RflyMavlink 的协作图:

Public 成员函数
bool	RecvNoblock ()

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

该类的文档由以下文件生成:

simulink/rfly_mavlink.h

Public 成员函数

Public 属性

成员函数说明

◆ setFlightMode_px4()