State machine for UAV The Thread is created with the FrameworkManager as parent. FrameworkManager must be created before. The Thread is synchronized with Ahrs, unless a period is set with SetPeriodUS or SetPeriodMS.
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| enum | AltitudeMode_t { Manual,
Custom
} |
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| enum | OrientationMode_t { Manual,
Custom
} |
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| enum | ThrustMode_t { Default,
Custom
} |
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| enum | TorqueMode_t { Default,
Custom
} |
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| enum | Event_t {
EnteringFailSafeMode,
EnteringControlLoop,
StartLanding,
FinishLanding,
Stopped,
TakingOff,
EmergencyStop,
Stabilized,
ZTrajectoryFinished
} |
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const AltitudeMode_t & | GetAltitudeMode (void) const |
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bool | SetAltitudeMode (const AltitudeMode_t &altitudeMode) |
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bool | GotoAltitude (float desiredAltitude) |
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const OrientationMode_t & | GetOrientationMode (void) const |
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bool | SetOrientationMode (const OrientationMode_t &orientationMode) |
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const ThrustMode_t & | GetThrustMode () const |
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bool | SetThrustMode (const ThrustMode_t &thrustMode) |
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const TorqueMode_t & | GetTorqueMode (void) const |
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bool | SetTorqueMode (const TorqueMode_t &torqueMode) |
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| UavStateMachine (sensor::TargetController *controller) |
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const core::Quaternion & | GetCurrentQuaternion (void) const |
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const core::Vector3Df & | GetCurrentAngularSpeed (void) const |
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void | Land (void) |
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void | EmergencyLand (void) |
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void | TakeOff (void) |
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void | EmergencyStop (void) |
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| virtual void | SignalEvent (Event_t event) |
| | Used to signal an event. More...
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virtual const core::AhrsData * | GetOrientation (void) const |
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const core::AhrsData * | GetDefaultOrientation (void) const |
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virtual void | AltitudeValues (float &z, float &dz) const |
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void | EnterFailSafeMode (void) |
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bool | ExitFailSafeMode (void) |
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void | FailSafeAltitudeValues (float &z, float &dz) const |
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gui::GridLayout * | GetButtonsLayout (void) const |
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virtual void | ExtraSecurityCheck (void) |
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virtual void | ExtraCheckJoystick (void) |
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virtual void | ExtraCheckPushButton (void) |
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void | GetDefaultReferenceAltitude (float &refAltitude, float &refVerticalVelocity) |
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virtual void | GetReferenceAltitude (float &refAltitude, float &refVerticalVelocity) |
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const core::AhrsData * | GetDefaultReferenceOrientation (void) const |
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virtual const core::AhrsData * | GetReferenceOrientation (void) |
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| virtual void | ComputeCustomTorques (core::Euler &torques) |
| | Compute Custom Torques. More...
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| void | ComputeDefaultTorques (core::Euler &torques) |
| | Compute Default Torques. More...
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| virtual float | ComputeCustomThrust (void) |
| | Get Torques. More...
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| float | ComputeDefaultThrust (void) |
| | Compute Default Thrust. More...
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| void | AddDeviceToControlLawLog (const core::IODevice *device) |
| | Get Thrust. More...
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| void | AddDataToControlLawLog (const core::io_data *data) |
| | Add an io_data to the control law logs. More...
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const sensor::TargetController * | GetJoystick (void) const |
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| enum | color_t { Auto = 0,
Red = 31,
Green = 32,
Orange = 33
} |
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| | Thread (const Object *parent, std::string name, uint8_t priority) |
| | Constructor. More...
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| virtual | ~Thread () |
| | Destructor. More...
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| void | Start (void) |
| | Start the thread. More...
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| void | SafeStop (void) |
| | Set a stop flag. More...
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| bool | ToBeStopped (void) const |
| | Set a stop flag. More...
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| void | Join (void) |
| | Join the thread. More...
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| void | SetPeriodUS (uint32_t period_us) |
| | Set the period in micro second. More...
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uint32_t | GetPeriodUS () const |
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| void | SetPeriodMS (uint32_t period_ms) |
| | Set the period in milli second. More...
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uint32_t | GetPeriodMS () const |
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| bool | IsPeriodSet (void) |
| | Returns if period was set. More...
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| void | WaitPeriod (void) const |
| | Wait the period. More...
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| int | WaitUpdate (const IODevice *device) |
| | Wait update of an IODevice. More...
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| void | Suspend (void) |
| | Suspend the thread. More...
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| bool | SuspendUntil (Time date) |
| | Suspend the thread with timeout. More...
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| void | Resume (void) |
| | Resume the thread. More...
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| bool | IsSuspended (void) const |
| | Is the thread suspended? More...
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| bool | IsRunning (void) const |
| | Is the thread running? More...
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| void | SleepUntil (Time time) const |
| | Sleep until absolute time. More...
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| void | SleepUS (uint32_t time_us) const |
| | Sleep for a certain time in micro second. More...
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| void | SleepMS (uint32_t time_ms) const |
| | Sleep for a cartain time in milli second. More...
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| | Object (const Object *parent=NULL, std::string name="", std::string type="") |
| | Constructor. More...
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| virtual | ~Object () |
| | Destructor. More...
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| std::string | ObjectName (void) const |
| | Name. More...
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| std::string | ObjectType (void) const |
| | Type. More...
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| const Object * | Parent (void) const |
| | Parent. More...
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| std::vector< const Object * > * | TypeChilds (void) const |
| | Childs of the same type. More...
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| std::vector< const Object * > * | Childs (void) const |
| | Childs. More...
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| void | Information (const char *function, int line, const char *format,...) const |
| | Formatted information. More...
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| void | Warning (const char *function, const char *format,...) const |
| | Formatted warning. More...
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| void | Error (const char *function, const char *format,...) const |
| | Formatted error. More...
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| bool | ErrorOccured (bool recursive=true) const |
| | Has an errror occured? More...
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| static void | WarnUponSwitches (bool enable) |
| | Warn if real time / non real time switches occur. More...
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State machine for UAV The Thread is created with the FrameworkManager as parent. FrameworkManager must be created before. The Thread is synchronized with Ahrs, unless a period is set with SetPeriodUS or SetPeriodMS.