pt.lsts.imc

Class Takeoff

java.lang.Object

pt.lsts.imc.IMCMessage

pt.lsts.imc.Maneuver

pt.lsts.imc.Takeoff

All Implemented Interfaces:

java.lang.Cloneable, java.lang.Comparable<IMCMessage>, IMessage

public class Takeoff
extends Maneuver

IMC Message Takeoff Maneuver (491)
Automatic takeoff for UAVs.
This maneuver specifies a target waypoint where to takeoff.
Takeoff direction is set from the direction the plane is pointing when the auto takeoff command is started.
It will remain that way until the vehicle reaches the target z reference. After that it will go to the target waypoint.

Field Summary

Fields

Modifier and Type	Field and Description
static int	ID_STATIC

Fields inherited from class pt.lsts.imc.IMCMessage

DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors

Constructor and Description
Takeoff()
Takeoff(double lat, double lon, float z, pt.lsts.imc.def.ZUnits z_units, float speed, pt.lsts.imc.def.SpeedUnits speed_units, float takeoff_pitch, java.lang.String custom)
Takeoff(IMCDefinition defs)
Takeoff(IMCMessage msg)

Method Summary

Modifier and Type	Method and Description
static Takeoff	clone(IMCMessage msg)
static Takeoff	create(java.lang.Object... values)
java.util.LinkedHashMap<java.lang.String,java.lang.String>	getCustom()
double	getLat()
double	getLon()
double	getSpeed()
pt.lsts.imc.def.SpeedUnits	getSpeedUnits()
java.lang.String	getSpeedUnitsStr()
short	getSpeedUnitsVal()
double	getTakeoffPitch()
double	getZ()
pt.lsts.imc.def.ZUnits	getZUnits()
java.lang.String	getZUnitsStr()
short	getZUnitsVal()
Takeoff	setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
Takeoff	setCustom(java.lang.String custom)
Takeoff	setLat(double lat)
Takeoff	setLon(double lon)
Takeoff	setSpeed(double speed)
Takeoff	setSpeedUnits(pt.lsts.imc.def.SpeedUnits speed_units)
Takeoff	setSpeedUnitsStr(java.lang.String speed_units)
Takeoff	setSpeedUnitsVal(short speed_units)
Takeoff	setTakeoffPitch(double takeoff_pitch)
Takeoff	setZ(double z)
Takeoff	setZUnits(pt.lsts.imc.def.ZUnits z_units)
Takeoff	setZUnitsStr(java.lang.String z_units)
Takeoff	setZUnitsVal(short z_units)

Methods inherited from class pt.lsts.imc.IMCMessage

asJSON, asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, copyToClipoard, decodeTupleList, dump, encodeTupleList, get, getAbbrev, getAgeInSeconds, getAsNumber, getAsString, getBitmask, getDate, getDouble, getDst, getDstEnt, getEntityName, getFieldNames, getFloat, getHeader, getHeaderValue, getInteger, getLong, getLongFieldName, getLongName, getMessage, getMessage, getMessageInfo, getMessageList, getMessageList, getMessageType, getMgid, getPayloadSize, getProtocolFactory, getRawData, getSize, getSourceName, getSrc, getSrcEnt, getString, getString, getTimestamp, getTimestampMillis, getTupleList, getTypeOf, getUnitsOf, getValue, getValues, hasFlag, hexdump, isNull, isPeriodic, makeImmutable, parseJson, parseXml, pasteFromClipoard, payloadMD5, serialize, serialize, serialize, serializePayload, setBitMask, setDst, setDstEnt, setHeader, setMessageInfo, setMessageList, setSrc, setSrcEnt, setTimestamp, setTimestampMillis, setType, setValue, setValues, toByteArray, toByteArray, toString, validate

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

ID_STATIC

public static final int ID_STATIC

See Also:

Constant Field Values

Constructor Detail

Takeoff

public Takeoff()

Takeoff

public Takeoff(IMCMessage msg)

Takeoff

public Takeoff(IMCDefinition defs)

Takeoff

public Takeoff(double lat,
               double lon,
               float z,
               pt.lsts.imc.def.ZUnits z_units,
               float speed,
               pt.lsts.imc.def.SpeedUnits speed_units,
               float takeoff_pitch,
               java.lang.String custom)

Method Detail

create

public static Takeoff create(java.lang.Object... values)

clone

public static Takeoff clone(IMCMessage msg)
                     throws java.lang.Exception

Throws:

java.lang.Exception

getLat

public double getLat()

Returns:

Latitude WGS-84 (rad) - fp64_t

setLat

public Takeoff setLat(double lat)

Parameters:

lat - Latitude WGS-84 (rad)

getLon

public double getLon()

Returns:

Longitude WGS-84 (rad) - fp64_t

setLon

public Takeoff setLon(double lon)

Parameters:

lon - Longitude WGS-84 (rad)

getZ

public double getZ()

Returns:

Z Reference (m) - fp32_t

setZ

public Takeoff setZ(double z)

Parameters:

z - Z Reference (m)

getZUnits

public pt.lsts.imc.def.ZUnits getZUnits()

Returns:

Z Units (enumerated) - uint8_t

getZUnitsStr

public java.lang.String getZUnitsStr()

getZUnitsVal

public short getZUnitsVal()

setZUnits

public Takeoff setZUnits(pt.lsts.imc.def.ZUnits z_units)

Parameters:

z_units - Z Units (enumerated)

setZUnitsStr

public Takeoff setZUnitsStr(java.lang.String z_units)

Parameters:

z_units - Z Units (as a String)

setZUnitsVal

public Takeoff setZUnitsVal(short z_units)

Parameters:

z_units - Z Units (integer value)

getSpeed

public double getSpeed()

Returns:

Speed - fp32_t

setSpeed

public Takeoff setSpeed(double speed)

Parameters:

speed - Speed

getSpeedUnits

public pt.lsts.imc.def.SpeedUnits getSpeedUnits()

Returns:

Speed Units (enumerated) - uint8_t

getSpeedUnitsStr

public java.lang.String getSpeedUnitsStr()

getSpeedUnitsVal

public short getSpeedUnitsVal()

setSpeedUnits

public Takeoff setSpeedUnits(pt.lsts.imc.def.SpeedUnits speed_units)

Parameters:

speed_units - Speed Units (enumerated)

setSpeedUnitsStr

public Takeoff setSpeedUnitsStr(java.lang.String speed_units)

Parameters:

speed_units - Speed Units (as a String)

setSpeedUnitsVal

public Takeoff setSpeedUnitsVal(short speed_units)

Parameters:

speed_units - Speed Units (integer value)

getTakeoffPitch

public double getTakeoffPitch()

Returns:

Pitch Angle (rad) - fp32_t

setTakeoffPitch

public Takeoff setTakeoffPitch(double takeoff_pitch)

Parameters:

takeoff_pitch - Pitch Angle (rad)

getCustom

public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustom()

Returns:

Custom settings for maneuver (tuplelist) - plaintext

setCustom

public Takeoff setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)

Parameters:

custom - Custom settings for maneuver (tuplelist)

setCustom

public Takeoff setCustom(java.lang.String custom)