vmount::OutputRC Class Reference

class OutputRC Output via actuator_controls_2 topic More...

#include <output_rc.h>

Inheritance diagram for vmount::OutputRC:

Collaboration diagram for vmount::OutputRC:

Public Member Functions
	OutputRC (const OutputConfig &output_config)
virtual	~OutputRC ()
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
orb_advert_t	_actuator_controls_pub = nullptr
bool	_retract_gimbal = true

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 OutputRC Output via actuator_controls_2 topic

Definition at line 55 of file output_rc.h.

Constructor & Destructor Documentation

OutputRC()

vmount::OutputRC::OutputRC

(

const OutputConfig &

output_config

)

Definition at line 50 of file output_rc.cpp.

~OutputRC()

vmount::OutputRC::~OutputRC ( )

virtual

Definition at line 54 of file output_rc.cpp.

References _actuator_controls_pub, and orb_unadvertise().

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Member Function Documentation

print_status()

void vmount::OutputRC::print_status ( )

virtual

report status to stdout

Implements vmount::OutputBase.

Definition at line 91 of file output_rc.cpp.

update()

int vmount::OutputRC::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 61 of file output_rc.cpp.

References _actuator_controls_pub, vmount::OutputBase::_angle_outputs, vmount::OutputBase::_calculate_output_angles(), vmount::OutputBase::_config, vmount::OutputBase::_handle_position_update(), vmount::OutputBase::_last_update, _retract_gimbal, vmount::OutputBase::_set_angle_setpoints(), actuator_controls, actuator_controls_s::control, vmount::OutputConfig::gimbal_normal_mode_value, vmount::OutputConfig::gimbal_retracted_mode_value, vmount::ControlData::gimbal_shutter_retract, hrt_absolute_time(), hrt_abstime, ll40ls::instance, ORB_ID, ORB_PRIO_DEFAULT, orb_publish_auto(), vmount::OutputConfig::pitch_offset, vmount::OutputConfig::pitch_scale, vmount::OutputConfig::roll_offset, vmount::OutputConfig::roll_scale, actuator_controls_s::timestamp, vmount::OutputConfig::yaw_offset, and vmount::OutputConfig::yaw_scale.

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Member Data Documentation

_actuator_controls_pub

orb_advert_t vmount::OutputRC::_actuator_controls_pub = nullptr

private

Definition at line 66 of file output_rc.h.

Referenced by update(), and ~OutputRC().

_retract_gimbal

bool vmount::OutputRC::_retract_gimbal = true

private

Definition at line 67 of file output_rc.h.

Referenced by update().

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

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