Gps_mocap Class Reference

Class to expose data received from motion capture system as GPS data. More...

#include <gps_mocap.hpp>

Inheritance diagram for Gps_mocap:

Collaboration diagram for Gps_mocap:

List of all members.

Classes
struct	conf_t
	Configuration structure. More...
Public Member Functions
	Gps_mocap (Mavlink_message_handler &message_handler, conf_t config=default_config())
	Constructor.
bool	init (void)
	Initializes callback to mavlink messages.
void	callback (uint32_t sysid, const mavlink_message_t *msg)
	Method used to update internal state when a message is received.
bool	update (void)
	Main update function Reads new values from sensor.
void	configure (void)
	Configure the GPS.
float	last_update_us (void) const
	Get last update time in microseconds.
float	last_position_update_us (void) const
	Get last position update time in microseconds.
float	last_velocity_update_us (void) const
	Get last velocity update time in microseconds.
global_position_t	position_gf (void) const
	Get position in global frame.
float	horizontal_position_accuracy (void) const
	Get horizontal position accuracy in m.
float	vertical_position_accuracy (void) const
	Get vertical position accuracy in m.
std::array< float, 3 >	velocity_lf (void) const
	Get velocity in local frame in m/s.
float	velocity_accuracy (void) const
	Get velocity accuracy in m/s.
float	heading (void) const
	Get heading in degrees.
float	heading_accuracy (void) const
	Get heading accuracy in degrees.
uint8_t	num_sats (void) const
	Get the number of satellites.
gps_fix_t	fix (void) const
	Indicates whether fix are received.
bool	healthy (void) const
	Indicates whether the measurements can be trusted.
Static Public Member Functions
static conf_t	default_config ()
	Default configuration structure.

---

Detailed Description

Class to expose data received from motion capture system as GPS data.

The mocap data is received via mavlink messages of type ATT_POS_MOCAP

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Member Function Documentation

void Gps_mocap::callback	(	uint32_t	sysid,
		const mavlink_message_t *	msg
	)

Method used to update internal state when a message is received.

Parameters:

sysid	ID of the system
msg	Pointer to the incoming message

Gps_mocap::conf_t Gps_mocap::default_config

(

void

)

[inline, static]

Default configuration structure.

Returns:

config

gps_fix_t Gps_mocap::fix

(

void

)

const [virtual]

Indicates whether fix are received.

Returns:

Value

Implements Gps.

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float Gps_mocap::heading

(

void

)

const [virtual]

Get heading in degrees.

Returns:

heading

Implements Gps.

float Gps_mocap::heading_accuracy

(

void

)

const [virtual]

Get heading accuracy in degrees.

Returns:

accuracy

Implements Gps.

bool Gps_mocap::healthy

(

void

)

const [virtual]

Indicates whether the measurements can be trusted.

Returns:

Value

Implements Gps.

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float Gps_mocap::horizontal_position_accuracy

(

void

)

const [virtual]

Get horizontal position accuracy in m.

Returns:

accuracy

Implements Gps.

bool Gps_mocap::init

(

void

)

[virtual]

Initializes callback to mavlink messages.

Returns:

Success

Implements Gps.

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float Gps_mocap::last_position_update_us

(

void

)

const [virtual]

Get last position update time in microseconds.

Returns:

Update time

Implements Gps.

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float Gps_mocap::last_update_us

(

void

)

const [virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Gps.

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float Gps_mocap::last_velocity_update_us

(

void

)

const [virtual]

Get last velocity update time in microseconds.

Returns:

Update time

Implements Gps.

uint8_t Gps_mocap::num_sats

(

void

)

const [virtual]

Get the number of satellites.

Returns:

Value

Implements Gps.

global_position_t Gps_mocap::position_gf

(

void

)

const [virtual]

Get position in global frame.

Returns:

position

Implements Gps.

bool Gps_mocap::update

(

void

)

[virtual]

Main update function Reads new values from sensor.

Returns:

Success

Implements Gps.

float Gps_mocap::velocity_accuracy

(

void

)

const [virtual]

Get velocity accuracy in m/s.

Returns:

velocity accuracy

Implements Gps.

std::array< float, 3 > Gps_mocap::velocity_lf

(

void

)

const [virtual]

Get velocity in local frame in m/s.

Returns:

3D velocity

Implements Gps.

float Gps_mocap::vertical_position_accuracy

(

void

)

const [virtual]

Get vertical position accuracy in m.

Returns:

accuracy

Implements Gps.

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

• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/gps_mocap.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/gps_mocap.cpp