SpektrumSatelliteMessageSource< T > Class Template Reference

Publishes control messages from a Spektrum satellite receiver to the TinyRobotics message bus. More...

#include <SpektrumSatelliteMessageSource.h>

Inheritance diagram for SpektrumSatelliteMessageSource< T >:

Collaboration diagram for SpektrumSatelliteMessageSource< T >:

Public Member Functions
	SpektrumSatelliteMessageSource (SpektrumSatellite< T > &satellite)
void	update ()
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
float	toDegrees (T value)

Protected Attributes
SpektrumSatellite< T > &	satellite
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

template<class T = uint16_t>
class tinyrobotics::SpektrumSatelliteMessageSource< T >

Publishes control messages from a Spektrum satellite receiver to the TinyRobotics message bus.

This class bridges a Spektrum satellite receiver and the TinyRobotics message bus system. It polls the receiver for new frames and, when available, publishes standardized control messages:

• Roll (degrees)
• Pitch (degrees)
• Yaw (degrees)
• Throttle (percent)

Each message is published with the appropriate unit and origin (MessageOrigin::RemoteControl). The channel value range is automatically set to 0-100 and mapped to -90..+90 degrees for angles.

This class depends on https://github.com/pschatzmann/SpektrumSatellite The SpektrumSatellite class must be set up proplerly and passed to the constructor.

Usage:

SpektrumSatellite<uint16_t> satellite;
SpektrumSatelliteMessageSource<uint16_t> source(satellite);
// In your main loop:
source.run();

Template Parameters

T	Data type for channel values (default: uint16_t)

Member Function Documentation

update()

void update ( )

inline

call in your loop to process incoming satellite messages and publish to handlers

---

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

• src/TinyRobotics/communication/SpektrumSatelliteMessageSource.h