SITL::Gimbal Class Reference

#include <SIM_Gimbal.h>

Collaboration diagram for SITL::Gimbal:

Public Member Functions
	Gimbal (const struct sitl_fdm &_fdm)
void	update (void)

Private Member Functions
void	send_report (void)

Private Attributes
const struct sitl_fdm &	fdm
const char *	target_address
const uint16_t	target_port
Matrix3f	dcm
uint32_t	last_update_us
Vector3f	gimbal_angular_rate
Vector3f	gyro
Vector3f	joint_angles
Vector3f	lower_joint_limits
Vector3f	upper_joint_limits
const float	travelLimitGain
Vector3f	true_gyro_bias
const float	reporting_period_ms
Vector3f	delta_angle
Vector3f	delta_velocity
Vector3f	demanded_angular_rate
Vector3f	supplied_gyro_bias
uint32_t	last_report_us
uint32_t	last_heartbeat_ms
bool	seen_heartbeat
bool	seen_gimbal_control
uint8_t	vehicle_system_id
uint8_t	vehicle_component_id
SocketAPM	mav_socket
struct {
bool   connected
mavlink_message_t   rxmsg
mavlink_status_t   status
uint8_t   seq
}	mavlink

Detailed Description

Definition at line 27 of file SIM_Gimbal.h.

Constructor & Destructor Documentation

Gimbal()

SITL::Gimbal::Gimbal

(

const struct sitl_fdm &

_fdm

)

Definition at line 29 of file SIM_Gimbal.cpp.

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Member Function Documentation

send_report()

void SITL::Gimbal::send_report ( void  )

private

Definition at line 182 of file SIM_Gimbal.cpp.

Referenced by update().

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update()

void SITL::Gimbal::update

(

void

)

Definition at line 49 of file SIM_Gimbal.cpp.

Referenced by HALSITL::SITL_State::_fdm_input_local().

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Member Data Documentation

connected

bool SITL::Gimbal::connected

Definition at line 99 of file SIM_Gimbal.h.

dcm

Matrix3f SITL::Gimbal::dcm

private

Definition at line 38 of file SIM_Gimbal.h.

Referenced by Gimbal(), and update().

delta_angle

Vector3f SITL::Gimbal::delta_angle

private

Definition at line 73 of file SIM_Gimbal.h.

Referenced by send_report(), and update().

delta_velocity

Vector3f SITL::Gimbal::delta_velocity

private

Definition at line 76 of file SIM_Gimbal.h.

Referenced by send_report(), and update().

demanded_angular_rate

Vector3f SITL::Gimbal::demanded_angular_rate

private

Definition at line 82 of file SIM_Gimbal.h.

Referenced by send_report(), and update().

fdm

const struct sitl_fdm& SITL::Gimbal::fdm

private

Definition at line 33 of file SIM_Gimbal.h.

Referenced by Gimbal(), and update().

gimbal_angular_rate

Vector3f SITL::Gimbal::gimbal_angular_rate

private

Definition at line 44 of file SIM_Gimbal.h.

Referenced by update().

gyro

Vector3f SITL::Gimbal::gyro

private

Definition at line 47 of file SIM_Gimbal.h.

Referenced by update().

joint_angles

Vector3f SITL::Gimbal::joint_angles

private

Definition at line 55 of file SIM_Gimbal.h.

Referenced by send_report(), and update().

last_heartbeat_ms

uint32_t SITL::Gimbal::last_heartbeat_ms

private

Definition at line 90 of file SIM_Gimbal.h.

Referenced by send_report().

last_report_us

uint32_t SITL::Gimbal::last_report_us

private

Definition at line 89 of file SIM_Gimbal.h.

Referenced by send_report().

last_update_us

uint32_t SITL::Gimbal::last_update_us

private

Definition at line 41 of file SIM_Gimbal.h.

Referenced by update().

lower_joint_limits

Vector3f SITL::Gimbal::lower_joint_limits

private

Definition at line 58 of file SIM_Gimbal.h.

Referenced by update().

mav_socket

SocketAPM SITL::Gimbal::mav_socket

private

Definition at line 96 of file SIM_Gimbal.h.

Referenced by send_report().

mavlink

struct { ... } SITL::Gimbal::mavlink

Referenced by Gimbal(), and send_report().

reporting_period_ms

const float SITL::Gimbal::reporting_period_ms

private

Definition at line 70 of file SIM_Gimbal.h.

Referenced by send_report().

rxmsg

mavlink_message_t SITL::Gimbal::rxmsg

Definition at line 100 of file SIM_Gimbal.h.

seen_gimbal_control

bool SITL::Gimbal::seen_gimbal_control

private

Definition at line 92 of file SIM_Gimbal.h.

Referenced by send_report().

seen_heartbeat

bool SITL::Gimbal::seen_heartbeat

private

Definition at line 91 of file SIM_Gimbal.h.

Referenced by send_report().

seq

uint8_t SITL::Gimbal::seq

Definition at line 102 of file SIM_Gimbal.h.

status

mavlink_status_t SITL::Gimbal::status

Definition at line 101 of file SIM_Gimbal.h.

Referenced by send_report().

supplied_gyro_bias

Vector3f SITL::Gimbal::supplied_gyro_bias

private

Definition at line 87 of file SIM_Gimbal.h.

Referenced by send_report().

target_address

const char* SITL::Gimbal::target_address

private

Definition at line 34 of file SIM_Gimbal.h.

Referenced by send_report().

target_port

const uint16_t SITL::Gimbal::target_port

private

Definition at line 35 of file SIM_Gimbal.h.

Referenced by send_report().

travelLimitGain

const float SITL::Gimbal::travelLimitGain

private

Definition at line 61 of file SIM_Gimbal.h.

Referenced by update().

true_gyro_bias

Vector3f SITL::Gimbal::true_gyro_bias

private

Definition at line 64 of file SIM_Gimbal.h.

Referenced by update().

upper_joint_limits

Vector3f SITL::Gimbal::upper_joint_limits

private

Definition at line 59 of file SIM_Gimbal.h.

Referenced by update().

vehicle_component_id

uint8_t SITL::Gimbal::vehicle_component_id

private

Definition at line 94 of file SIM_Gimbal.h.

Referenced by send_report().

vehicle_system_id

uint8_t SITL::Gimbal::vehicle_system_id

private

Definition at line 93 of file SIM_Gimbal.h.

Referenced by send_report().

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

• libraries/SITL/SIM_Gimbal.h
• libraries/SITL/SIM_Gimbal.cpp