Control::UAV::PX4::Task Struct Reference

Public Types
typedef void(Task::*	PktHandler )(const mavlink_message_t *msg)
typedef std::map< int, PktHandler >	PktHandlerMap
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	openConnection (void)
void	onResourceRelease (void)
void	onUpdateParameters (void)
void	consume (const IMC::AutopilotMode *msg)
void	clearMission (void)
void	sendCommandPacket (uint16_t cmd, float arg1=0, float arg2=0, float arg3=0, float arg4=0, float arg5=0, float arg6=0, float arg7=0)
void	consume (const IMC::DevCalibrationControl *msg)
void	consume (const IMC::ControlLoops *cloops)
void	consume (const IMC::PlanControl *msg)
void	consume (const IMC::Loiter *msg)
void	consume (const IMC::VehicleState *msg)
void	consume (const IMC::Announce *msg)
void	consume (const IMC::Takeoff *tkoff)
void	consume (const IMC::Land *land)
void	consume (const IMC::DesiredPath *path)
void	onMain (void)
void	handleArdupilotData (void)
void	checkParseState (mavlink_status_t &status)
bool	poll (double timeout)
int	sendData (uint8_t *bfr, int size)
int	receiveData (uint8_t *buf, size_t blen)
void	handleAttitudePacket (const mavlink_message_t *msg)
void	handleImuRaw (const mavlink_message_t *msg)
void	handlePositionPacket (const mavlink_message_t *msg)
void	handleHWStatusPacket (const mavlink_message_t *msg)
void	handleSystemStatusPacket (const mavlink_message_t *msg)
void	handleScaledPressurePacket (const mavlink_message_t *msg)
void	handleWindPacket (const mavlink_message_t *msg)
void	handleStatusTextPacket (const mavlink_message_t *msg)
void	handleHeartbeatPacket (const mavlink_message_t *msg)
void	handleHUDPacket (const mavlink_message_t *msg)
void	handleRawGPSPacket (const mavlink_message_t *msg)
void	handleSystemTimePacket (const mavlink_message_t *msg)
void	handleExtendedStatePacket (const mavlink_message_t *msg)
void	handleMissionAckPacket (const mavlink_message_t *msg)
void	handleMissionItemReachedPacket (const mavlink_message_t *msg)
void	handleNavControllerPacket (const mavlink_message_t *msg)
Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)
virtual	~Task (void)
const char *	getName (void) const
const char *	getSystemName (void) const
unsigned int	getSystemId (void) const
unsigned int	getEntityId (void) const
unsigned int	resolveEntity (const std::string &label) const
std::string	resolveEntity (unsigned int id) const
DebugLevel	getDebugLevel (void) const
uint16_t	getActivationTime (void) const
uint16_t	getDeactivationTime (void) const
unsigned int	resolveSystemName (const std::string &name) const
const char *	resolveSystemId (unsigned int id) const
void	loadConfig (void)
void	setPriority (unsigned int value)
unsigned int	getPriority (void) const
void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2
void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)
void	dispatch (IMC::Message &msg, unsigned int flags=0)
void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)
void	receive (const IMC::Message *msg)
void	reserveEntities (void)
void	resolveEntities (void)
void	acquireResources (void)
void	releaseResources (void)
void	initializeResources (void)
void	updateParameters (bool act_deact=true)
void	writeParamsXML (std::ostream &os) const
const char *	getEntityLabel (void) const
void	setEntityLabel (const std::string &label)
Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)
virtual	~AbstractTask (void)
Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)
virtual	~Thread (void)
int	getProcessorUsage (void)
Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)
virtual	~Runnable (void)
void	start (void)
void	stop (void)
void	join (void)
void	stopAndJoin (void)
void	setPriority (Scheduler::Policy policy, unsigned priority)
unsigned	getPriority (void)
State	getState (void)
bool	isCreated (void)
bool	isStopping (void)
bool	isRunning (void)
bool	isStarting (void)
bool	isDead (void)

Public Attributes
Arguments	m_args
PktHandlerMap	m_mlh
bool	m_mission
float	m_hae_offset
bool	m_offset
int	m_duration
bool	m_maneuver
Network::TCPSocket *	m_TCP_sock
Network::UDPSocket *	m_UDP_sock
uint8_t	m_sysid
mavlink_message_t	m_msg
uint8_t	m_buf [512]
VTOL_State	m_vtol_state
Time::Counter< float >	m_timer
bool	m_error_missing
double	m_last_pkt_time
double	m_last_wp
IMC::GpsFix	m_fix
IMC::EstimatedState	m_estate
IMC::DesiredPath	m_dpath
IMC::PathControlState	m_pcs
IMC::AutopilotMode	m_mode
IMC::TrueSpeed	m_groundspeed
IMC::ControlLoops	m_cloops

Additional Inherited Members
Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)
void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)
IMC::EntityState::StateEnum	getEntityState (void) const
unsigned int	reserveEntity (const std::string &label)
template<typename E >
E *	reserveEntity (const std::string &label)
Entities::BasicEntity *	getLocalEntity (const std::string &label)
bool	stopping (void)
bool	isActive (void) const
bool	isActivating (void) const
bool	isDeactivating (void) const
void	waitForMessages (double timeout)
void	consumeMessages (void)
template<typename T >
Parameter &	param (const std::string &name, T &var)
template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)
template<typename T >
bool	paramChanged (T &var)
void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)
void	setParamSectionEditor (const std::string &name)
template<typename M , typename T >
void	bind (T *task_obj, void(T::*consumer)(const M *)=&T::consume)
template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)
template<typename T , typename M >
void	bind (T *task_obj, const std::vector< uint32_t > &list, void(T::*consumer)(const M *)=&T::consume)
template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)
void	requestActivation (void)
void	requestDeactivation (void)
void	activate (void)
void	activationFailed (const std::string &reason)
void	deactivate (void)
void	deactivationFailed (const std::string &reason)
virtual bool	onWriteParamsXML (std::ostream &os) const
virtual void	onEntityReservation (void)
virtual void	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onResourceInitialization (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (void)
virtual void	onActivation (void)
virtual void	onDeactivation (void)
virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)
virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)
virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)
virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)
Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)
void	stopImpl (void)
void	joinImpl (void)
void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)
unsigned	getPriorityImpl (void)
Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx
std::vector < Entities::BasicEntity * >	m_entities

Member Typedef Documentation

typedef void(Task::* Control::UAV::PX4::Task::PktHandler)(const mavlink_message_t *msg)

Type definition for PX4 packet handler.

typedef std::map<int, PktHandler> Control::UAV::PX4::Task::PktHandlerMap

Constructor & Destructor Documentation

Control::UAV::PX4::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References Control::UAV::PX4::Arguments::basestation, Control::UAV::PX4::Arguments::comm_timeout, DUNE::Tasks::Parameter::defaultValue(), handleAttitudePacket(), handleExtendedStatePacket(), handleHeartbeatPacket(), handleHUDPacket(), handleHWStatusPacket(), handleImuRaw(), handleMissionAckPacket(), handleMissionItemReachedPacket(), handleNavControllerPacket(), handlePositionPacket(), handleRawGPSPacket(), handleScaledPressurePacket(), handleStatusTextPacket(), handleSystemStatusPacket(), handleSystemTimePacket(), handleWindPacket(), Control::UAV::PX4::Arguments::heartbeat, Control::UAV::PX4::Arguments::home_update, Control::UAV::PX4::Arguments::ip, m_args, m_estate, m_last_pkt_time, m_mlh, Control::UAV::PX4::Arguments::mavlink_phototrigger, DUNE::Tasks::Parameter::maximumValue(), DUNE::Tasks::Parameter::minimumValue(), Control::UAV::PX4::Arguments::moving_home, DUNE::Tasks::Task::param(), DUNE::Tasks::Parameter::scope(), Control::UAV::PX4::Arguments::TCP_addr, Control::UAV::PX4::Arguments::tcp_or_udp, Control::UAV::PX4::Arguments::TCP_port, Control::UAV::PX4::Arguments::threshold_fw, Control::UAV::PX4::Arguments::threshold_mc, Control::UAV::PX4::Arguments::transition_fw, Control::UAV::PX4::Arguments::transition_mc, Control::UAV::PX4::Arguments::UDP_addr, Control::UAV::PX4::Arguments::UDP_listen_port, Control::UAV::PX4::Arguments::UDP_port, DUNE::Tasks::Parameter::units(), and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

void Control::UAV::PX4::Task::checkParseState ( mavlink_status_t &  status )

inline

References DUNE::Tasks::Task::spew().

Referenced by handleArdupilotData().

void Control::UAV::PX4::Task::clearMission ( void  )

inline

References m_buf, m_msg, m_sysid, and sendData().

Referenced by consume(), handleMissionItemReachedPacket(), and openConnection().

void Control::UAV::PX4::Task::consume ( const IMC::AutopilotMode *  msg )

inline

References sendCommandPacket().

void Control::UAV::PX4::Task::consume ( const IMC::DevCalibrationControl *  msg )

inline

References sendCommandPacket().

void Control::UAV::PX4::Task::consume ( const IMC::ControlLoops *  cloops )

inline

References clearMission(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_cloops, m_maneuver, m_mission, m_mode, m_pcs, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER, and sendCommandPacket().

void Control::UAV::PX4::Task::consume ( const IMC::PlanControl *  msg )

inline

References m_mission, and DUNE::Tasks::Task::spew().

void Control::UAV::PX4::Task::consume ( const IMC::Loiter *  msg )

inline

References m_duration.

void Control::UAV::PX4::Task::consume ( const IMC::VehicleState *  msg )

inline

References m_maneuver.

void Control::UAV::PX4::Task::consume ( const IMC::Announce *  msg )

inline

References Control::UAV::PX4::Arguments::basestation, DUNE::Tasks::Task::inf(), m_args, m_timer, Control::UAV::PX4::Arguments::moving_home, and sendCommandPacket().

void Control::UAV::PX4::Task::consume ( const IMC::Takeoff *  tkoff )

inline

References clearMission(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_estate, m_mode, m_pcs, m_sysid, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, sendCommandPacket(), and sendData().

void Control::UAV::PX4::Task::consume ( const IMC::Land *  land )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::inf(), m_dpath, m_mode, m_sysid, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LAND, sendCommandPacket(), and sendData().

void Control::UAV::PX4::Task::consume ( const IMC::DesiredPath *  path )

inline

Message for AUTO(MISSION) control (using PX4's controllers)

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_args, m_dpath, m_duration, m_estate, m_hae_offset, m_last_wp, m_mission, m_mode, m_pcs, m_sysid, m_vtol_state, Control::UAV::PX4::MAV_VTOL_STATE_FW, Control::UAV::PX4::MAV_VTOL_STATE_MC, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION, sendCommandPacket(), sendData(), Control::UAV::PX4::Arguments::transition_fw, Control::UAV::PX4::Arguments::transition_mc, and DUNE::Tasks::Task::war().

void Control::UAV::PX4::Task::handleArdupilotData ( void  )

inline

References checkParseState(), Control::UAV::PX4::Arguments::comm_timeout, DUNE::Tasks::Task::debug(), m_args, m_buf, m_error_missing, m_last_pkt_time, m_mlh, m_msg, m_sysid, poll(), receiveData(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::spew().

Referenced by onMain().

void Control::UAV::PX4::Task::handleAttitudePacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), m_estate, and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleExtendedStatePacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), m_vtol_state, and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleHeartbeatPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), Control::UAV::PX4::Arguments::heartbeat, m_args, m_buf, m_cloops, m_dpath, m_mode, m_msg, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_ACRO, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_ALTCTL, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_MANUAL, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_OFFBOARD, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_POSCTL, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_RATTITUDE, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_STABILIZED, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LAND, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_RTL, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, DUNE::Tasks::Task::receive(), sendData(), DUNE::Tasks::Task::spew(), DUNE::Tasks::Task::trace(), and DUNE::Tasks::Task::war().

Referenced by Task().

void Control::UAV::PX4::Task::handleHUDPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), m_groundspeed, and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleHWStatusPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleImuRaw ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleMissionAckPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::debug(), m_last_wp, and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleMissionItemReachedPacket ( const mavlink_message_t *  msg )

inline

References clearMission(), DUNE::Tasks::Task::debug(), m_dpath, m_mission, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER, sendCommandPacket(), and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleNavControllerPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), m_args, m_dpath, m_estate, m_groundspeed, m_last_wp, m_mission, m_mode, m_pcs, m_vtol_state, Control::UAV::PX4::MAV_VTOL_STATE_FW, DUNE::Tasks::Task::receive(), DUNE::Tasks::Task::spew(), Control::UAV::PX4::Arguments::threshold_fw, Control::UAV::PX4::Arguments::threshold_mc, and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::PX4::Task::handlePositionPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Context::dir_cfg, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::m_ctx, m_estate, m_fix, m_hae_offset, m_offset, and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleRawGPSPacket ( const mavlink_message_t *  msg )

inline

References m_fix, and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleScaledPressurePacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleStatusTextPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleSystemStatusPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleSystemTimePacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), m_fix, and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::handleWindPacket ( const mavlink_message_t *  msg )

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::spew().

Referenced by Task().

void Control::UAV::PX4::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), handleArdupilotData(), m_error_missing, m_TCP_sock, m_UDP_sock, openConnection(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

void Control::UAV::PX4::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), Control::UAV::PX4::Arguments::ip, m_args, openConnection(), and Control::UAV::PX4::Arguments::TCP_port.

void Control::UAV::PX4::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_TCP_sock, and m_UDP_sock.

void Control::UAV::PX4::Task::onUpdateParameters ( void  )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Control::UAV::PX4::Arguments::home_update, DUNE::Tasks::Task::inf(), m_args, m_buf, m_msg, m_sysid, m_timer, Control::UAV::PX4::Arguments::mavlink_phototrigger, Control::UAV::PX4::Arguments::moving_home, DUNE::Tasks::Task::paramChanged(), and sendData().

void Control::UAV::PX4::Task::openConnection ( void  )

inline

References clearMission(), DUNE::Tasks::Task::inf(), m_args, m_TCP_sock, m_UDP_sock, DUNE::Tasks::Task::setEntityState(), Control::UAV::PX4::Arguments::TCP_addr, Control::UAV::PX4::Arguments::tcp_or_udp, Control::UAV::PX4::Arguments::TCP_port, Control::UAV::PX4::Arguments::UDP_listen_port, and DUNE::Tasks::Task::war().

Referenced by onMain(), and onResourceAcquisition().

bool Control::UAV::PX4::Task::poll ( double  timeout )

inline

References m_TCP_sock, and m_UDP_sock.

Referenced by handleArdupilotData().

int Control::UAV::PX4::Task::receiveData ( uint8_t *  buf, size_t  blen  )

inline

References DUNE::Tasks::Task::err(), m_args, m_TCP_sock, m_UDP_sock, Control::UAV::PX4::Arguments::TCP_addr, Control::UAV::PX4::Arguments::tcp_or_udp, Control::UAV::PX4::Arguments::TCP_port, Control::UAV::PX4::Arguments::UDP_addr, Control::UAV::PX4::Arguments::UDP_listen_port, and DUNE::Tasks::Task::war().

Referenced by handleArdupilotData().

void Control::UAV::PX4::Task::sendCommandPacket ( uint16_t  cmd, float  arg1 = 0, float  arg2 = 0, float  arg3 = 0, float  arg4 = 0, float  arg5 = 0, float  arg6 = 0, float  arg7 = 0  )

inline

References m_sysid, sendData(), and DUNE::Tasks::Task::trace().

Referenced by consume(), and handleMissionItemReachedPacket().

int Control::UAV::PX4::Task::sendData ( uint8_t *  bfr, int  size  )

inline

References m_args, m_TCP_sock, m_UDP_sock, DUNE::Tasks::Task::trace(), Control::UAV::PX4::Arguments::UDP_addr, and Control::UAV::PX4::Arguments::UDP_port.

Referenced by clearMission(), consume(), handleHeartbeatPacket(), onUpdateParameters(), and sendCommandPacket().

Member Data Documentation

Arguments Control::UAV::PX4::Task::m_args

Task arguments.

Referenced by consume(), handleArdupilotData(), handleHeartbeatPacket(), handleNavControllerPacket(), onResourceAcquisition(), onUpdateParameters(), openConnection(), receiveData(), sendData(), and Task().

uint8_t Control::UAV::PX4::Task::m_buf[512]

Referenced by clearMission(), handleArdupilotData(), handleHeartbeatPacket(), and onUpdateParameters().

IMC::ControlLoops Control::UAV::PX4::Task::m_cloops

ControlLoops message.

Referenced by consume(), and handleHeartbeatPacket().

IMC::DesiredPath Control::UAV::PX4::Task::m_dpath

DesiredPath message.

Referenced by consume(), handleHeartbeatPacket(), handleMissionItemReachedPacket(), and handleNavControllerPacket().

int Control::UAV::PX4::Task::m_duration

Loiter maneuver duration.

Referenced by consume().

bool Control::UAV::PX4::Task::m_error_missing

Mavlink Timeouts.

Referenced by handleArdupilotData(), and onMain().

IMC::EstimatedState Control::UAV::PX4::Task::m_estate

Estimated state message.

Referenced by consume(), handleAttitudePacket(), handleNavControllerPacket(), handlePositionPacket(), and Task().

IMC::GpsFix Control::UAV::PX4::Task::m_fix

GPS Fix message.

Referenced by handlePositionPacket(), handleRawGPSPacket(), and handleSystemTimePacket().

IMC::TrueSpeed Control::UAV::PX4::Task::m_groundspeed

TrueSpeed message.

Referenced by handleHUDPacket(), and handleNavControllerPacket().

float Control::UAV::PX4::Task::m_hae_offset

Height offset between MSL and WGS84.

Referenced by consume(), and handlePositionPacket().

double Control::UAV::PX4::Task::m_last_pkt_time

Referenced by handleArdupilotData(), and Task().

double Control::UAV::PX4::Task::m_last_wp

Referenced by consume(), handleMissionAckPacket(), and handleNavControllerPacket().

bool Control::UAV::PX4::Task::m_maneuver

Vehicle State is "Maneuver".

Referenced by consume().

bool Control::UAV::PX4::Task::m_mission

Flag of mission mode.

Referenced by consume(), handleMissionItemReachedPacket(), and handleNavControllerPacket().

PktHandlerMap Control::UAV::PX4::Task::m_mlh

PX4 packet handling.

Referenced by handleArdupilotData(), and Task().

IMC::AutopilotMode Control::UAV::PX4::Task::m_mode

AutopilotMode message.

Referenced by consume(), handleHeartbeatPacket(), and handleNavControllerPacket().

mavlink_message_t Control::UAV::PX4::Task::m_msg

Parser Variables.

Referenced by clearMission(), handleArdupilotData(), handleHeartbeatPacket(), and onUpdateParameters().

bool Control::UAV::PX4::Task::m_offset

Flag to signal if MSL-WGS84 offset has already been calculated.

Referenced by handlePositionPacket().

IMC::PathControlState Control::UAV::PX4::Task::m_pcs

PathControlState message.

Referenced by consume(), and handleNavControllerPacket().

uint8_t Control::UAV::PX4::Task::m_sysid

System ID.

Referenced by clearMission(), consume(), handleArdupilotData(), onUpdateParameters(), and sendCommandPacket().

Network::TCPSocket* Control::UAV::PX4::Task::m_TCP_sock

TCP socket.

Referenced by onMain(), onResourceRelease(), openConnection(), poll(), receiveData(), and sendData().

Time::Counter<float> Control::UAV::PX4::Task::m_timer

Moving Home timer.

Referenced by consume(), and onUpdateParameters().

Network::UDPSocket* Control::UAV::PX4::Task::m_UDP_sock

UDP socket.

Referenced by onMain(), onResourceRelease(), openConnection(), poll(), receiveData(), and sendData().

VTOL_State Control::UAV::PX4::Task::m_vtol_state

VTOL State.

Referenced by consume(), handleExtendedStatePacket(), and handleNavControllerPacket().

Collaboration diagram for Control::UAV::PX4::Task: