Maneuver::CompassCalibration::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onEntityResolution (void)
void	onManeuverDeactivation (void)
void	consume (const IMC::CompassCalibration *maneuver)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::EulerAngles *msg)
void	consume (const IMC::MagneticField *msg)
void	onPathControlState (const IMC::PathControlState *pcs)
void	calibrate (bool send_magnetic)
void	yoyoMotion (bool startup)
Public Member Functions inherited from DUNE::IMC::Message
	Message (void)
virtual	~Message (void)
virtual Message *	clone (void) const =0
virtual void	clear (void)=0
virtual int	validate (void) const =0
virtual const char *	getName (void) const =0
virtual uint16_t	getId (void) const =0
double	setTimeStamp (double ts)
double	setTimeStamp (void)
double	getTimeStamp (void) const
uint16_t	getSource (void) const
void	setSource (uint16_t src)
uint8_t	getSourceEntity (void) const
void	setSourceEntity (uint8_t src_ent)
uint16_t	getDestination (void) const
void	setDestination (uint16_t dst)
uint8_t	getDestinationEntity (void) const
void	setDestinationEntity (uint8_t dst_ent)
virtual uint16_t	getSubId (void) const
virtual void	setSubId (uint16_t subid)
virtual fp64_t	getValueFP (void) const
virtual void	setValueFP (fp64_t val)
unsigned	getSerializationSize (void) const
unsigned	getPayloadSerializationSize (void) const
virtual unsigned	getFixedSerializationSize (void) const
virtual unsigned	getVariableSerializationSize (void) const
void	toJSON (std::ostream &os) const
void	toText (std::ostream &os) const
virtual uint8_t *	serializeFields (uint8_t *bfr) const =0
virtual uint16_t	deserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual uint16_t	reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual void	fieldsToJSON (std::ostream &os, unsigned indent_level) const
bool	operator== (const Message &other) const
bool	operator!= (const Message &other) const

Public Attributes
IMC::DesiredPath	m_path
IMC::DesiredPitch	m_pitch
IMC::EstimatedState	m_estate
IMC::MagneticField	m_mfield
DUNE::Navigation::CompassCalibration	m_ccal
DUNE::Control::YoYoMotion *	m_yoyo
IMC::ZUnits	m_zunits
double	m_end_time
uint16_t	m_duration
bool	m_calibrating
bool	m_calibrated
bool	m_dispatched
unsigned	m_ahrs_eid
bool	m_yoyo_ing
float	m_last_psi
float	m_accum_psi
float	m_amplitude
Arguments	m_args

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)
virtual void	setSourceNested (uint16_t value)
virtual void	setSourceEntityNested (uint8_t value)
virtual void	setDestinationNested (uint16_t value)
virtual void	setDestinationEntityNested (uint8_t value)
virtual bool	fieldsEqual (const Message &other) const
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

Maneuver::CompassCalibration::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::CompassCalibration::Arguments::compass_calib, Maneuver::CompassCalibration::Arguments::cross_tol, Maneuver::CompassCalibration::Arguments::label_ahrs, m_args, Maneuver::CompassCalibration::Arguments::turns, and Maneuver::CompassCalibration::Arguments::variation.

Member Function Documentation

void Maneuver::CompassCalibration::Task::calibrate ( bool  send_magnetic )

inline

Run compass calibration.

Parameters

[in]

send_magnetic

Send magnetic field parameters.

References Maneuver::CompassCalibration::Arguments::compass_calib, DUNE::Navigation::CompassCalibration::getCalibrationParams(), m_args, m_calibrated, m_ccal, and m_mfield.

Referenced by onManeuverDeactivation(), and onPathControlState().

void Maneuver::CompassCalibration::Task::consume ( const IMC::CompassCalibration *  maneuver )

inline

References DUNE::Navigation::CompassCalibration::clear(), m_amplitude, m_args, m_calibrated, m_calibrating, m_ccal, m_dispatched, m_duration, m_end_time, m_path, m_pitch, m_yoyo, m_yoyo_ing, m_zunits, and Maneuver::CompassCalibration::Arguments::variation.

void Maneuver::CompassCalibration::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_estate, m_yoyo_ing, and yoyoMotion().

void Maneuver::CompassCalibration::Task::consume ( const IMC::EulerAngles *  msg )

inline

References Maneuver::CompassCalibration::Arguments::compass_calib, m_ahrs_eid, m_args, m_calibrating, m_ccal, and DUNE::Navigation::CompassCalibration::updateDCM().

void Maneuver::CompassCalibration::Task::consume ( const IMC::MagneticField *  msg )

inline

References Maneuver::CompassCalibration::Arguments::compass_calib, m_ahrs_eid, m_args, m_calibrating, m_ccal, and DUNE::Navigation::CompassCalibration::updateField().

void Maneuver::CompassCalibration::Task::onEntityResolution ( void  )

inline

References Maneuver::CompassCalibration::Arguments::label_ahrs, m_ahrs_eid, m_args, and m_mfield.

void Maneuver::CompassCalibration::Task::onManeuverDeactivation ( void  )

inline

References calibrate(), Maneuver::CompassCalibration::Arguments::compass_calib, Maneuver::CompassCalibration::Arguments::label_ahrs, m_accum_psi, m_args, m_calibrated, m_calibrating, and m_mfield.

void Maneuver::CompassCalibration::Task::onPathControlState ( const IMC::PathControlState *  pcs )

inline

References calibrate(), DUNE::Control::YoYoMotion::isBetweenBounds(), m_accum_psi, m_amplitude, m_args, m_calibrating, m_duration, m_end_time, m_estate, m_last_psi, m_path, m_yoyo, m_yoyo_ing, Maneuver::CompassCalibration::Arguments::turns, and yoyoMotion().

void Maneuver::CompassCalibration::Task::onResourceRelease ( void  )

inline

References m_yoyo.

void Maneuver::CompassCalibration::Task::onUpdateParameters ( void  )

inline

References DUNE::Navigation::CompassCalibration::clear(), Maneuver::CompassCalibration::Arguments::compass_calib, m_args, m_ccal, and Maneuver::CompassCalibration::Arguments::variation.

void Maneuver::CompassCalibration::Task::yoyoMotion ( bool  startup )

inline

Yoyo motion update.

Parameters

[in]

startup

whether or not the motion is starting right now

References DUNE::Navigation::CompassCalibration::clear(), m_ccal, m_dispatched, m_estate, m_pitch, m_yoyo, m_zunits, and DUNE::Control::YoYoMotion::update().

Referenced by consume(), and onPathControlState().

Member Data Documentation

float Maneuver::CompassCalibration::Task::m_accum_psi

Accumulated psi variation.

Referenced by onManeuverDeactivation(), and onPathControlState().

unsigned Maneuver::CompassCalibration::Task::m_ahrs_eid

AHRS entity id.

Referenced by consume(), and onEntityResolution().

float Maneuver::CompassCalibration::Task::m_amplitude

Yoyo's amplitude.

Referenced by consume(), and onPathControlState().

Arguments Maneuver::CompassCalibration::Task::m_args

Task arguments.

Referenced by calibrate(), consume(), onEntityResolution(), onManeuverDeactivation(), onPathControlState(), onUpdateParameters(), and Task().

bool Maneuver::CompassCalibration::Task::m_calibrated

Already calibrated.

Referenced by calibrate(), consume(), and onManeuverDeactivation().

bool Maneuver::CompassCalibration::Task::m_calibrating

In calibrating phase.

Referenced by consume(), onManeuverDeactivation(), and onPathControlState().

DUNE::Navigation::CompassCalibration Maneuver::CompassCalibration::Task::m_ccal

Compass calibration algorithm.

Referenced by calibrate(), consume(), onUpdateParameters(), and yoyoMotion().

bool Maneuver::CompassCalibration::Task::m_dispatched

True if a pitch message has been dispatched already.

Referenced by consume(), and yoyoMotion().

uint16_t Maneuver::CompassCalibration::Task::m_duration

Duration of the maneuver.

Referenced by consume(), and onPathControlState().

double Maneuver::CompassCalibration::Task::m_end_time

End time of the maneuver.

Referenced by consume(), and onPathControlState().

IMC::EstimatedState Maneuver::CompassCalibration::Task::m_estate

EstimatedState.

Referenced by consume(), onPathControlState(), and yoyoMotion().

float Maneuver::CompassCalibration::Task::m_last_psi

Last value of psi.

Referenced by onPathControlState().

IMC::MagneticField Maneuver::CompassCalibration::Task::m_mfield

Magnetic Field for Compass Calibration.

Referenced by calibrate(), onEntityResolution(), and onManeuverDeactivation().

IMC::DesiredPath Maneuver::CompassCalibration::Task::m_path

Desired Path message.

Referenced by consume(), and onPathControlState().

IMC::DesiredPitch Maneuver::CompassCalibration::Task::m_pitch

Desired Pitch for the maneuver.

Referenced by consume(), and yoyoMotion().

DUNE::Control::YoYoMotion* Maneuver::CompassCalibration::Task::m_yoyo

Yoyo motion controller.

Referenced by consume(), onPathControlState(), onResourceRelease(), and yoyoMotion().

bool Maneuver::CompassCalibration::Task::m_yoyo_ing

Started yoyo movements (not necessarily calibrating)

Referenced by consume(), and onPathControlState().

IMC::ZUnits Maneuver::CompassCalibration::Task::m_zunits

Z units for the maneuver.

Referenced by consume(), and yoyoMotion().

Collaboration diagram for Maneuver::CompassCalibration::Task: