Waypoint Class Reference

List of all members.

Public Member Functions
	Waypoint ()
	Creates a blank waypoint.
	Waypoint (mavlink_mission_item_t &packet)
	Initialize the waypoint handler.
	Waypoint (uint8_t frame, uint16_t command, uint8_t autocontinue, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
	Initialize the waypoint handler.
void	send (const Mavlink_stream &mavlink_stream, uint32_t sysid, const mavlink_message_t *msg, uint16_t seq, uint8_t current)
	Sends a given waypoint via a MAVLink message.
uint8_t	frame () const
	Gets the frame of the waypoint.
uint16_t	command () const
	Gets the command of the waypoint.
uint8_t	autocontinue () const
	Gets the autocontinue state of the waypoint.
float	param1 () const
	Gets param1 of the waypoint.
float	param2 () const
	Gets param2 of the waypoint.
float	param3 () const
	Gets param3 of the waypoint.
float	param4 () const
	Gets param4 of the waypoint.
float	param5 () const
	Gets param5 of the waypoint.
float	param6 () const
	Gets param6 of the waypoint.
float	param7 () const
	Gets param7 of the waypoint.
bool	heading (float &heading) const
	Gets the heading of the waypoint.
bool	radius (float &radius) const
	Gets the radius of the waypoint.
local_position_t	local_pos () const
	Gets the waypoint in local coordinates.
Protected Attributes
uint8_t	frame_
	The reference frame of the waypoint.
uint16_t	command_
	The MAV_CMD_NAV id of the waypoint.
uint8_t	autocontinue_
	Flag to tell whether the vehicle should auto continue to the next waypoint once it reaches the current waypoint.
float	param1_
	Parameter depending on the MAV_CMD_NAV id.
float	param2_
	Parameter depending on the MAV_CMD_NAV id.
float	param3_
	Parameter depending on the MAV_CMD_NAV id.
float	param4_
	Parameter depending on the MAV_CMD_NAV id.
float	param5_
	Parameter depending on the MAV_CMD_NAV id.
float	param6_
	Parameter depending on the MAV_CMD_NAV id.
float	param7_
	Parameter depending on the MAV_CMD_NAV id.

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Constructor & Destructor Documentation

Waypoint::Waypoint

(

mavlink_mission_item_t &

packet

)

Initialize the waypoint handler.

Parameters:

packet

The received packet for creating a waypoint

Waypoint::Waypoint	(	uint8_t	frame,
		uint16_t	command,
		uint8_t	autocontinue,
		float	param1,
		float	param2,
		float	param3,
		float	param4,
		float	param5,
		float	param6,
		float	param7
	)

Initialize the waypoint handler.

Parameters:

frame	The reference frame of the waypoint
command	The MAV_CMD_NAV id of the waypoint
autocontinue	Flag to tell whether the vehicle should auto continue to the next waypoint once it reaches the current waypoint
param1	Parameter depending on the MAV_CMD_NAV id
param2	Parameter depending on the MAV_CMD_NAV id
param3	Parameter depending on the MAV_CMD_NAV id
param4	Parameter depending on the MAV_CMD_NAV id
param5	Parameter depending on the MAV_CMD_NAV id (usually x/latitude)
param6	Parameter depending on the MAV_CMD_NAV id (usually y/longitude)
param7	Parameter depending on the MAV_CMD_NAV id (usually z/altitude)

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Member Function Documentation

uint8_t Waypoint::autocontinue

(

)

const

Gets the autocontinue state of the waypoint.

Returns:

autocontinue

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uint16_t Waypoint::command

(

void

)

const

Gets the command of the waypoint.

Returns:

command

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uint8_t Waypoint::frame

(

)

const

Gets the frame of the waypoint.

Returns:

frame

bool Waypoint::heading

(

float &

heading

)

const

Gets the heading of the waypoint.

Outputs 0 if unsuccessful

Parameters:

heading

Output: heading

Returns:

Success

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local_position_t Waypoint::local_pos

(

)

const

Gets the waypoint in local coordinates.

Returns:

Local waypoint position

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float Waypoint::param1

(

)

const

Gets param1 of the waypoint.

Returns:

param1

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float Waypoint::param2

(

)

const

Gets param2 of the waypoint.

Returns:

param2

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float Waypoint::param3

(

)

const

Gets param3 of the waypoint.

Returns:

param3

float Waypoint::param4

(

)

const

Gets param4 of the waypoint.

Returns:

param4

float Waypoint::param5

(

)

const

Gets param5 of the waypoint.

Returns:

param5

float Waypoint::param6

(

)

const

Gets param6 of the waypoint.

Returns:

param6

float Waypoint::param7

(

)

const

Gets param7 of the waypoint.

Returns:

param7

bool Waypoint::radius

(

float &

radius

)

const

Gets the radius of the waypoint.

Outputs 0 if unsuccessful

Parameters:

radius

Output: radius

Returns:

Success

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void Waypoint::send	(	const Mavlink_stream &	mavlink_stream,
		uint32_t	sysid,
		const mavlink_message_t *	msg,
		uint16_t	seq,
		uint8_t	current
	)

Sends a given waypoint via a MAVLink message.

Parameters:

mavlink_stream	The mavlink stream to send the message through
sysid	The system ID
msg	The pointer to the received MAVLink message structure asking for a waypoint
seq	The sequence number of the packet
current	States if the waypoint is the current waypoint (If is the waypoint we are heading towards and are current en route to waypoint)

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

• /home/travis/build/lis-epfl/MAVRIC_Library/mission/waypoint.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/mission/waypoint.cpp