RflyUnitree类 参考

RflyUnitree 的协作图:

Public 成员函数
bool	RecvNoblock ()
void	onUdpMessage (uint8_t *buf, int recvlen)
void	SendMsg ()
void	setBit (int &num, int n)
void	SendSetAction (int mode)
void	SendMove (float vx, float vy, float yaw_rate)
bool	isBitTrue (uint32_t value, int bitIndex)
void	SendMavlinkReal (double **u, double t)

Public 属性
RflySimData	data
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
GenericInOut28	m_cmd
GenericInOut28	m_recv

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该类的文档由以下文件生成:

• simulink/rfly_unitree.h