MavlinkMessageSource Class Reference

Message source for MAVLink integration using ArduinoMavlinkDrone. More...

#include <MavlinkMessageSource.h>

Inheritance diagram for MavlinkMessageSource:

Collaboration diagram for MavlinkMessageSource:

Public Member Functions
	MavlinkMessageSource (SimpleMavlinkDrone &drone, ControlScenario scenario=ControlScenario::Car)
bool	begin (ControlScenario scenario=ControlScenario::Car)
	Start the message source.
void	end ()
	Stop the message source.
void	update ()
	Call this in your main loop to handle MAVLink messages.
void	setMaxSteeringAngle (float angleDeg)
	Defines the max steering ange in degrees: default 45.
Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Member Functions
void	publishScenario ()
void	publishCar ()
void	publishBoat ()
void	publishDrone ()
void	publishPlane ()
void	publish (const Message< float > &msg)

Static Protected Member Functions
static float	mapFloat (float x, float in_min, float in_max, float out_min, float out_max)

Protected Attributes
SimpleMavlinkDrone &	drone
ControlScenario	scenario
bool	is_active_ = false
float	max_steering_deg = 45.0f
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

Message source for MAVLink integration using ArduinoMavlinkDrone.

Note

This class depends on the ArduinoMavlinkDrone library: https://github.com/pschatzmann/ArduinoMavlinkDrone

This class connects to a MAVLink drone and translates MAVLink telemetry and control messages into TinyRobotics Message objects. It can be used to bridge MAVLink-based vehicles with the TinyRobotics message bus and control framework.

Usage: MavlinkMessageSource mavlink(drone); mavlink.begin(); // In loop: mavlink.update();

Member Function Documentation

setMaxSteeringAngle()

void setMaxSteeringAngle ( float  angleDeg )

inline

Defines the max steering ange in degrees: default 45.

Parameters

angleDeg

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

• src/TinyRobotics/communication/MavlinkMessageSource.h