RflyMavlink类 参考

RflyMavlink 的协作图:

Public 成员函数
bool	RecvNoblock ()
void	onUdpMessage (uint8_t *buf, int recvlen)
void	onMavLinkMessage (mavlink_message_t message)
void	stringToLower (std::string &str)
void	SendMsg (mavlink_message_t mess)
void	SendHeartbeat ()
void	SendMavCmdLong (uint16_t command, float param1, float param2=0, float param3=0, float param4=0, float param5=0, float param6=0, float param7=0)
void	SendMavArm (int isArm)
void	SendSetMode (int mainMode, int customMode=0)
void	SendPositionTarget (uint16_t type_mask, uint8_t coordinate, float *data)
void	SendAttitudeTarget (uint8_t type_mask, float *data)
void	SendParamInt (std::string id, int value)
void	SendParamFloat (std::string id, float value)
void	SendRccTarget (float *data)
void	SendVisionPosition (uint64_t time_usec, float x, float y, float z, float roll, float pitch, float yaw)
void	Send3DShow (double y[30])
void	setFlightMode_px4 (PX4_FLIGHTMODE newMode, uint32_t &outCustomMode)
void	getFlightMode_px4 (uint32_t inCustomMode, PX4_FLIGHTMODE &outMode)
std::string	getFlightModeName_px4 (PX4_FLIGHTMODE fm)
bool	isBitTrue (uint32_t value, int bitIndex)
void	SendMavlinkFull (double **u, double t)
void	SendMavlinkSimple (double **u, double t)
void	sendHILCtrlMessage (double **u, double t)
void	SendMavlinkReal (double **u, double t)
void	mavlinkSetCmd (uint16_t command, float param1=0, float param2=0, float param3=0)
void	sendMavSetParam (char param_id[], float param_value, MAV_PARAM_TYPE param_type)
void	sendMavEnableGuided (bool isEnable)
void	setMavModel (PX4_CUSTOM_MAIN_MODE mianMode)
void	setMavModel (PX4_CUSTOM_MAIN_MODE mianMode, PX4_CUSTOM_SUB_MODE_AUTO custMode)
void	sendMavOffboardCmd (uint16_t type_mask, uint8_t coordinate_frame, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
void	SendOffSimp (int ctrlMode, float controls[4]={0})
void	SendVelNED (float vx=0, float vy=0, float vz=0, float yawrate=0)
bool	SelfCheckProgram (double t)

Public 属性
RflySimData	data
MavStateData	mavState
UDPServer	udp
std::string	TargetIP
int	TargetPort
int	CopterID
int	RecvPort
std::string	RecvIP
char	buf [MAX_BUF_LEN+1]
bool	isUpdate =false
bool	isRcc =false
double	GpsOrin [3] ={0}
int	SelfCheckMainState =0
int	SelfCheckSubState =0
double	lastTime =0
int	offCtrlState =0
double	offLastTime =0
uint64_t	m_start_time = 0

成员函数说明

setFlightMode_px4()

void setFlightMode_px4 ( PX4_FLIGHTMODE newMode, uint32_t & outCustomMode )

inline

PX4 expects the body's linear velocity in the local frame, the linear velocity is rotated from the odom child_frame to the local NED frame. The angular velocity needs to be expressed in the body (fcu_frd) frame. Supported local frame of reference is MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_FRD The supported sources of the data/tesimator type are MAV_ESTIMATOR_TYPE_VISION, MAV_ESTIMATOR_TYPE_VIO and MAV_ESTIMATOR_TYPE_MOCAP

注解

Regarding the local frames of reference, the appropriate EKF_AID_MASK should be set in order to match a frame aligned (NED) or not aligned (FRD) with true North

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该类的文档由以下文件生成:

• simulink/rfly_mavlink.h