Mavlink_waypoint_handler Class Reference

Inheritance diagram for Mavlink_waypoint_handler:

Collaboration diagram for Mavlink_waypoint_handler:

List of all members.

Classes
struct	conf_t
Public Member Functions
	Mavlink_waypoint_handler (const INS &ins, Mavlink_message_handler &message_handler, const Mavlink_stream &mavlink_stream, Mission_handler_registry &mission_handler_registry, conf_t config=default_config())
	Initialize the waypoint handler.
bool	init ()
uint16_t	waypoint_count () const
	Returns the number of waypoints.
uint64_t	waypoint_received_time_ms () const
	Returns the time that the waypoint list was received.
const Waypoint &	current_waypoint () const
	Gets the current waypoint.
const Waypoint &	next_waypoint () const
	Gets the next waypoint if available.
const Waypoint &	waypoint_from_index (int i) const
	Returns a waypoint from the list from a specific index.
const Waypoint &	home_waypoint () const
	Returns the home waypoint.
void	advance_to_next_waypoint ()
	Sets the next waypoint as the current one. Should be called when the current waypoint has been reached.
uint16_t	current_waypoint_index () const
	Gets the current waypoint index.
bool	set_current_waypoint_index (int index)
	Sets the current waypoint index if possible.
Static Public Member Functions
static conf_t	default_config ()
	Default configuration.
Protected Attributes
Waypoint	waypoint_list_ [MAX_WAYPOINTS]
	The array of all waypoints (max MAX_WAYPOINTS)
uint16_t	waypoint_count_
	The total number of waypoints.
uint16_t	current_waypoint_index_
	The current waypoint index.
Waypoint	home_waypoint_
	The home waypoint.
const Mavlink_stream &	mavlink_stream_
	The reference to MAVLink stream object.
const INS &	ins_
	The pointer to the position estimation structure.
Mavlink_message_handler &	message_handler_
	The reference to the mavlink message handler.
Mission_handler_registry &	mission_handler_registry_
	The reference to the mission handler registry.

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Constructor & Destructor Documentation

Mavlink_waypoint_handler::Mavlink_waypoint_handler	(	const INS &	ins,
		Mavlink_message_handler &	message_handler,
		const Mavlink_stream &	mavlink_stream,
		Mission_handler_registry &	mission_handler_registry,
		conf_t	config = default_config()
	)

Initialize the waypoint handler.

Parameters:

ins	The reference to the Inertial Navigation System
message_handler	The reference to the message handler
mavlink_stream	The reference to the MAVLink stream structure
mission_handler_registry	The reference to the mission handler registry
config	The config structure (optional)

Returns:

True if the init succeed, false otherwise

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Member Function Documentation

const Waypoint & Mavlink_waypoint_handler::current_waypoint

(

)

const

Gets the current waypoint.

If there is no waypoints in the list, creates a hold position waypoint as the first index in the list and returns it

Returns:

current waypoint

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uint16_t Mavlink_waypoint_handler::current_waypoint_index

(

)

const

Gets the current waypoint index.

Returns:

Current waypoint index

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Mavlink_waypoint_handler::conf_t Mavlink_waypoint_handler::default_config

(

void

)

[inline, static]

Default configuration.

Returns:

Config structure

const Waypoint & Mavlink_waypoint_handler::home_waypoint

(

)

const

Returns the home waypoint.

Recreates the home waypoint if it has not been manually set as the takeoff altitude could have changed from the onboard parameters

Returns:

Home

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const Waypoint & Mavlink_waypoint_handler::next_waypoint

(

)

const

Gets the next waypoint if available.

If there is no waypoints in the list, creates a hold position waypoint as the first index in the list and returns it

Returns:

next waypoint

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bool Mavlink_waypoint_handler::set_current_waypoint_index

(

int

index

)

Sets the current waypoint index if possible.

Parameters:

index

The new waypoint index

Returns:

Success

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uint16_t Mavlink_waypoint_handler::waypoint_count

(

)

const [inline]

Returns the number of waypoints.

Returns:

number of waypoints

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const Waypoint & Mavlink_waypoint_handler::waypoint_from_index

(

int

i

)

const

Returns a waypoint from the list from a specific index.

If there is no waypoints in the list, creates a hold position waypoint as the first index in the list and returns it

Returns:

waypoint_list_[i]

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uint64_t Mavlink_waypoint_handler::waypoint_received_time_ms

(

)

const [inline]

Returns the time that the waypoint list was received.

Returns:

Waypoint list reception time

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

• /home/travis/build/lis-epfl/MAVRIC_Library/communication/mavlink_waypoint_handler.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/communication/mavlink_waypoint_handler.cpp