AP_Beacon_Marvelmind Class Reference

#include <AP_Beacon_Marvelmind.h>

Inheritance diagram for AP_Beacon_Marvelmind:

Collaboration diagram for AP_Beacon_Marvelmind:

Classes
struct	MarvelmindHedge
struct	PositionValue
struct	StationaryBeaconPosition
struct	StationaryBeaconsPositions

Public Member Functions
	AP_Beacon_Marvelmind (AP_Beacon &frontend, AP_SerialManager &serial_manager)
bool	healthy ()
void	update ()
Public Member Functions inherited from AP_Beacon_Backend
	AP_Beacon_Backend (AP_Beacon &frontend)
void	set_vehicle_position (const Vector3f &pos, float accuracy_estimate)
void	set_beacon_distance (uint8_t beacon_instance, float distance)
void	set_beacon_position (uint8_t beacon_instance, const Vector3f &pos)
float	get_beacon_origin_lat (void) const
float	get_beacon_origin_lon (void) const
float	get_beacon_origin_alt (void) const

Private Types
enum	{ RECV_HDR, RECV_DGRAM }

Private Member Functions
uint16_t	calc_crc_modbus (uint8_t *buf, uint16_t len)
StationaryBeaconPosition *	get_or_alloc_beacon (uint8_t address)
void	process_beacons_positions_datagram ()
void	process_beacons_positions_highres_datagram ()
void	process_position_highres_datagram ()
void	process_position_datagram ()
void	process_beacons_distances_datagram ()
void	set_stationary_beacons_positions ()
void	order_stationary_beacons ()
int8_t	find_beacon_instance (uint8_t address) const

Private Attributes
enum AP_Beacon_Marvelmind:: { ... }	parse_state
MarvelmindHedge	hedge
uint8_t	input_buffer [AP_BEACON_MARVELMIND_BUF_SIZE]
uint16_t	num_bytes_in_block_received
uint16_t	data_id
AP_HAL::UARTDriver *	uart
uint32_t	last_update_ms
Vector3f	vehicle_position_NED__m
bool	vehicle_position_initialized
Vector3f	beacon_position_NED__m [AP_BEACON_MAX_BEACONS]
bool	beacon_position_initialized

Additional Inherited Members
Protected Member Functions inherited from AP_Beacon_Backend
Vector3f	correct_for_orient_yaw (const Vector3f &vector)
Protected Attributes inherited from AP_Beacon_Backend
AP_Beacon &	_frontend
int16_t	orient_yaw_deg
float	orient_cos_yaw = 0.0f
float	orient_sin_yaw = 1.0f

Detailed Description

Definition at line 27 of file AP_Beacon_Marvelmind.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

private

Enumerator
RECV_HDR
RECV_DGRAM

Definition at line 72 of file AP_Beacon_Marvelmind.h.

Constructor & Destructor Documentation

AP_Beacon_Marvelmind()

AP_Beacon_Marvelmind::AP_Beacon_Marvelmind	(	AP_Beacon &	frontend,
		AP_SerialManager &	serial_manager
	)

Definition at line 42 of file AP_Beacon_Marvelmind.cpp.

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Member Function Documentation

calc_crc_modbus()

uint16_t AP_Beacon_Marvelmind::calc_crc_modbus ( uint8_t *  buf, uint16_t  len  )

private

Definition at line 65 of file AP_Beacon_Marvelmind.cpp.

Referenced by update().

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find_beacon_instance()

int8_t AP_Beacon_Marvelmind::find_beacon_instance ( uint8_t  address ) const

private

Definition at line 228 of file AP_Beacon_Marvelmind.cpp.

Referenced by process_beacons_distances_datagram().

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get_or_alloc_beacon()

AP_Beacon_Marvelmind::StationaryBeaconPosition * AP_Beacon_Marvelmind::get_or_alloc_beacon ( uint8_t  address )

private

Definition at line 120 of file AP_Beacon_Marvelmind.cpp.

Referenced by process_beacons_positions_datagram(), and process_beacons_positions_highres_datagram().

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healthy()

bool AP_Beacon_Marvelmind::healthy ( void  )

virtual

Implements AP_Beacon_Backend.

Definition at line 361 of file AP_Beacon_Marvelmind.cpp.

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order_stationary_beacons()

void AP_Beacon_Marvelmind::order_stationary_beacons ( )

private

Definition at line 409 of file AP_Beacon_Marvelmind.cpp.

Referenced by process_beacons_positions_datagram(), and process_beacons_positions_highres_datagram().

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process_beacons_distances_datagram()

void AP_Beacon_Marvelmind::process_beacons_distances_datagram ( )

private

Definition at line 201 of file AP_Beacon_Marvelmind.cpp.

Referenced by update().

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process_beacons_positions_datagram()

void AP_Beacon_Marvelmind::process_beacons_positions_datagram ( )

private

Definition at line 135 of file AP_Beacon_Marvelmind.cpp.

Referenced by update().

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process_beacons_positions_highres_datagram()

void AP_Beacon_Marvelmind::process_beacons_positions_highres_datagram ( )

private

Definition at line 165 of file AP_Beacon_Marvelmind.cpp.

Referenced by update().

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process_position_datagram()

void AP_Beacon_Marvelmind::process_position_datagram ( )

private

Definition at line 83 of file AP_Beacon_Marvelmind.cpp.

Referenced by update().

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process_position_highres_datagram()

void AP_Beacon_Marvelmind::process_position_highres_datagram ( )

private

Definition at line 100 of file AP_Beacon_Marvelmind.cpp.

Referenced by update().

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set_stationary_beacons_positions()

void AP_Beacon_Marvelmind::set_stationary_beacons_positions ( )

private

Definition at line 367 of file AP_Beacon_Marvelmind.cpp.

Referenced by update().

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update()

void AP_Beacon_Marvelmind::update ( void  )

virtual

Implements AP_Beacon_Backend.

Definition at line 238 of file AP_Beacon_Marvelmind.cpp.

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Member Data Documentation

beacon_position_initialized

bool AP_Beacon_Marvelmind::beacon_position_initialized

private

Definition at line 103 of file AP_Beacon_Marvelmind.h.

Referenced by set_stationary_beacons_positions(), and update().

beacon_position_NED__m

Vector3f AP_Beacon_Marvelmind::beacon_position_NED__m[AP_BEACON_MAX_BEACONS]

private

Definition at line 102 of file AP_Beacon_Marvelmind.h.

Referenced by set_stationary_beacons_positions().

data_id

uint16_t AP_Beacon_Marvelmind::data_id

private

Definition at line 80 of file AP_Beacon_Marvelmind.h.

Referenced by AP_Beacon_Marvelmind(), and update().

hedge

MarvelmindHedge AP_Beacon_Marvelmind::hedge

private

Definition at line 77 of file AP_Beacon_Marvelmind.h.

Referenced by AP_Beacon_Marvelmind(), find_beacon_instance(), get_or_alloc_beacon(), order_stationary_beacons(), process_beacons_distances_datagram(), process_beacons_positions_datagram(), process_beacons_positions_highres_datagram(), process_position_datagram(), process_position_highres_datagram(), and set_stationary_beacons_positions().

input_buffer

uint8_t AP_Beacon_Marvelmind::input_buffer[AP_BEACON_MARVELMIND_BUF_SIZE]

private

Definition at line 78 of file AP_Beacon_Marvelmind.h.

Referenced by process_beacons_distances_datagram(), process_beacons_positions_datagram(), process_beacons_positions_highres_datagram(), process_position_datagram(), process_position_highres_datagram(), and update().

last_update_ms

uint32_t AP_Beacon_Marvelmind::last_update_ms

private

Definition at line 95 of file AP_Beacon_Marvelmind.h.

Referenced by AP_Beacon_Marvelmind(), healthy(), process_beacons_distances_datagram(), and set_stationary_beacons_positions().

num_bytes_in_block_received

uint16_t AP_Beacon_Marvelmind::num_bytes_in_block_received

private

Definition at line 79 of file AP_Beacon_Marvelmind.h.

Referenced by AP_Beacon_Marvelmind(), and update().

parse_state

enum { ... } AP_Beacon_Marvelmind::parse_state

Referenced by AP_Beacon_Marvelmind(), and update().

uart

AP_HAL::UARTDriver* AP_Beacon_Marvelmind::uart

private

Definition at line 94 of file AP_Beacon_Marvelmind.h.

Referenced by AP_Beacon_Marvelmind(), and update().

vehicle_position_initialized

bool AP_Beacon_Marvelmind::vehicle_position_initialized

private

Definition at line 99 of file AP_Beacon_Marvelmind.h.

Referenced by set_stationary_beacons_positions(), and update().

vehicle_position_NED__m

Vector3f AP_Beacon_Marvelmind::vehicle_position_NED__m

private

Definition at line 98 of file AP_Beacon_Marvelmind.h.

Referenced by set_stationary_beacons_positions().

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

• libraries/AP_Beacon/AP_Beacon_Marvelmind.h
• libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp