class OutputMavlink Output via vehicle_command topic More...

#include <output_mavlink.h>

Inheritance diagram for vmount::OutputMavlink:

Collaboration diagram for vmount::OutputMavlink:

Public Member Functions
	OutputMavlink (const OutputConfig &output_config)

virtual	~OutputMavlink ()=default

virtual int	update (const ControlData *control_data)
	Update the output. More...

virtual void	print_status ()
	report status to stdout More...

Public Member Functions inherited from vmount::OutputBase
	OutputBase (const OutputConfig &output_config)

virtual	~OutputBase ()

virtual int	initialize ()

void	publish ()
	Publish _angle_outputs as a mount_orientation message. More...

Private Attributes
uORB::PublicationQueued< vehicle_command_s >	_vehicle_command_pub {ORB_ID(vehicle_command)}

Additional Inherited Members
Protected Member Functions inherited from vmount::OutputBase
float	_calculate_pitch (double lon, double lat, float altitude, const vehicle_global_position_s &global_position)

void	_set_angle_setpoints (const ControlData *control_data)
	set angle setpoints, speeds & stabilize flags More...

void	_handle_position_update (bool force_update=false)
	check if vehicle position changed and update the setpoint angles if in gps mode More...

void	_calculate_output_angles (const hrt_abstime &t)
	calculate the _angle_outputs (with speed) and stabilize if needed More...

int	_get_vehicle_attitude_sub () const

Protected Attributes inherited from vmount::OutputBase
map_projection_reference_s	_projection_reference = {}
	reference to convert (lon, lat) to local [m] More...

const OutputConfig &	_config

const ControlData *	_cur_control_data = nullptr

float	_angle_setpoints [3] = { 0.f, 0.f, 0.f }
	[rad] More...

float	_angle_speeds [3] = { 0.f, 0.f, 0.f }

bool	_stabilize [3] = { false, false, false }

float	_angle_outputs [3] = { 0.f, 0.f, 0.f }
	calculated output angles (roll, pitch, yaw) [rad] More...

hrt_abstime	_last_update

Detailed Description

class OutputMavlink Output via vehicle_command topic

Definition at line 53 of file output_mavlink.h.

Constructor & Destructor Documentation

◆ OutputMavlink()

vmount::OutputMavlink::OutputMavlink ( const OutputConfig & output_config )

Definition at line 52 of file output_mavlink.cpp.

◆ ~OutputMavlink()

virtual vmount::OutputMavlink::~OutputMavlink ( )

virtualdefault

Member Function Documentation

◆ print_status()

void vmount::OutputMavlink::print_status ( )

virtual

report status to stdout

Implements vmount::OutputBase.

Definition at line 103 of file output_mavlink.cpp.

◆ update()

int vmount::OutputMavlink::update ( const ControlData * control_data )

virtual

Update the output.

Parameters

data	new command if non null

Returns: 0 on success, <0 otherwise

Implements vmount::OutputBase.

Definition at line 57 of file output_mavlink.cpp.

References vmount::OutputBase::_angle_outputs, vmount::OutputBase::_calculate_output_angles(), vmount::OutputBase::_config, vmount::OutputBase::_handle_position_update(), vmount::OutputBase::_last_update, vmount::OutputBase::_set_angle_setpoints(), _vehicle_command_pub, hrt_absolute_time(), hrt_abstime, vmount::OutputConfig::mavlink_comp_id, vmount::OutputConfig::mavlink_sys_id, vmount::ControlData::Neutral, vmount::OutputConfig::pitch_offset, uORB::PublicationQueued< T >::publish(), vmount::OutputConfig::roll_offset, vehicle_command_s::timestamp, vmount::ControlData::type, and vmount::OutputConfig::yaw_offset.

Here is the call graph for this function:

Member Data Documentation

◆ _vehicle_command_pub

uORB::PublicationQueued<vehicle_command_s> vmount::OutputMavlink::_vehicle_command_pub {ORB_ID(vehicle_command)}

private

Definition at line 65 of file output_mavlink.h.

Referenced by update().

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

src/modules/vmount/output_mavlink.h
src/modules/vmount/output_mavlink.cpp

Public Member Functions

Private Attributes

Additional Inherited Members