vmount::InputRC Class Reference

class InputRC RC input class using manual_control_setpoint topic More...

#include <input_rc.h>

Inheritance diagram for vmount::InputRC:

Collaboration diagram for vmount::InputRC:

Public Member Functions
	InputRC (bool do_stabilization, int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw)
virtual	~InputRC ()
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 ()
virtual bool	_read_control_data_from_subscription (ControlData &control_data, bool already_active)
int	_get_subscription_fd () const
float	_get_aux_value (const manual_control_setpoint_s &manual_control_setpoint, int channel_idx)
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 Attributes
const bool	_do_stabilization
int	_aux_channels [3]
int	_manual_control_setpoint_sub = -1
bool	_first_time = true
float	_last_set_aux_values [3] = {}

Additional Inherited Members
Protected Attributes inherited from vmount::InputBase
ControlData	_control_data

Detailed Description

class InputRC RC input class using manual_control_setpoint topic

Definition at line 55 of file input_rc.h.

Constructor & Destructor Documentation

InputRC()

vmount::InputRC::InputRC	(	bool	do_stabilization,
		int	aux_channel_roll,
		int	aux_channel_pitch,
		int	aux_channel_yaw
	)

Parameters

do_stabilization
aux_channel_roll	which aux channel to use for roll (set to 0 to use a fixed angle of 0)
aux_channel_pitch
aux_channel_yaw

Definition at line 52 of file input_rc.cpp.

References _aux_channels.

~InputRC()

vmount::InputRC::~InputRC ( )

virtual

Definition at line 60 of file input_rc.cpp.

References _manual_control_setpoint_sub, and orb_unsubscribe().

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Member Function Documentation

_get_aux_value()

float vmount::InputRC::_get_aux_value ( const manual_control_setpoint_s &  manual_control_setpoint, int  channel_idx  )

protected

Definition at line 150 of file input_rc.cpp.

References _aux_channels, manual_control_setpoint_s::aux1, manual_control_setpoint_s::aux2, manual_control_setpoint_s::aux3, manual_control_setpoint_s::aux4, manual_control_setpoint_s::aux5, and manual_control_setpoint_s::aux6.

Referenced by _get_subscription_fd(), and _read_control_data_from_subscription().

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_get_subscription_fd()

int vmount::InputRC::_get_subscription_fd ( ) const

inlineprotected

Definition at line 79 of file input_rc.h.

References _get_aux_value(), and _manual_control_setpoint_sub.

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_read_control_data_from_subscription()

bool vmount::InputRC::_read_control_data_from_subscription ( ControlData &  control_data, bool  already_active  )

protectedvirtual

Returns

true if there was a change in control data

Definition at line 107 of file input_rc.cpp.

References _do_stabilization, _first_time, _get_aux_value(), _last_set_aux_values, _manual_control_setpoint_sub, vmount::ControlData::Angle, vmount::ControlData::TypeData::angle, vmount::ControlData::TypeData::TypeAngle::angles, f(), vmount::ControlData::gimbal_shutter_retract, vmount::ControlData::TypeData::TypeAngle::is_speed, M_PI_F, orb_copy(), ORB_ID, vmount::ControlData::stabilize_axis, vmount::ControlData::type, and vmount::ControlData::type_data.

Referenced by update_impl().

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initialize()

int vmount::InputRC::initialize ( )

protectedvirtual

Reimplemented from vmount::InputBase.

Definition at line 67 of file input_rc.cpp.

References _manual_control_setpoint_sub, ORB_ID, and orb_subscribe().

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print_status()

void vmount::InputRC::print_status ( )

virtual

report status to stdout

Implements vmount::InputBase.

Definition at line 177 of file input_rc.cpp.

References _aux_channels.

update_impl()

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

protectedvirtual

Implements vmount::InputBase.

Definition at line 78 of file input_rc.cpp.

References vmount::InputBase::_control_data, _manual_control_setpoint_sub, _read_control_data_from_subscription(), and px4_poll().

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Member Data Documentation

_aux_channels

int vmount::InputRC::_aux_channels[3]

private

Definition at line 85 of file input_rc.h.

Referenced by _get_aux_value(), InputRC(), and print_status().

_do_stabilization

const bool vmount::InputRC::_do_stabilization

private

Definition at line 84 of file input_rc.h.

Referenced by _read_control_data_from_subscription().

_first_time

bool vmount::InputRC::_first_time = true

private

Definition at line 88 of file input_rc.h.

Referenced by _read_control_data_from_subscription().

_last_set_aux_values

float vmount::InputRC::_last_set_aux_values[3] = {}

private

Definition at line 89 of file input_rc.h.

Referenced by _read_control_data_from_subscription().

_manual_control_setpoint_sub

int vmount::InputRC::_manual_control_setpoint_sub = -1

private

Definition at line 86 of file input_rc.h.

Referenced by _get_subscription_fd(), _read_control_data_from_subscription(), initialize(), update_impl(), and ~InputRC().

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

• src/modules/vmount/input_rc.h
• src/modules/vmount/input_rc.cpp