State Class Reference

The MAV state. More...

#include <state.hpp>

Collaboration diagram for State:

List of all members.

Classes
struct	conf_t
	Configuration structure. More...
Public Member Functions
	State (Mavlink_stream &mavlink_stream_, Battery &battery, conf_t config=default_config())
	Constructor.
void	switch_to_active_mode (mav_state_t *mav_state_)
	Makes the switch to active mode.
void	connection_status ()
	Check the connection status with the GND station.
bool	set_armed (bool arming)
	tries to arm/disarm; checks performed for arming
bool	is_armed () const
	returns whether armed
bool	is_manual () const
	returns whether in manual mode
bool	is_hil () const
	returns whether in hil mode
bool	is_stabilize () const
	returns whether in stabilize mode
bool	is_guided () const
	returns whether in guided mode
bool	is_auto () const
	returns whether in auto mode
bool	is_custom () const
	returns whether in custom mode
bool	is_test () const
	returns whether in test mode
Mav_mode	mav_mode () const
	returns mav_mode (copy)
Static Public Member Functions
static conf_t	default_config ()
	Default configuration for quadrotor.
static conf_t	wing_default_config ()
	Default configuration for wing.
Public Attributes
mav_state_t	mav_state_
	The value of the MAV state.
Mav_mode	mav_mode_
	The value of the MAV mode.
Mav_mode::custom_mode_t	mav_mode_custom
	The value of the custom_mode.
uint8_t	autopilot_type
	The type of the autopilot (MAV_TYPE enum in common.h)
uint8_t	autopilot_name
	The name of the autopilot (MAV_AUTOPILOT enum in common.h)
uint32_t	sensor_present
	The type of sensors that are present on the autopilot (Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control)
uint32_t	sensor_enabled
	The sensors enabled on the autopilot (Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control)
uint32_t	sensor_health
	The health of sensors present on the autopilot (Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control)
bool	out_of_safety_geofence
	Flag to tell whether we are out the first fence or not.
bool	out_of_emergency_geofence
	Flag to tell whether we are out the second fence or not.
bool	reset_position
	Flag to enable the reset of the position estimation.
double	last_heartbeat_msg
	Time of reception of the last heartbeat message from the ground station.
double	max_lost_connection
	Maximum time without reception of a heartbeat message from the ground station.
uint32_t	msg_count
	Number of heartbeat message received from the Ground station.
bool	connection_lost
	Flag to tell if we have connection with the GND station or not.
bool	first_connection_set
	Flag to tell that we received a first message from the GND station.
Battery &	battery_
	Pointer to battery structure.
Friends
class	State_machine
bool	state_telemetry_set_mode (State *state, Mav_mode mav_mode)
mav_result_t	state_telemetry_send_autopilot_capabilities (State *state, const mavlink_command_long_t *packet)
	Callback to the command 520 MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES.

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Detailed Description

The MAV state.

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Constructor & Destructor Documentation

State::State	(	Mavlink_stream &	mavlink_stream_,
		Battery &	battery,
		State::conf_t	config = default_config()
	)

Constructor.

Parameters:

mavlink_stream	Mavlink downlink
battery	Battery monitor
state_config	State configuration structure

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Member Function Documentation

State::conf_t State::default_config

(

void

)

[inline, static]

Default configuration for quadrotor.

Returns:

Config structure

bool State::is_armed

(

)

const [inline]

returns whether armed

Returns:

armed

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bool State::is_auto

(

)

const [inline]

returns whether in auto mode

Returns:

auto

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bool State::is_custom

(

)

const [inline]

returns whether in custom mode

Returns:

custom

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bool State::is_guided

(

)

const [inline]

returns whether in guided mode

Returns:

guided

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bool State::is_hil

(

)

const [inline]

returns whether in hil mode

Returns:

hil

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bool State::is_manual

(

)

const [inline]

returns whether in manual mode

Returns:

manual

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bool State::is_stabilize

(

)

const [inline]

returns whether in stabilize mode

Returns:

stabilize

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bool State::is_test

(

)

const [inline]

returns whether in test mode

Returns:

test

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Mav_mode State::mav_mode

(

)

const [inline]

returns mav_mode (copy)

Returns:

mav_mode

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bool State::set_armed

(

bool

arming

)

tries to arm/disarm; checks performed for arming

arming is prevented if

• IMU not ready (mav_state_ == MAV_STATE_CALIBRATING)
• in manual and guided or stabilised mode
• battery low

Parameters:

arming

true for arming, false for disarming

Returns:

true if desired arming state was accepted; false if refused

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void State::switch_to_active_mode

(

mav_state_t *

mav_state_

)

Makes the switch to active mode.

Parameters:

mav_state_

MAV state

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State::conf_t State::wing_default_config

(

)

[inline, static]

Default configuration for wing.

Returns:

Config structure

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Friends And Related Function Documentation

mav_result_t state_telemetry_send_autopilot_capabilities	(	State *	state,
		const mavlink_command_long_t *	packet
	)		[friend]

Callback to the command 520 MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES.

Parameters:

state	The pointer to the state structure
packet	The pointer to the decoded MAVLink message long

Returns:

The MAV_RESULT of the command

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

• /home/travis/build/lis-epfl/MAVRIC_Library/status/state.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/status/state.cpp