RflySimSDK v4.01
RflySimSDK说明文档
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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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