class OutputBase Base class for all driver output classes More...

#include <output.h>

Inheritance diagram for vmount::OutputBase:

Public Member Functions
	OutputBase (const OutputConfig &output_config)

virtual int	initialize ()

virtual int	update (const ControlData *control_data)=0
	Update the output. More...

virtual void	print_status ()=0
	report status to stdout

void	publish ()
	Publish _angle_outputs as a mount_orientation message. More...

Protected Member Functions
float	_calculate_pitch (double lon, double lat, float altitude, const vehicle_global_position_s &global_position)

void	_set_angle_setpoints (const ControlData *control_data)
	set angle setpoints, speeds & stabilize flags

void	_handle_position_update (bool force_update=false)
	check if vehicle position changed and update the setpoint angles if in gps mode

void	_calculate_output_angles (const hrt_abstime &t)
	calculate the _angle_outputs (with speed) and stabilize if needed

int	_get_vehicle_attitude_sub () const

Protected Attributes
map_projection_reference_s	_projection_reference = {}
	reference to convert (lon, lat) to local [m]

const OutputConfig &	_config

const ControlData *	_cur_control_data = nullptr

float	_angle_setpoints [3] = { 0.f, 0.f, 0.f }
	[rad]

float	_angle_speeds [3] = { 0.f, 0.f, 0.f }

bool	_stabilize [3] = { false, false, false }

float	_angle_outputs [3] = { 0.f, 0.f, 0.f }
	calculated output angles (roll, pitch, yaw) [rad]

hrt_abstime	_last_update

Detailed Description

class OutputBase Base class for all driver output classes

Member Function Documentation

void vmount::OutputBase::publish ( )

Publish _angle_outputs as a mount_orientation message.

virtual int vmount::OutputBase::update ( const ControlData * control_data )

pure virtual

Update the output.

Parameters

data	new command if non null

The documentation for this class was generated from the following files: