Public Types
typedef void(Task::*	PktHandler )(const mavlink_message_t *msg)

typedef std::map< int, PktHandler >	PktHandlerMap

Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onResourceRelease (void)

void	onResourceAcquisition (void)

void	onUpdateParameters (void)

void	openConnection (void)

void	setupRate (uint8_t rate)

void	info (uint32_t was, uint32_t is, uint32_t loop, const char *desc)

void	consume (const IMC::ControlLoops *cloops)

void	activateFBW (void)

void	consume (const IMC::DesiredRoll *d_roll)

void	consume (const IMC::DesiredControl *d_acc)

void	consume (const IMC::DesiredZ *d_z)

void	consume (const IMC::DesiredVerticalRate *d_vr)

void	consume (const IMC::DesiredSpeed *d_speed)

int	map2PWM (int min_pwm, int max_pwm, float min_value, float max_value, float value, bool reverse)

void	consume (const IMC::DesiredPath *path)

void	consume (const IMC::Takeoff *tkoff)

void	consume (const IMC::Land *land)

void	autoTakeoff (const IMC::DesiredPath *dpath, float pitch)

void	autoLand (const IMC::Land *land)

void	loiterHere (void)

void	consume (const IMC::IdleManeuver *idle)

void	consume (const IMC::VehicleMedium *vm)

void	consume (const IMC::VehicleState *msg)

void	consume (const IMC::SimulatedState *sim_state)

void	consume (const IMC::DevCalibrationControl *msg)

void	consume (const IMC::AutopilotMode *msg)

void	sendCommandPacket (uint16_t cmd, float arg1=0, float arg2=0, float arg3=0, float arg4=0, float arg5=0, float arg6=0, float arg7=0)

void	sendMissionItem (bool next)

void	onMain (void)

bool	poll (double timeout)

int	sendData (uint8_t *bfr, int size)

int	receiveData (uint8_t *buf, size_t blen)

void	handleArdupilotData (void)

void	handleAttitudePacket (const mavlink_message_t *msg)

void	handleImuRaw (const mavlink_message_t *msg)

void	handlePositionPacket (const mavlink_message_t *msg)

float	getHeight (void)

void	handleHWStatusPacket (const mavlink_message_t *msg)

void	handleSystemStatusPacket (const mavlink_message_t *msg)

void	handleScaledPressurePacket (const mavlink_message_t *msg)

void	handleRawGPSPacket (const mavlink_message_t *msg)

void	handleWindPacket (const mavlink_message_t *msg)

void	handleCmdAckPacket (const mavlink_message_t *msg)

void	handleMissionAckPacket (const mavlink_message_t *msg)

void	handleStatusTextPacket (const mavlink_message_t *msg)

void	handleHeartbeatPacket (const mavlink_message_t *msg)

void	handleNavControllerPacket (const mavlink_message_t *msg)

void	handleMissionItemPacket (const mavlink_message_t *msg)

void	handleHUDPacket (const mavlink_message_t *msg)

void	handleSystemTimePacket (const mavlink_message_t *msg)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

virtual	~Task (void)

const char *	getName (void) const

const char *	getSystemName (void) const

unsigned int	getSystemId (void) const

unsigned int	getEntityId (void) const

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) const

DebugLevel	getDebugLevel (void) const

uint16_t	getActivationTime (void) const

uint16_t	getDeactivationTime (void) const

unsigned int	resolveSystemName (const std::string &name) const

const char *	resolveSystemId (unsigned int id) const

void	loadConfig (void)

void	setPriority (unsigned int value)

unsigned int	getPriority (void) const

void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2

void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)

void	dispatch (IMC::Message &msg, unsigned int flags=0)

void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)

void	receive (const IMC::Message *msg)

void	reserveEntities (void)

void	resolveEntities (void)

void	acquireResources (void)

void	releaseResources (void)

void	initializeResources (void)

void	updateParameters (bool act_deact=true)

void	writeParamsXML (std::ostream &os) const

const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)

virtual	~AbstractTask (void)

Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)

virtual	~Thread (void)

int	getProcessorUsage (void)

Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)

virtual	~Runnable (void)

void	start (void)

void	stop (void)

void	join (void)

void	stopAndJoin (void)

void	setPriority (Scheduler::Policy policy, unsigned priority)

unsigned	getPriority (void)

State	getState (void)

bool	isCreated (void)

bool	isStopping (void)

bool	isRunning (void)

bool	isStarting (void)

bool	isDead (void)

Public Attributes
Arguments	m_args

PktHandlerMap	m_mlh

double	m_last_pkt_time

uint8_t	m_buf [512]

IMC::EstimatedState	m_estate

IMC::Voltage	m_volt

IMC::Current	m_curr

IMC::FuelLevel	m_fuel

IMC::Pressure	m_pressure

IMC::Temperature	m_temp

IMC::GpsFix	m_fix

IMC::EstimatedStreamVelocity	m_stream

IMC::PathControlState	m_pcs

IMC::DesiredPath	m_dpath

IMC::ControlLoops	m_controllps

Network::TCPSocket *	m_TCP_sock

uint8_t	m_sysid

double	m_lat

double	m_lon

float	m_hae_msl

float	m_hae_offset

bool	m_reboot

bool	m_offset_st

float	m_href

bool	m_external

int	m_current_wp

bool	m_critical

uint32_t	m_cloops

mavlink_message_t	m_msg

int	m_desired_radius

int	m_gnd_speed

int	m_mode

bool	m_changing_wp

bool	m_error_missing

bool	m_esta_ext

bool	m_has_setup_rate

bool	m_ground

float	m_droll

float	m_dclimb

float	m_dspeed

APM_Vehicle	m_vehicle_type

bool	m_service

float	m_last_wp

std::queue< mavlink_message_t >	m_mission_items

float	m_gb_pan

float	m_gb_tilt

float	m_gb_retract

bool	m_land

Additional Inherited Members
Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)

void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)

IMC::EntityState::StateEnum	getEntityState (void) const

unsigned int	reserveEntity (const std::string &label)

template<typename E >
E *	reserveEntity (const std::string &label)

Entities::BasicEntity *	getLocalEntity (const std::string &label)

bool	stopping (void)

bool	isActive (void) const

bool	isActivating (void) const

bool	isDeactivating (void) const

void	waitForMessages (double timeout)

void	consumeMessages (void)

template<typename T >
Parameter &	param (const std::string &name, T &var)

template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)

template<typename T >
bool	paramChanged (T &var)

void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)

void	setParamSectionEditor (const std::string &name)

template<typename M , typename T >
void	bind (T task_obj, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)

template<typename T , typename M >
void	bind (T task_obj, const std::vector< uint32_t > &list, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)

void	requestActivation (void)

void	requestDeactivation (void)

void	activate (void)

void	activationFailed (const std::string &reason)

void	deactivate (void)

void	deactivationFailed (const std::string &reason)

virtual bool	onWriteParamsXML (std::ostream &os) const

virtual void	onEntityReservation (void)

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onResourceInitialization (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onActivation (void)

virtual void	onDeactivation (void)

virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)

virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)

virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)

virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)

Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)

void	stopImpl (void)

void	joinImpl (void)

void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)

unsigned	getPriorityImpl (void)

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

std::vector < Entities::BasicEntity * >	m_entities

Member Typedef Documentation

typedef void(Task::* Control::UAV::Ardupilot::Task::PktHandler)(const mavlink_message_t *msg)

Type definition for Arduino packet handler.

typedef std::map<int, PktHandler> Control::UAV::Ardupilot::Task::PktHandlerMap

Constructor & Destructor Documentation

Control::UAV::Ardupilot::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

void Control::UAV::Ardupilot::Task::activateFBW ( void )

inline

Messages for FBWB control (using DUNE's controllers)

References DUNE::Tasks::Task::debug(), m_sysid, m_vehicle_type, sendData(), and Control::UAV::Ardupilot::VEHICLE_FIXEDWING.

Referenced by consume().

void Control::UAV::Ardupilot::Task::autoLand ( const IMC::Land * land )

inline

References Control::UAV::Ardupilot::CP_MODE_LAND, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::inf(), m_external, m_hae_offset, m_href, m_land, m_sysid, m_vehicle_type, Control::UAV::Ardupilot::PL_MODE_AUTO, sendCommandPacket(), sendData(), and Control::UAV::Ardupilot::VEHICLE_COPTER.

Referenced by consume().

void Control::UAV::Ardupilot::Task::autoTakeoff	(	const IMC::DesiredPath *	dpath,
		float	pitch
	)

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::ControlLoops * cloops )

inline

References activateFBW(), Control::UAV::Ardupilot::Arguments::ardu_tracker, DUNE::Tasks::Task::inf(), info(), m_args, m_cloops, m_controllps, m_external, m_ground, m_vehicle_type, sendData(), and Control::UAV::Ardupilot::VEHICLE_FIXEDWING.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredRoll * d_roll )

inline

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredControl * d_acc )

inline

References Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::CP_MODE_GUIDED, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getSystemId(), m_args, m_cloops, m_external, m_mode, m_sysid, m_vehicle_type, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), sendData(), DUNE::Tasks::Task::spew(), DUNE::Tasks::Task::trace(), and Control::UAV::Ardupilot::VEHICLE_COPTER.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredZ * d_z )

inline

References DUNE::Tasks::Task::debug(), and m_cloops.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredVerticalRate * d_vr )

inline

References DUNE::Tasks::Task::debug(), m_cloops, and m_dclimb.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredSpeed * d_speed )

inline

References DUNE::Tasks::Task::inf(), m_cloops, and m_dspeed.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredPath * path )

inline

Message for GUIDED/AUTO control (using Ardupilot's controllers)

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::CP_MODE_GUIDED, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), getHeight(), DUNE::Tasks::Task::inf(), m_args, m_changing_wp, m_cloops, m_desired_radius, m_dpath, m_external, m_ground, m_hae_offset, m_last_wp, m_lat, m_lon, m_pcs, m_sysid, m_vehicle_type, Control::UAV::Ardupilot::PL_MODE_GUIDED, sendData(), Control::UAV::Ardupilot::VEHICLE_COPTER, and DUNE::Tasks::Task::war().

void Control::UAV::Ardupilot::Task::consume ( const IMC::Takeoff * tkoff )

inline

References autoTakeoff(), getHeight(), m_lat, m_lon, m_vehicle_type, and Control::UAV::Ardupilot::VEHICLE_COPTER.

void Control::UAV::Ardupilot::Task::consume ( const IMC::Land * land )

inline

References autoLand(), DUNE::Tasks::Task::debug(), and m_dpath.

void Control::UAV::Ardupilot::Task::consume ( const IMC::IdleManeuver * idle )

inline

References Control::UAV::Ardupilot::Arguments::loiter_idle, loiterHere(), m_args, and m_dpath.

void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleMedium * vm )

inline

References DUNE::Tasks::Task::debug(), m_buf, m_external, m_ground, m_land, m_msg, m_offset_st, m_sysid, and sendData().

void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleState * msg )

inline

References m_service.

void Control::UAV::Ardupilot::Task::consume ( const IMC::SimulatedState * sim_state )

inline

Used for HITL simulations.

References DUNE::Tasks::Profiles::isSelected(), DUNE::Tasks::Task::m_ctx, DUNE::Tasks::Context::profiles, and sendData().

void Control::UAV::Ardupilot::Task::consume ( const IMC::DevCalibrationControl * msg )

inline

References sendCommandPacket().

void Control::UAV::Ardupilot::Task::consume ( const IMC::AutopilotMode * msg )

inline

References sendCommandPacket().

float Control::UAV::Ardupilot::Task::getHeight ( void )

inline

References m_hae_msl, and m_hae_offset.

Referenced by autoTakeoff(), consume(), handleNavControllerPacket(), and handlePositionPacket().

void Control::UAV::Ardupilot::Task::handleArdupilotData ( void )

inline

References Control::UAV::Ardupilot::Arguments::comm_timeout, DUNE::Tasks::Task::debug(), m_args, m_buf, m_error_missing, m_esta_ext, m_has_setup_rate, m_last_pkt_time, m_mlh, m_msg, m_sysid, poll(), receiveData(), DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::trace().

Referenced by onMain().

void Control::UAV::Ardupilot::Task::handleAttitudePacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), m_args, m_estate, and Control::UAV::Ardupilot::Arguments::use_external_nav.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleCmdAckPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::debug(), m_changing_wp, and m_last_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHeartbeatPacket ( const mavlink_message_t * msg )

inline

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHUDPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_gnd_speed.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHWStatusPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), m_args, m_volt, and Control::UAV::Ardupilot::Arguments::pwrm.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleImuRaw ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionAckPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::debug(), m_changing_wp, and m_last_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionItemPacket ( const mavlink_message_t * msg )

inline

References m_critical, and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleNavControllerPacket ( const mavlink_message_t * msg )

inline

void Control::UAV::Ardupilot::Task::handlePositionPacket ( const mavlink_message_t * msg )

inline

References Control::UAV::Ardupilot::Arguments::convert_msl, DUNE::Tasks::Context::dir_cfg, getHeight(), m_args, DUNE::Tasks::Task::m_ctx, m_estate, m_fix, m_ground, m_hae_msl, m_hae_offset, m_href, m_lat, m_lon, m_offset_st, m_reboot, m_vehicle_type, and Control::UAV::Ardupilot::VEHICLE_UNKNOWN.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleRawGPSPacket ( const mavlink_message_t * msg )

inline

References m_fix.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleScaledPressurePacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), Control::UAV::Ardupilot::Arguments::esc_temp, m_args, m_pressure, m_temp, and DUNE::Tasks::Task::war().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleStatusTextPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::inf().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleSystemStatusPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), m_args, m_curr, m_fuel, m_volt, and Control::UAV::Ardupilot::Arguments::pwrm.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleSystemTimePacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), Control::UAV::Ardupilot::Arguments::hitl, m_args, and m_fix.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleWindPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_stream.

Referenced by Task().

void Control::UAV::Ardupilot::Task::info	(	uint32_t	was,
		uint32_t	is,
		uint32_t	loop,
		const char *	desc
	)

inline

Prints to terminal and log when control loops are activated and deactivated.

References DUNE::Tasks::Task::inf().

Referenced by consume().

void Control::UAV::Ardupilot::Task::loiterHere ( void )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityState(), Control::UAV::Ardupilot::Arguments::lradius, m_args, m_estate, m_external, m_fix, m_ground, m_pcs, m_sysid, m_vehicle_type, sendCommandPacket(), sendData(), and Control::UAV::Ardupilot::VEHICLE_COPTER.

Referenced by consume(), and handleHeartbeatPacket().

int Control::UAV::Ardupilot::Task::map2PWM	(	int	min_pwm,
		int	max_pwm,
		float	min_value,
		float	max_value,
		float	value,
		bool	reverse
	)

inline

Converts value in range min_value:max_value to a value_pwm in range min_pwm:max_pwm.

References DUNE::Math::trimValue().

Referenced by consume().

void Control::UAV::Ardupilot::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), handleArdupilotData(), m_error_missing, m_esta_ext, m_external, m_TCP_sock, openConnection(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

void Control::UAV::Ardupilot::Task::onResourceAcquisition ( void )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), Control::UAV::Ardupilot::Arguments::ip, m_args, openConnection(), and Control::UAV::Ardupilot::Arguments::TCP_port.

void Control::UAV::Ardupilot::Task::onResourceRelease ( void )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

References m_TCP_sock.

void Control::UAV::Ardupilot::Task::onUpdateParameters ( void )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_args, Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::RadioChannel::val_max, and Control::UAV::Ardupilot::RadioChannel::val_min.

void Control::UAV::Ardupilot::Task::openConnection ( void )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::inf(), m_args, m_buf, m_msg, m_sysid, m_TCP_sock, sendData(), DUNE::Tasks::Task::setEntityState(), setupRate(), Control::UAV::Ardupilot::Arguments::TCP_addr, Control::UAV::Ardupilot::Arguments::TCP_port, Control::UAV::Ardupilot::Arguments::trate, and DUNE::Tasks::Task::war().

Referenced by onMain(), and onResourceAcquisition().

bool Control::UAV::Ardupilot::Task::poll ( double timeout )

inline

References m_TCP_sock.

Referenced by handleArdupilotData().

int Control::UAV::Ardupilot::Task::receiveData	(	uint8_t *	buf,
		size_t	blen
	)

inline

References DUNE::Tasks::Task::err(), m_args, m_TCP_sock, Control::UAV::Ardupilot::Arguments::TCP_addr, Control::UAV::Ardupilot::Arguments::TCP_port, and DUNE::Tasks::Task::war().

Referenced by handleArdupilotData().

void Control::UAV::Ardupilot::Task::sendCommandPacket	(	uint16_t	cmd,
		float	arg1 = `0`,
		float	arg2 = `0`,
		float	arg3 = `0`,
		float	arg4 = `0`,
		float	arg5 = `0`,
		float	arg6 = `0`,
		float	arg7 = `0`
	)

inline

References m_sysid, sendData(), and DUNE::Tasks::Task::trace().

Referenced by autoLand(), autoTakeoff(), consume(), and loiterHere().

int Control::UAV::Ardupilot::Task::sendData	(	uint8_t *	bfr,
		int	size
	)

inline

References m_TCP_sock, and DUNE::Tasks::Task::trace().

Referenced by activateFBW(), autoLand(), autoTakeoff(), consume(), loiterHere(), openConnection(), sendCommandPacket(), sendMissionItem(), and setupRate().

void Control::UAV::Ardupilot::Task::sendMissionItem ( bool next )

inline

References DUNE::Tasks::Task::debug(), m_mission_items, and sendData().

void Control::UAV::Ardupilot::Task::setupRate ( uint8_t rate )

inline

References m_sysid, sendData(), and DUNE::Tasks::Task::spew().

Referenced by handleHeartbeatPacket(), and openConnection().

Member Data Documentation

Arguments Control::UAV::Ardupilot::Task::m_args

Task arguments.

Referenced by consume(), handleArdupilotData(), handleAttitudePacket(), handleHeartbeatPacket(), handleHWStatusPacket(), handleNavControllerPacket(), handlePositionPacket(), handleScaledPressurePacket(), handleSystemStatusPacket(), handleSystemTimePacket(), loiterHere(), onResourceAcquisition(), onUpdateParameters(), openConnection(), receiveData(), and Task().

uint8_t Control::UAV::Ardupilot::Task::m_buf[512]

Referenced by consume(), handleArdupilotData(), and openConnection().

bool Control::UAV::Ardupilot::Task::m_changing_wp

Referenced by consume(), handleCmdAckPacket(), handleMissionAckPacket(), and handleNavControllerPacket().

uint32_t Control::UAV::Ardupilot::Task::m_cloops

Bitfield of enabled control loops.

Referenced by consume().

IMC::ControlLoops Control::UAV::Ardupilot::Task::m_controllps

DesiredPath message.

Referenced by consume(), and handleHeartbeatPacket().

bool Control::UAV::Ardupilot::Task::m_critical

Critical WP.

Referenced by consume(), handleHeartbeatPacket(), and handleMissionItemPacket().

IMC::Current Control::UAV::Ardupilot::Task::m_curr

Referenced by handleSystemStatusPacket().

int Control::UAV::Ardupilot::Task::m_current_wp

Current waypoint.

Referenced by handleNavControllerPacket().

float Control::UAV::Ardupilot::Task::m_dclimb

Referenced by consume().

int Control::UAV::Ardupilot::Task::m_desired_radius

Referenced by consume(), and handleNavControllerPacket().

IMC::DesiredPath Control::UAV::Ardupilot::Task::m_dpath

DesiredPath message.

Referenced by autoTakeoff(), consume(), handleHeartbeatPacket(), and handleNavControllerPacket().

float Control::UAV::Ardupilot::Task::m_droll

Desired control.

Referenced by consume().

float Control::UAV::Ardupilot::Task::m_dspeed

Referenced by consume().

bool Control::UAV::Ardupilot::Task::m_error_missing

Referenced by handleArdupilotData(), and onMain().

bool Control::UAV::Ardupilot::Task::m_esta_ext

Referenced by handleArdupilotData(), and onMain().

IMC::EstimatedState Control::UAV::Ardupilot::Task::m_estate

Estimated state message.

Referenced by handleAttitudePacket(), handleNavControllerPacket(), handlePositionPacket(), loiterHere(), and Task().

bool Control::UAV::Ardupilot::Task::m_external

External control.

Referenced by autoLand(), autoTakeoff(), consume(), handleHeartbeatPacket(), loiterHere(), and onMain().

IMC::GpsFix Control::UAV::Ardupilot::Task::m_fix

GPS Fix message.

Referenced by handlePositionPacket(), handleRawGPSPacket(), handleSystemTimePacket(), and loiterHere().

IMC::FuelLevel Control::UAV::Ardupilot::Task::m_fuel

Referenced by handleSystemStatusPacket().

float Control::UAV::Ardupilot::Task::m_gb_pan

Desired gimbal angles.

float Control::UAV::Ardupilot::Task::m_gb_retract

float Control::UAV::Ardupilot::Task::m_gb_tilt

int Control::UAV::Ardupilot::Task::m_gnd_speed

Referenced by handleHUDPacket(), and handleNavControllerPacket().

bool Control::UAV::Ardupilot::Task::m_ground

Vehicle is on ground.

Referenced by consume(), handlePositionPacket(), and loiterHere().

float Control::UAV::Ardupilot::Task::m_hae_msl

Height received from the Ardupilot (Geoid/MSL).

Referenced by getHeight(), and handlePositionPacket().

float Control::UAV::Ardupilot::Task::m_hae_offset

Height offset to convert to WGS-84 ellipsoid.

Referenced by autoLand(), autoTakeoff(), consume(), getHeight(), and handlePositionPacket().

bool Control::UAV::Ardupilot::Task::m_has_setup_rate

Setup rate hack.

Referenced by handleArdupilotData(), and handleHeartbeatPacket().

float Control::UAV::Ardupilot::Task::m_href

WGS84 height on ground.

Referenced by autoLand(), autoTakeoff(), and handlePositionPacket().

bool Control::UAV::Ardupilot::Task::m_land

Flag to signal if a land maneuver occured.

Referenced by autoLand(), and consume().

double Control::UAV::Ardupilot::Task::m_last_pkt_time

Referenced by handleArdupilotData(), and Task().

float Control::UAV::Ardupilot::Task::m_last_wp

Time since last waypoint was sent.

Referenced by consume(), handleCmdAckPacket(), handleMissionAckPacket(), and handleNavControllerPacket().

double Control::UAV::Ardupilot::Task::m_lat

Last received position.

Referenced by autoTakeoff(), consume(), and handlePositionPacket().

double Control::UAV::Ardupilot::Task::m_lon

Referenced by autoTakeoff(), consume(), and handlePositionPacket().

std::queue<mavlink_message_t> Control::UAV::Ardupilot::Task::m_mission_items

Mission items queue.

Referenced by sendMissionItem().

PktHandlerMap Control::UAV::Ardupilot::Task::m_mlh

Arduino packet handling.

Referenced by handleArdupilotData(), and Task().

int Control::UAV::Ardupilot::Task::m_mode

Referenced by consume(), handleHeartbeatPacket(), and handleNavControllerPacket().

mavlink_message_t Control::UAV::Ardupilot::Task::m_msg

Parser Variables.

Referenced by consume(), handleArdupilotData(), and openConnection().

bool Control::UAV::Ardupilot::Task::m_offset_st

Flag indicating MSL-WGS84 offset has already been calculated.

Referenced by consume(), and handlePositionPacket().

IMC::PathControlState Control::UAV::Ardupilot::Task::m_pcs

Path Control State.

Referenced by autoTakeoff(), consume(), handleNavControllerPacket(), and loiterHere().

IMC::Pressure Control::UAV::Ardupilot::Task::m_pressure

Pressure message.

Referenced by handleScaledPressurePacket().

bool Control::UAV::Ardupilot::Task::m_reboot

Flag indicating task is booting.

Referenced by handlePositionPacket().

bool Control::UAV::Ardupilot::Task::m_service

Check if is in service.

Referenced by consume(), and handleHeartbeatPacket().

IMC::EstimatedStreamVelocity Control::UAV::Ardupilot::Task::m_stream

Wind message.

Referenced by handleWindPacket().

uint8_t Control::UAV::Ardupilot::Task::m_sysid

System ID.

Referenced by activateFBW(), autoLand(), autoTakeoff(), consume(), handleArdupilotData(), loiterHere(), openConnection(), sendCommandPacket(), and setupRate().

Network::TCPSocket* Control::UAV::Ardupilot::Task::m_TCP_sock

TCP socket.

Referenced by onMain(), onResourceRelease(), openConnection(), poll(), receiveData(), and sendData().

IMC::Temperature Control::UAV::Ardupilot::Task::m_temp

Temperature message.

Referenced by handleScaledPressurePacket().

APM_Vehicle Control::UAV::Ardupilot::Task::m_vehicle_type

Type of system to be controlled.

Referenced by activateFBW(), autoLand(), autoTakeoff(), consume(), handleHeartbeatPacket(), handleNavControllerPacket(), handlePositionPacket(), and loiterHere().

IMC::Voltage Control::UAV::Ardupilot::Task::m_volt

Battery messages.

Referenced by handleHWStatusPacket(), and handleSystemStatusPacket().

Collaboration diagram for Control::UAV::Ardupilot::Task:

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