pt.lsts.imc

Class CompassCalibration

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.CompassCalibration

All Implemented Interfaces:

java.lang.Cloneable, java.lang.Comparable<IMCMessage>, IMessage

public class CompassCalibration
extends Maneuver

IMC Message Compass Calibration Maneuver (475)
This maneuver is a mix between the Loiter maneuver and the YoYo maneuver.
The vehicle cirlcles around a specific waypoint with a variable Z
reference between a minimum and maximum value.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	CompassCalibration.DIRECTION
static class	CompassCalibration.SPEED_UNITS
static class	CompassCalibration.Z_UNITS

Field Summary

Fields

Modifier and Type	Field and Description
static int	ID_STATIC

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
CompassCalibration()
CompassCalibration(IMCDefinition defs)
CompassCalibration(IMCMessage msg)
CompassCalibration(int timeout, double lat, double lon, float z, CompassCalibration.Z_UNITS z_units, float pitch, float amplitude, int duration, float speed, CompassCalibration.SPEED_UNITS speed_units, float radius, CompassCalibration.DIRECTION direction, java.lang.String custom)

Method Summary

Modifier and Type	Method and Description
static CompassCalibration	clone(IMCMessage msg)
static CompassCalibration	create(java.lang.Object... values)
double	getAmplitude()
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
CompassCalibration.DIRECTION	getDirection()
java.lang.String	getDirectionStr()
short	getDirectionVal()
int	getDuration()
double	getLat()
double	getLon()
double	getPitch()
double	getRadius()
double	getSpeed()
CompassCalibration.SPEED_UNITS	getSpeedUnits()
java.lang.String	getSpeedUnitsStr()
short	getSpeedUnitsVal()
int	getTimeout()
double	getZ()
CompassCalibration.Z_UNITS	getZUnits()
java.lang.String	getZUnitsStr()
short	getZUnitsVal()
CompassCalibration	setAmplitude(double amplitude)
CompassCalibration	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
CompassCalibration	setCustom(java.lang.String custom)
CompassCalibration	setDirection(CompassCalibration.DIRECTION direction)
CompassCalibration	setDirectionStr(java.lang.String direction)
CompassCalibration	setDirectionVal(short direction)
CompassCalibration	setDuration(int duration)
CompassCalibration	setLat(double lat)
CompassCalibration	setLon(double lon)
CompassCalibration	setPitch(double pitch)
CompassCalibration	setRadius(double radius)
CompassCalibration	setSpeed(double speed)
CompassCalibration	setSpeedUnits(CompassCalibration.SPEED_UNITS speed_units)
CompassCalibration	setSpeedUnitsStr(java.lang.String speed_units)
CompassCalibration	setSpeedUnitsVal(short speed_units)
CompassCalibration	setTimeout(int timeout)
CompassCalibration	setZ(double z)
CompassCalibration	setZUnits(CompassCalibration.Z_UNITS z_units)
CompassCalibration	setZUnitsStr(java.lang.String z_units)
CompassCalibration	setZUnitsVal(short z_units)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, decodeTupleList, dump, encodeTupleList, get, getAbbrev, getAgeInSeconds, getAsNumber, getAsString, getBitmask, getDate, getDouble, getDst, getDstEnt, getEntityName, getFieldNames, getFloat, getHeader, getHeaderValue, getInteger, getLong, getLongFieldName, getLongName, getMessage, getMessage, getMessageInfo, getMessageList, getMessageList, getMessageType, getMgid, getPayloadSize, getProtocolFactory, getRawData, getSize, getSourceName, getSrc, getSrcEnt, getString, getString, getTimestamp, getTimestampMillis, getTupleList, getTypeOf, getUnitsOf, getValue, getValues, hasFlag, hexdump, isNull, isPeriodic, main, makeImmutable, parseJson, parseXml, payloadMD5, serialize, serialize, serialize, serializePayload, setBitMask, setDst, setDstEnt, setHeader, setMessageInfo, setMessageList, setSrc, setSrcEnt, setTimestamp, setTimestampMillis, setType, setValue, setValues, toString, validate

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

ID_STATIC

public static final int ID_STATIC

See Also:

Constant Field Values

Constructor Detail

CompassCalibration

public CompassCalibration()

CompassCalibration

public CompassCalibration(IMCMessage msg)

CompassCalibration

public CompassCalibration(IMCDefinition defs)

CompassCalibration

public CompassCalibration(int timeout,
                          double lat,
                          double lon,
                          float z,
                          CompassCalibration.Z_UNITS z_units,
                          float pitch,
                          float amplitude,
                          int duration,
                          float speed,
                          CompassCalibration.SPEED_UNITS speed_units,
                          float radius,
                          CompassCalibration.DIRECTION direction,
                          java.lang.String custom)

Method Detail

create

public static CompassCalibration create(java.lang.Object... values)

clone

public static CompassCalibration clone(IMCMessage msg)
                                throws java.lang.Exception

Throws:

java.lang.Exception

getTimeout

public int getTimeout()

Returns:

Timeout (s) - uint16_t

setTimeout

public CompassCalibration setTimeout(int timeout)

Parameters:

timeout - Timeout (s)

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public CompassCalibration setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public CompassCalibration setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

setZ

public CompassCalibration setZ(double z)

Parameters:

z - Z Reference (m)

getZUnits

public CompassCalibration.Z_UNITS getZUnits()

Returns:

Z Units (enumerated) - uint8_t

getZUnitsStr

public java.lang.String getZUnitsStr()

getZUnitsVal

public short getZUnitsVal()

setZUnits

public CompassCalibration setZUnits(CompassCalibration.Z_UNITS z_units)

Parameters:

z_units - Z Units (enumerated)

setZUnitsStr

public CompassCalibration setZUnitsStr(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnitsVal

public CompassCalibration setZUnitsVal(short z_units)

Parameters:

z_units - Z Units (integer value)

getPitch

public double getPitch()

Returns:

Pitch (rad) - fp32_t

setPitch

public CompassCalibration setPitch(double pitch)

Parameters:

pitch - Pitch (rad)

getAmplitude

public double getAmplitude()

Returns:

Amplitude (m) - fp32_t

setAmplitude

public CompassCalibration setAmplitude(double amplitude)

Parameters:

amplitude - Amplitude (m)

getDuration

public int getDuration()

Returns:

Duration (s) - uint16_t

setDuration

public CompassCalibration setDuration(int duration)

Parameters:

duration - Duration (s)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

public CompassCalibration setSpeed(double speed)

Parameters:

speed - Speed

getSpeedUnits

public CompassCalibration.SPEED_UNITS getSpeedUnits()

Returns:

Speed Units (enumerated) - uint8_t

getSpeedUnitsStr

public java.lang.String getSpeedUnitsStr()

getSpeedUnitsVal

public short getSpeedUnitsVal()

setSpeedUnits

public CompassCalibration setSpeedUnits(CompassCalibration.SPEED_UNITS speed_units)

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public CompassCalibration setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

public CompassCalibration setSpeedUnitsVal(short speed_units)

Parameters:

speed_units - Speed Units (integer value)

getRadius

public double getRadius()

Returns:

Radius (m) - fp32_t

setRadius

public CompassCalibration setRadius(double radius)

Parameters:

radius - Radius (m)

getDirection

public CompassCalibration.DIRECTION getDirection()

Returns:

Direction (enumerated) - uint8_t

getDirectionStr

public java.lang.String getDirectionStr()

getDirectionVal

public short getDirectionVal()

setDirection

public CompassCalibration setDirection(CompassCalibration.DIRECTION direction)

Parameters:

direction - Direction (enumerated)

setDirectionStr

public CompassCalibration setDirectionStr(java.lang.String direction)

Parameters:

direction - Direction (as a String)

setDirectionVal

public CompassCalibration setDirectionVal(short direction)

Parameters:

direction - Direction (integer value)

getCustom

public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustom()

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setCustom

public CompassCalibration setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public CompassCalibration setCustom(java.lang.String custom)