SITL::last_letter Class Reference

#include <SIM_last_letter.h>

Inheritance diagram for SITL::last_letter:

Collaboration diagram for SITL::last_letter:

Classes
struct	fdm_packet
struct	servo_packet

Public Member Functions
	last_letter (const char *home_str, const char *frame_str)
void	update (const struct sitl_input &input)
Public Member Functions inherited from SITL::Aircraft
	Aircraft (const char *home_str, const char *frame_str)
void	set_speedup (float speedup)
void	set_instance (uint8_t _instance)
void	set_autotest_dir (const char *_autotest_dir)
virtual void	set_interface_ports (const char *address, const int port_in, const int port_out)
void	fill_fdm (struct sitl_fdm &fdm)
void	smooth_sensors (void)
float	get_rate_hz (void) const
const Vector3f &	get_gyro (void) const
const Vector3f &	get_velocity_ef (void) const
const Vector3f &	get_velocity_air_ef (void) const
const Matrix3f &	get_dcm (void) const
const Vector3f &	get_mag_field_bf (void) const
virtual float	gross_mass () const
const Location &	get_location () const
const Vector3f &	get_position () const
void	get_attitude (Quaternion &attitude) const

Static Public Member Functions
static Aircraft *	create (const char *home_str, const char *frame_str)
Static Public Member Functions inherited from SITL::Aircraft
static double	rand_normal (double mean, double stddev)
static bool	parse_home (const char *home_str, Location &loc, float &yaw_degrees)

Private Member Functions
void	recv_fdm (const struct sitl_input &input)
void	send_servos (const struct sitl_input &input)
void	start_last_letter (void)

Private Attributes
uint64_t	last_timestamp_us
SocketAPM	sock

Static Private Attributes
static const uint16_t	fdm_port = 5002

Additional Inherited Members
Protected Types inherited from SITL::Aircraft
enum	{ GROUND_BEHAVIOR_NONE = 0, GROUND_BEHAVIOR_NO_MOVEMENT, GROUND_BEHAVIOR_FWD_ONLY, GROUND_BEHAVIOR_TAILSITTER }
Protected Member Functions inherited from SITL::Aircraft
float	ground_height_difference () const
virtual bool	on_ground () const
float	hagl () const
void	update_position (void)
void	update_mag_field_bf (void)
void	time_advance ()
void	setup_frame_time (float rate, float speedup)
void	adjust_frame_time (float rate)
void	sync_frame_time (void)
void	add_noise (float throttle)
uint64_t	get_wall_time_us (void) const
void	update_dynamics (const Vector3f &rot_accel)
void	update_wind (const struct sitl_input &input)
float	filtered_idx (float v, uint8_t idx)
float	filtered_servo_angle (const struct sitl_input &input, uint8_t idx)
float	filtered_servo_range (const struct sitl_input &input, uint8_t idx)
void	extrapolate_sensors (float delta_time)
Protected Attributes inherited from SITL::Aircraft
SITL *	sitl
Location	home
Location	location
float	ground_level
float	home_yaw
float	frame_height
Matrix3f	dcm
Vector3f	gyro
Vector3f	gyro_prev
Vector3f	ang_accel
Vector3f	velocity_ef
Vector3f	wind_ef
Vector3f	velocity_air_ef
Vector3f	velocity_air_bf
Vector3f	position
float	mass
Vector3f	accel_body
float	airspeed
float	airspeed_pitot
float	battery_voltage = -1.0f
float	battery_current = 0.0f
float	rpm1 = 0
float	rpm2 = 0
uint8_t	rcin_chan_count = 0
float	rcin [8]
float	range = -1.0f
float	turbulence_azimuth = 0.0f
float	turbulence_horizontal_speed = 0.0f
float	turbulence_vertical_speed = 0.0f
Vector3f	mag_bf
uint64_t	time_now_us
const float	gyro_noise
const float	accel_noise
float	rate_hz
float	achieved_rate_hz
float	target_speedup
uint64_t	frame_time_us
float	scaled_frame_time_us
uint64_t	last_wall_time_us
uint8_t	instance
const char *	autotest_dir
const char *	frame
bool	use_time_sync = true
float	last_speedup = -1.0f
AP_Int8 *	ahrs_orientation
enum SITL::Aircraft:: { ... }	ground_behavior
bool	use_smoothing
AP_Terrain *	terrain
const float	FEET_TO_METERS = 0.3048f
const float	KNOTS_TO_METERS_PER_SECOND = 0.51444f

Detailed Description

Definition at line 30 of file SIM_last_letter.h.

Constructor & Destructor Documentation

last_letter()

SITL::last_letter::last_letter	(	const char *	home_str,
		const char *	frame_str
	)

Definition at line 32 of file SIM_last_letter.cpp.

Referenced by create().

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Member Function Documentation

create()

static Aircraft* SITL::last_letter::create ( const char *  home_str, const char *  frame_str  )

inlinestatic

Definition at line 38 of file SIM_last_letter.h.

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recv_fdm()

void SITL::last_letter::recv_fdm ( const struct sitl_input &  input )

private

Definition at line 88 of file SIM_last_letter.cpp.

Referenced by update().

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send_servos()

void SITL::last_letter::send_servos ( const struct sitl_input &  input )

private

Definition at line 77 of file SIM_last_letter.cpp.

Referenced by recv_fdm(), and update().

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start_last_letter()

void SITL::last_letter::start_last_letter ( void  )

private

Definition at line 51 of file SIM_last_letter.cpp.

Referenced by last_letter().

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update()

void SITL::last_letter::update ( const struct sitl_input &  input )

virtual

Implements SITL::Aircraft.

Definition at line 125 of file SIM_last_letter.cpp.

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Member Data Documentation

fdm_port

const uint16_t SITL::last_letter::fdm_port = 5002

staticprivate

Definition at line 43 of file SIM_last_letter.h.

Referenced by last_letter(), and send_servos().

last_timestamp_us

uint64_t SITL::last_letter::last_timestamp_us

private

Definition at line 71 of file SIM_last_letter.h.

Referenced by recv_fdm().

sock

SocketAPM SITL::last_letter::sock

private

Definition at line 72 of file SIM_last_letter.h.

Referenced by last_letter(), recv_fdm(), and send_servos().

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

• libraries/SITL/SIM_last_letter.h
• libraries/SITL/SIM_last_letter.cpp