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

class InputMavlinkROI Input based on the vehicle_roi topic More...

#include <input_mavlink.h>

Inheritance diagram for vmount::InputMavlinkROI:
Collaboration diagram for vmount::InputMavlinkROI:

Public Member Functions

 InputMavlinkROI ()=default
 
virtual ~InputMavlinkROI ()
 
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 _read_control_data_from_position_setpoint_sub ()
 

Private Attributes

int _vehicle_roi_sub = -1
 
int _position_setpoint_triplet_sub = -1
 
uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE
 

Additional Inherited Members

- Protected Attributes inherited from vmount::InputBase
ControlData _control_data
 

Detailed Description

class InputMavlinkROI Input based on the vehicle_roi topic

Definition at line 55 of file input_mavlink.h.

Constructor & Destructor Documentation

◆ InputMavlinkROI()

vmount::InputMavlinkROI::InputMavlinkROI ( )
default

◆ ~InputMavlinkROI()

vmount::InputMavlinkROI::~InputMavlinkROI ( )
virtual

Definition at line 56 of file input_mavlink.cpp.

References _position_setpoint_triplet_sub, _vehicle_roi_sub, and orb_unsubscribe().

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Member Function Documentation

◆ _read_control_data_from_position_setpoint_sub()

void vmount::InputMavlinkROI::_read_control_data_from_position_setpoint_sub ( )
private

Definition at line 163 of file input_mavlink.cpp.

References vmount::InputBase::_control_data, _position_setpoint_triplet_sub, position_setpoint_s::alt, vmount::ControlData::TypeData::TypeLonLat::altitude, position_setpoint_triplet_s::current, position_setpoint_s::lat, vmount::ControlData::TypeData::TypeLonLat::lat, position_setpoint_s::lon, vmount::ControlData::TypeData::TypeLonLat::lon, vmount::ControlData::TypeData::lonlat, orb_copy(), ORB_ID, and vmount::ControlData::type_data.

Referenced by update_impl().

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◆ initialize()

int vmount::InputMavlinkROI::initialize ( )
protectedvirtual

Reimplemented from vmount::InputBase.

Definition at line 67 of file input_mavlink.cpp.

References _position_setpoint_triplet_sub, _vehicle_roi_sub, ORB_ID, and orb_subscribe().

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◆ print_status()

void vmount::InputMavlinkROI::print_status ( )
virtual

report status to stdout

Implements vmount::InputBase.

Definition at line 172 of file input_mavlink.cpp.

◆ update_impl()

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

Implements vmount::InputBase.

Definition at line 84 of file input_mavlink.cpp.

References vmount::InputBase::_control_data, _cur_roi_mode, _position_setpoint_triplet_sub, _read_control_data_from_position_setpoint_sub(), _vehicle_roi_sub, vehicle_roi_s::alt, vmount::InputBase::control_data_set_lon_lat(), vmount::ControlData::gimbal_shutter_retract, vehicle_roi_s::lat, vehicle_roi_s::lon, vmount::ControlData::LonLat, vmount::ControlData::TypeData::lonlat, vehicle_roi_s::mode, vmount::ControlData::Neutral, orb_copy(), ORB_ID, vmount::ControlData::TypeData::TypeLonLat::pitch_angle_offset, vmount::ControlData::TypeData::TypeLonLat::pitch_fixed_angle, vehicle_roi_s::pitch_offset, px4_poll(), vmount::ControlData::TypeData::TypeLonLat::roll_angle, vehicle_roi_s::roll_offset, vmount::ControlData::stabilize_axis, vmount::ControlData::type, vmount::ControlData::type_data, vmount::ControlData::TypeData::TypeLonLat::yaw_angle_offset, and vehicle_roi_s::yaw_offset.

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Member Data Documentation

◆ _cur_roi_mode

uint8_t vmount::InputMavlinkROI::_cur_roi_mode = vehicle_roi_s::ROI_NONE
private

Definition at line 72 of file input_mavlink.h.

Referenced by update_impl().

◆ _position_setpoint_triplet_sub

int vmount::InputMavlinkROI::_position_setpoint_triplet_sub = -1
private

Definition at line 71 of file input_mavlink.h.

Referenced by _read_control_data_from_position_setpoint_sub(), initialize(), update_impl(), and ~InputMavlinkROI().

◆ _vehicle_roi_sub

int vmount::InputMavlinkROI::_vehicle_roi_sub = -1
private

Definition at line 70 of file input_mavlink.h.

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

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