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