#include <AP_Beacon.h>

Collaboration diagram for AP_Beacon:

Classes
struct	BeaconState

Public Types
enum	AP_BeaconType { AP_BeaconType_None = 0, AP_BeaconType_Pozyx = 1, AP_BeaconType_Marvelmind = 2, AP_BeaconType_SITL = 10 }

Public Member Functions
	AP_Beacon (AP_SerialManager &_serial_manager)

void	init (void)

bool	enabled (void)

bool	healthy (void)

void	update (void)

bool	get_origin (Location &origin_loc) const

bool	get_vehicle_position_ned (Vector3f &pos, float &accuracy_estimate) const

uint8_t	count () const

bool	get_beacon_data (uint8_t beacon_instance, struct BeaconState &state) const

uint8_t	beacon_id (uint8_t beacon_instance) const

bool	beacon_healthy (uint8_t beacon_instance) const

float	beacon_distance (uint8_t beacon_instance) const

Vector3f	beacon_position (uint8_t beacon_instance) const

uint32_t	beacon_last_update_ms (uint8_t beacon_instance) const

void	update_boundary_points ()

const Vector2f *	get_boundary_points (uint16_t &num_points) const

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
bool	device_ready (void) const

Static Private Member Functions
static bool	get_next_boundary_point (const Vector2f *boundary, uint8_t num_points, uint8_t current_index, float start_angle, uint8_t &next_index, float &next_angle)

Private Attributes
AP_Int8	_type

AP_Float	origin_lat

AP_Float	origin_lon

AP_Float	origin_alt

AP_Int16	orient_yaw

AP_Beacon_Backend *	_driver

AP_SerialManager &	serial_manager

Vector3f	veh_pos_ned

float	veh_pos_accuracy

uint32_t	veh_pos_update_ms

uint8_t	num_beacons = 0

BeaconState	beacon_state [AP_BEACON_MAX_BEACONS]

Vector2f	boundary [AP_BEACON_MAX_BEACONS+1]

uint8_t	boundary_num_points

uint8_t	boundary_num_beacons

Friends
class	AP_Beacon_Backend

Detailed Description

Definition at line 29 of file AP_Beacon.h.

Member Enumeration Documentation

◆ AP_BeaconType

enum AP_Beacon::AP_BeaconType

Enumerator
AP_BeaconType_None
AP_BeaconType_Pozyx
AP_BeaconType_Marvelmind
AP_BeaconType_SITL

Definition at line 37 of file AP_Beacon.h.

Constructor & Destructor Documentation

◆ AP_Beacon()

AP_Beacon::AP_Beacon ( AP_SerialManager & _serial_manager )

Definition at line 73 of file AP_Beacon.cpp.

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Member Function Documentation

◆ beacon_distance()

float AP_Beacon::beacon_distance ( uint8_t beacon_instance ) const

Definition at line 204 of file AP_Beacon.cpp.

Referenced by DataFlash_Class::Log_Write_Beacon(), NavEKF2_core::readRngBcnData(), and NavEKF3_core::readRngBcnData().

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◆ beacon_healthy()

bool AP_Beacon::beacon_healthy ( uint8_t beacon_instance ) const

Definition at line 195 of file AP_Beacon.cpp.

Referenced by NavEKF2_core::readRngBcnData(), and NavEKF3_core::readRngBcnData().

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◆ beacon_id()

uint8_t AP_Beacon::beacon_id ( uint8_t beacon_instance ) const

Definition at line 186 of file AP_Beacon.cpp.

◆ beacon_last_update_ms()

uint32_t AP_Beacon::beacon_last_update_ms ( uint8_t beacon_instance ) const

Definition at line 223 of file AP_Beacon.cpp.

Referenced by NavEKF2_core::readRngBcnData(), and NavEKF3_core::readRngBcnData().

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◆ beacon_position()

Vector3f AP_Beacon::beacon_position ( uint8_t beacon_instance ) const

Definition at line 213 of file AP_Beacon.cpp.

Referenced by NavEKF2_core::readRngBcnData(), NavEKF3_core::readRngBcnData(), and update_boundary_points().

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◆ count()

uint8_t AP_Beacon::count ( ) const

Definition at line 167 of file AP_Beacon.cpp.

Referenced by DataFlash_Class::Log_Write_Beacon(), NavEKF2_core::readRngBcnData(), and NavEKF3_core::readRngBcnData().

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◆ device_ready()

bool AP_Beacon::device_ready ( void ) const

private

Definition at line 373 of file AP_Beacon.cpp.

Referenced by beacon_position(), count(), get_beacon_data(), get_boundary_points(), get_origin(), get_vehicle_position_ned(), healthy(), update(), and update_boundary_points().

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◆ enabled()

bool AP_Beacon::enabled ( void )

Definition at line 101 of file AP_Beacon.cpp.

Referenced by DataFlash_Class::Log_Write_Beacon().

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◆ get_beacon_data()

bool AP_Beacon::get_beacon_data	(	uint8_t	beacon_instance,
		struct BeaconState &	state
	)		const

Definition at line 176 of file AP_Beacon.cpp.

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◆ get_boundary_points()

const Vector2f * AP_Beacon::get_boundary_points ( uint16_t & num_points ) const

Definition at line 361 of file AP_Beacon.cpp.

Referenced by AC_Avoid::adjust_velocity_beacon_fence().

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◆ get_next_boundary_point()

bool AP_Beacon::get_next_boundary_point	(	const Vector2f *	boundary,
		uint8_t	num_points,
		uint8_t	current_index,
		float	start_angle,
		uint8_t &	next_index,
		float &	next_angle
	)

staticprivate

Definition at line 321 of file AP_Beacon.cpp.

Referenced by update_boundary_points().

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◆ get_origin()

bool AP_Beacon::get_origin ( Location & origin_loc ) const

Definition at line 128 of file AP_Beacon.cpp.

Referenced by NavEKF2_core::readRngBcnData(), and NavEKF3_core::readRngBcnData().

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◆ get_vehicle_position_ned()

bool AP_Beacon::get_vehicle_position_ned	(	Vector3f &	pos,
		float &	accuracy_estimate
	)		const

Definition at line 149 of file AP_Beacon.cpp.

Referenced by DataFlash_Class::Log_Write_Beacon(), loop(), NavEKF2_core::readRngBcnData(), and NavEKF3_core::readRngBcnData().

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◆ healthy()

bool AP_Beacon::healthy ( void )

Definition at line 107 of file AP_Beacon.cpp.

Referenced by beacon_distance(), and DataFlash_Class::Log_Write_Beacon().

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◆ init()

void AP_Beacon::init ( void )

Definition at line 80 of file AP_Beacon.cpp.

Referenced by setup().

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◆ update()

void AP_Beacon::update ( void )

Definition at line 116 of file AP_Beacon.cpp.

Referenced by loop().

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◆ update_boundary_points()

void AP_Beacon::update_boundary_points ( )

Definition at line 232 of file AP_Beacon.cpp.

Referenced by update().

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Friends And Related Function Documentation

◆ AP_Beacon_Backend

friend class AP_Beacon_Backend

friend

Definition at line 32 of file AP_Beacon.h.

Member Data Documentation

◆ _driver

AP_Beacon_Backend* AP_Beacon::_driver

private

Definition at line 123 of file AP_Beacon.h.

Referenced by device_ready(), healthy(), init(), and update().

◆ _type

AP_Int8 AP_Beacon::_type

private

Definition at line 116 of file AP_Beacon.h.

Referenced by beacon_last_update_ms(), device_ready(), enabled(), and init().

◆ beacon_state

BeaconState AP_Beacon::beacon_state[AP_BEACON_MAX_BEACONS]

private

Definition at line 133 of file AP_Beacon.h.

Referenced by beacon_distance(), beacon_healthy(), beacon_id(), beacon_last_update_ms(), beacon_position(), get_beacon_data(), AP_Beacon_Backend::set_beacon_distance(), and AP_Beacon_Backend::set_beacon_position().

◆ boundary

Vector2f AP_Beacon::boundary[AP_BEACON_MAX_BEACONS+1]

private

Definition at line 136 of file AP_Beacon.h.

Referenced by get_boundary_points(), and update_boundary_points().

◆ boundary_num_beacons

uint8_t AP_Beacon::boundary_num_beacons

private

Definition at line 138 of file AP_Beacon.h.

Referenced by update_boundary_points().

◆ boundary_num_points

uint8_t AP_Beacon::boundary_num_points

private

Definition at line 137 of file AP_Beacon.h.

Referenced by get_boundary_points(), and update_boundary_points().

◆ num_beacons

uint8_t AP_Beacon::num_beacons = 0

private

Definition at line 132 of file AP_Beacon.h.

Referenced by beacon_distance(), beacon_healthy(), beacon_id(), beacon_last_update_ms(), beacon_position(), count(), get_beacon_data(), AP_Beacon_Backend::set_beacon_distance(), AP_Beacon_Backend::set_beacon_position(), and update_boundary_points().

◆ orient_yaw

AP_Int16 AP_Beacon::orient_yaw

private

Definition at line 120 of file AP_Beacon.h.

Referenced by AP_Beacon_Backend::correct_for_orient_yaw().

◆ origin_alt

AP_Float AP_Beacon::origin_alt

private

Definition at line 119 of file AP_Beacon.h.

Referenced by AP_Beacon_Backend::get_beacon_origin_alt(), and get_origin().

◆ origin_lat

AP_Float AP_Beacon::origin_lat

private

Definition at line 117 of file AP_Beacon.h.

Referenced by AP_Beacon_Backend::get_beacon_origin_lat(), and get_origin().

◆ origin_lon

AP_Float AP_Beacon::origin_lon

private

Definition at line 118 of file AP_Beacon.h.

Referenced by AP_Beacon_Backend::get_beacon_origin_lon(), and get_origin().

◆ serial_manager

AP_SerialManager& AP_Beacon::serial_manager

private

Definition at line 124 of file AP_Beacon.h.

Referenced by init().

◆ var_info

const AP_Param::GroupInfo AP_Beacon::var_info

static

Definition at line 100 of file AP_Beacon.h.

Referenced by AP_Beacon(), and setup().

◆ veh_pos_accuracy

float AP_Beacon::veh_pos_accuracy

private

Definition at line 128 of file AP_Beacon.h.

Referenced by get_vehicle_position_ned(), and AP_Beacon_Backend::set_vehicle_position().

◆ veh_pos_ned

Vector3f AP_Beacon::veh_pos_ned

private

Definition at line 127 of file AP_Beacon.h.

Referenced by get_vehicle_position_ned(), and AP_Beacon_Backend::set_vehicle_position().

◆ veh_pos_update_ms

uint32_t AP_Beacon::veh_pos_update_ms

private

Definition at line 129 of file AP_Beacon.h.

Referenced by get_vehicle_position_ned(), and AP_Beacon_Backend::set_vehicle_position().

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

libraries/AP_Beacon/AP_Beacon.h
libraries/AP_Beacon/AP_Beacon.cpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ AP_BeaconType

Constructor & Destructor Documentation

◆ AP_Beacon()

Member Function Documentation

◆ beacon_distance()

◆ beacon_healthy()

◆ beacon_id()

◆ beacon_last_update_ms()

◆ beacon_position()

◆ count()

◆ device_ready()

◆ enabled()

◆ get_beacon_data()

◆ get_boundary_points()

◆ get_next_boundary_point()

◆ get_origin()

◆ get_vehicle_position_ned()

◆ healthy()

◆ init()

◆ update()

◆ update_boundary_points()

Friends And Related Function Documentation

◆ AP_Beacon_Backend

Member Data Documentation

◆ _driver

◆ _type

◆ beacon_state

◆ boundary

◆ boundary_num_beacons

◆ boundary_num_points

◆ num_beacons

◆ orient_yaw

◆ origin_alt

◆ origin_lat

◆ origin_lon

◆ serial_manager

◆ var_info

◆ veh_pos_accuracy

◆ veh_pos_ned

◆ veh_pos_update_ms