MAV Class Reference

MAV class. More...

#include <mav.hpp>

Inheritance diagram for MAV:

Collaboration diagram for MAV:

List of all members.

Classes
struct	conf_t
	Configuration structure. More...
Public Types
typedef Mavlink_communication_T < N_TELEM, N_MSG_CB, N_CMD_CB, N_PARAM >	Mavlink_communication
Public Member Functions
	MAV (Imu &imu, Barometer &barometer, Gps &gps, Sonar &sonar, PX4Flow &flow, Serial &serial_mavlink, Satellite &satellite, State_display &state_display, File &file_flash, Battery &battery, File &file1, File &file2, Flight_controller &flight_controller, const conf_t &config=default_config())
	Constructor.
virtual bool	init (void)
void	loop (void)
	Main update function (infinite loop)
Mavlink_communication &	get_communication ()
	Returns non-const reference to MAVLINK Communication.
Scheduler &	get_scheduler ()
	Returns non-const reference to scheduler.
Static Public Member Functions
static conf_t	default_config (uint8_t sysid=1)
	Default configuration.
static conf_t	dronedome_config (uint8_t sysid=1)
	Configuration for use in drone dome.
Static Public Attributes
static const uint32_t	N_TELEM = 30
static const uint32_t	N_MSG_CB = 20
static const uint32_t	N_CMD_CB = 20
static const uint32_t	N_PARAM = 120
Protected Member Functions
virtual bool	init_main_task (void)
virtual bool	init_state (void)
virtual bool	init_communication (void)
virtual bool	init_data_logging (void)
virtual bool	init_gps (void)
virtual bool	init_imu (void)
virtual bool	init_barometer (void)
virtual bool	init_sonar (void)
virtual bool	init_ahrs (void)
virtual bool	init_ins (void)
virtual bool	init_mocap (void)
virtual bool	init_flow (void)
virtual bool	init_controller (void)=0
virtual bool	init_mission_planning (void)
virtual bool	init_hud (void)
virtual bool	init_ground_control (void)
virtual bool	main_task (void)
Static Protected Member Functions
static bool	main_task_func (MAV *mav)
Protected Attributes
Imu &	imu
	Reference to IMU.
Barometer &	barometer
	Reference to barometer.
Gps &	gps
	Reference to GPS.
Sonar &	sonar
	Reference to sonar.
PX4Flow &	flow
	Optic flow sensor.
Serial &	serial_mavlink
	Reference to telemetry serial.
Satellite &	satellite
	Reference to remote control satellite.
State_display &	state_display_
	Reference to the state display.
File &	file_flash
	Reference to flash storage.
Battery &	battery
	Reference to battery.
Gps_mocap	gps_mocap
	Position measure using mocap information.
Gps_hub< 2 >	gps_hub
	Gps hub.
Ahrs_ekf_mocap	ahrs_ekf_mocap
	Attitude measure from mocap information.
Manual_control	manual_control
	The joystick parsing structure.
State	state
	The structure with all state information.
Scheduler_T< 20 >	scheduler
Mavlink_communication	communication
AHRS &	ahrs_
	The attitude estimation structure.
AHRS_ekf	ahrs_ekf
AHRS_qfilter	ahrs_qfilter
INS &	ins_
	Alias for the position filter in use.
INS_complementary	ins_complementary
	The position estimaton structure.
INS_kf	ins_kf
	The Kalman INS structure, used for position estimation.
Flight_controller &	flight_controller_
Mavlink_waypoint_handler	waypoint_handler
	The handler for the waypoints.
Mission_handler_registry	mission_handler_registry
	The class for registring and obtaining mission handlers.
Mission_handler_hold_position	hold_position_handler
Mission_handler_landing	landing_handler
Mission_handler_navigating	navigating_handler
Mission_handler_on_ground	on_ground_handler
Mission_handler_manual	manual_ctrl_handler
Mission_handler_takeoff	takeoff_handler
Mission_handler_critical_landing	critical_landing_handler
Mission_handler_critical_navigating	critical_navigating_handler
Mission_planner	mission_planner_
	Controls the mission plan.
Geofence_cylinder	safety_geofence_
	Geofence.
Geofence_cylinder	emergency_geofence_
	Geofence.
State_machine	state_machine
	The structure for the state machine.
hud_telemetry_t	hud
	The HUD structure.
servos_telemetry_t	servos_telemetry
Data_logging_T< 10 >	data_logging_continuous
Data_logging_T< 10 >	data_logging_stat
uint8_t	sysid_
	System ID.
conf_t	config_
	Configuration.

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Detailed Description

MAV class.

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Member Function Documentation

MAV::conf_t MAV::default_config

(

uint8_t

sysid = 1

)

[inline, static]

Default configuration.

Parameters:

sysid

System id (default value = 1)

Returns:

Config structure

Reimplemented in LEQuad.

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MAV::conf_t MAV::dronedome_config

(

uint8_t

sysid = 1

)

[inline, static]

Configuration for use in drone dome.

Parameters:

sysid

System id (default value = 1)

Returns:

Config structure

Reimplemented in LEQuad.

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Mavlink_communication& MAV::get_communication

(

)

[inline]

Returns non-const reference to MAVLINK Communication.

This is used to add simulation telemetry from the main function

Returns:

MAVLINK Communication module

Scheduler& MAV::get_scheduler

(

)

[inline]

Returns non-const reference to scheduler.

This is used to add sleep task from the main function

Returns:

Scheduler module

void MAV::loop

(

void

)

Main update function (infinite loop)

Performs last operations before flight, then loops on scheduler updates

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

• /home/travis/build/lis-epfl/MAVRIC_Library/drones/mav.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/drones/mav.cpp