35 #include <Eigen/Eigen>
44 enum class SubscriptionType {
170 TRANSITION_TO_FIXED_WING,
171 TRANSITION_TO_MULTICOPTER,
188 Eigen::Matrix<float, 6, 1>
aux;
236 template <SubscriptionType S,
typename DataType>
237 class SubscriptionImpl;
239 class SystemStateImpl;
251 template <SubscriptionType S,
typename DataType>
254 Subscription(
const std::shared_ptr<SubscriptionImpl<S, DataType>>& impl);
264 void onUpdate(std::function<
void(DataType)> callback);
291 std::shared_ptr<SubscriptionImpl<S, DataType>> _impl;
353 SystemState& subscribeAttitude(std::function<
void(Eigen::Quaternionf)> callback =
nullptr) {
368 SystemState& subscribeArmed(std::function<
void(
bool)> callback =
nullptr) {
398 SystemState& subscribeWind(std::function<
void(
Wind)> callback =
nullptr) {
409 std::shared_ptr<SystemStateImpl> _impl;
SDK execution class. All callbacks are called on the same thread.
Definition: auterion.hpp:97
A template class for managing subscriptions to data coming from the vehicle.
Definition: system_state.hpp:252
void subscribe(std::function< void(DataType)> callback)
Activates the subscription process and registers a callback function if provided.
bool isLastValid() const
Checks if the last received data is valid.
DataType last() const
Retrieves the last received data.
void onUpdate(std::function< void(DataType)> callback)
Regsiters a callback function to be called when the data is updated.
Provides access to the system's state, including flight controller telemetry.
Definition: system_state.hpp:324
VtolState
Represents the VTOL state.
Definition: system_state.hpp:168
Represents validated airspeed.
Definition: system_state.hpp:225
std::optional< float > true_airspeed_m_s
Definition: system_state.hpp:230
std::optional< float > calibrated_airspeed_m_s
Definition: system_state.hpp:228
std::optional< float > indicated_airspeed_m_s
Definition: system_state.hpp:227
Represents angular rates and accelerations in the FLU body frame.
Definition: system_state.hpp:121
Eigen::Vector3f angular_acceleration_flu_rad_s
Definition: system_state.hpp:123
Eigen::Vector3f angular_velocity_flu_rad_s
Definition: system_state.hpp:122
Represents the status of the battery.
Definition: system_state.hpp:151
float discharged_mah
Definition: system_state.hpp:155
float remaining
Definition: system_state.hpp:156
float voltage_v
Definition: system_state.hpp:152
int cell_count
Definition: system_state.hpp:158
Eigen::VectorXf cell_voltage_v
Definition: system_state.hpp:159
float current_a
Definition: system_state.hpp:153
Represents global position using latitude, longitude, and altitude.
Definition: system_state.hpp:87
double longitude_deg
Definition: system_state.hpp:89
Eigen::Vector3d toEigenVector() const
Converts the global position to an Eigen vector.
Definition: system_state.hpp:97
double altitude_amsl_m
Definition: system_state.hpp:90
double latitude_deg
Definition: system_state.hpp:88
Represents the home position in both local ENU and global coordinates.
Definition: system_state.hpp:133
bool was_set_manually
Definition: system_state.hpp:142
double yaw
Definition: system_state.hpp:136
bool global_position_valid
Definition: system_state.hpp:139
bool local_position_valid
Definition: system_state.hpp:140
bool altitude_valid
Definition: system_state.hpp:138
Eigen::Vector3f local_position_enu_m
Definition: system_state.hpp:134
GlobalPosition global_position
Definition: system_state.hpp:135
Represents landed state of the vehicle.
Definition: system_state.hpp:199
bool in_descend
Definition: system_state.hpp:201
Represents local position, velocity, and acceleration in the ENU coordinate system.
Definition: system_state.hpp:66
bool horizontal_position_valid
Definition: system_state.hpp:74
bool horizontal_velocity_valid
Definition: system_state.hpp:76
bool vertical_velocity_valid
Definition: system_state.hpp:77
double heading
Definition: system_state.hpp:71
Eigen::Vector3f velocity_enu_m
Definition: system_state.hpp:68
Eigen::Vector3f acceleration_enu_m
Definition: system_state.hpp:69
Eigen::Vector3f position_enu_m
Definition: system_state.hpp:67
bool dist_bottom_valid
Definition: system_state.hpp:78
bool vertical_position_valid
Definition: system_state.hpp:75
Represents odometry data including attitude and angular rates.
Definition: system_state.hpp:108
Eigen::Vector3f velocity
Definition: system_state.hpp:112
Eigen::Vector3f position
Definition: system_state.hpp:111
Eigen::Vector3f angular_velocity
Definition: system_state.hpp:110
Eigen::Quaternionf attitude
Definition: system_state.hpp:109
Represents wind speed and direction.
Definition: system_state.hpp:210
float windspeed_north
Definition: system_state.hpp:211
std::optional< float > variance_east
Definition: system_state.hpp:215
float windspeed_east
Definition: system_state.hpp:212
std::optional< float > variance_north
Definition: system_state.hpp:213