::InputMavlinkCmdMount::_ack_vehicle_command ( vehicle_command_s *  cmd)
private

Definition at line 334 of file input_mavlink.cpp.

References vehicle_command_s::command, hrt_absolute_time(), ORB_ID, vehicle_command_s::source_component, vehicle_command_s::source_system, and vehicle_command_ack_s::timestamp.

Referenced by update_impl().

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◆ initialize()

int vmount::InputMavlinkCmdMount::initialize ( )
protectedvirtual

Reimplemented from vmount::InputBase.

Definition at line 201 of file input_mavlink.cpp.

References _vehicle_command_sub, ORB_ID, orb_set_interval(), and orb_subscribe().

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◆ print_status()

void vmount::InputMavlinkCmdMount::print_status ( )
virtual

report status to stdout

Implements vmount::InputBase.

Definition at line 348 of file input_mavlink.cpp.

◆ update_impl()

int vmount::InputMavlinkCmdMount::update_impl ( unsigned int  timeout_ms,
ControlData **  control_data,
bool  already_active 
)
protectedvirtual

Implements vmount::InputBase.

Definition at line 216 of file input_mavlink.cpp.

References _ack_vehicle_command(), vmount::InputBase::_control_data, _mav_comp_id, _mav_sys_id, _stabilize, _vehicle_command_sub, vmount::ControlData::Angle, vmount::ControlData::TypeData::angle, vmount::ControlData::TypeData::TypeAngle::angles, vehicle_command_s::command, vmount::InputBase::control_data_set_lon_lat(), vmount::ControlData::gimbal_shutter_retract, hrt_absolute_time(), hrt_abstime, vmount::ControlData::TypeData::TypeAngle::is_speed, M_PI_F, vmount::ControlData::Neutral, orb_copy(), ORB_ID, vehicle_command_s::param1, vehicle_command_s::param2, vehicle_command_s::param3, vehicle_command_s::param4, vehicle_command_s::param7, px4_poll(), vmount::ControlData::stabilize_axis, vehicle_command_s::target_component, vehicle_command_s::target_system, vmount::ControlData::type, and vmount::ControlData::type_data.

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Member Data Documentation

◆ _mav_comp_id

int32_t vmount::InputMavlinkCmdMount::_mav_comp_id {1}
private

our mavlink component id

Definition at line 99 of file input_mavlink.h.

Referenced by InputMavlinkCmdMount(), and update_impl().

◆ _mav_sys_id

int32_t vmount::InputMavlinkCmdMount::_mav_sys_id {1}
private

our mavlink system id

Definition at line 98 of file input_mavlink.h.

Referenced by InputMavlinkCmdMount(), and update_impl().

◆ _stabilize

bool vmount::InputMavlinkCmdMount::_stabilize[3] = { false, false, false }
private

Definition at line 96 of file input_mavlink.h.

Referenced by update_impl().

◆ _vehicle_command_sub

int vmount::InputMavlinkCmdMount::_vehicle_command_sub = -1
private

Definition at line 95 of file input_mavlink.h.

Referenced by initialize(), update_impl(), and ~InputMavlinkCmdMount().

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