DfBebopBusWrapper Class Reference

Inheritance diagram for DfBebopBusWrapper:

Collaboration diagram for DfBebopBusWrapper:

Public Member Functions
	DfBebopBusWrapper ()
	~DfBebopBusWrapper ()=default
int	start ()
	Start and initialize the driver. More...
int	stop ()
	Stop the driver. More...
int	print_info ()
	Print various infos (version, type, flights, errors. More...
int	start_motors ()
	Start the motors. More...
int	stop_motors ()
	Stop the motors. More...
int	clear_errors ()
	Reset pending errors on the Bebop hardware. More...
int	set_esc_speeds (const float speed_scaled[4])
	Set the ESC speeds [front left, front right, back right, back left]. More...
void	set_last_throttle (float throttle)
	Capture the last throttle value for the battey computation. More...

Private Member Functions
int	_publish (struct bebop_state_data &data)

Private Attributes
orb_advert_t	_battery_topic
orb_advert_t	_esc_topic
Battery	_battery
bool	_armed
float	_last_throttle
int	_battery_orb_class_instance
const uint8_t	_esc_map [4] = {0, 2, 3, 1}

Detailed Description

Definition at line 70 of file df_bebop_bus_wrapper.cpp.

Constructor & Destructor Documentation

DfBebopBusWrapper()

DfBebopBusWrapper::DfBebopBusWrapper

(

)

Definition at line 116 of file df_bebop_bus_wrapper.cpp.

Referenced by df_bebop_bus_wrapper::start().

Here is the caller graph for this function:

~DfBebopBusWrapper()

DfBebopBusWrapper::~DfBebopBusWrapper ( )

default

Member Function Documentation

_publish()

int DfBebopBusWrapper::_publish ( struct bebop_state_data &  data )

private

Definition at line 201 of file df_bebop_bus_wrapper.cpp.

References _armed, _battery, _battery_orb_class_instance, _battery_topic, _esc_map, _esc_topic, _last_throttle, esc_status_s::esc, esc_status_s::esc_count, esc_report_s::esc_rpm, hrt_absolute_time(), hrt_abstime, orb_advertise(), orb_advertise_multi(), ORB_ID, ORB_PRIO_LOW, orb_publish(), esc_report_s::timestamp, esc_status_s::timestamp, and Battery::updateBatteryStatus().

Here is the call graph for this function:

clear_errors()

int DfBebopBusWrapper::clear_errors

(

)

Reset pending errors on the Bebop hardware.

Definition at line 191 of file df_bebop_bus_wrapper.cpp.

Referenced by df_bebop_bus_wrapper::clear_errors().

Here is the caller graph for this function:

print_info()

int DfBebopBusWrapper::print_info

(

)

Print various infos (version, type, flights, errors.

Definition at line 158 of file df_bebop_bus_wrapper.cpp.

References df_bebop_bus_wrapper::info().

Referenced by df_bebop_bus_wrapper::info().

Here is the call graph for this function:

Here is the caller graph for this function:

set_esc_speeds()

int DfBebopBusWrapper::set_esc_speeds

(

const float

speed_scaled[4]

)

Set the ESC speeds [front left, front right, back right, back left].

Definition at line 196 of file df_bebop_bus_wrapper.cpp.

Referenced by df_bebop_bus_wrapper::task_main().

Here is the caller graph for this function:

set_last_throttle()

void DfBebopBusWrapper::set_last_throttle ( float  throttle )

inline

Capture the last throttle value for the battey computation.

Definition at line 98 of file df_bebop_bus_wrapper.cpp.

References orb_advert_t.

Referenced by df_bebop_bus_wrapper::task_main().

Here is the caller graph for this function:

start()

int DfBebopBusWrapper::start

(

)

Start and initialize the driver.

Definition at line 122 of file df_bebop_bus_wrapper.cpp.

References BOOT, ToneAlarmInterface::init(), and start().

Referenced by df_bebop_bus_wrapper::start().

Here is the call graph for this function:

Here is the caller graph for this function:

start_motors()

int DfBebopBusWrapper::start_motors

(

)

Start the motors.

Definition at line 179 of file df_bebop_bus_wrapper.cpp.

References _armed.

Referenced by df_bebop_bus_wrapper::task_main().

Here is the caller graph for this function:

stop()

int DfBebopBusWrapper::stop

(

)

Stop the driver.

Definition at line 145 of file df_bebop_bus_wrapper.cpp.

References stop().

Referenced by df_bebop_bus_wrapper::stop().

Here is the call graph for this function:

Here is the caller graph for this function:

stop_motors()

int DfBebopBusWrapper::stop_motors

(

)

Stop the motors.

Definition at line 185 of file df_bebop_bus_wrapper.cpp.

References _armed.

Referenced by df_bebop_bus_wrapper::task_main().

Here is the caller graph for this function:

Member Data Documentation

_armed

bool DfBebopBusWrapper::_armed

private

Definition at line 105 of file df_bebop_bus_wrapper.cpp.

Referenced by _publish(), start_motors(), and stop_motors().

_battery

Battery DfBebopBusWrapper::_battery

private

Definition at line 104 of file df_bebop_bus_wrapper.cpp.

Referenced by _publish().

_battery_orb_class_instance

int DfBebopBusWrapper::_battery_orb_class_instance

private

Definition at line 108 of file df_bebop_bus_wrapper.cpp.

Referenced by _publish().

_battery_topic

orb_advert_t DfBebopBusWrapper::_battery_topic

private

Definition at line 98 of file df_bebop_bus_wrapper.cpp.

Referenced by _publish().

_esc_map

const uint8_t DfBebopBusWrapper::_esc_map[4] = {0, 2, 3, 1}

private

Definition at line 111 of file df_bebop_bus_wrapper.cpp.

Referenced by _publish().

_esc_topic

orb_advert_t DfBebopBusWrapper::_esc_topic

private

Definition at line 102 of file df_bebop_bus_wrapper.cpp.

Referenced by _publish().

_last_throttle

float DfBebopBusWrapper::_last_throttle

private

Definition at line 106 of file df_bebop_bus_wrapper.cpp.

Referenced by _publish().

---

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

• src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp