px4_ros2::AttitudeSetpointType Class Reference

Setpoint type for direct attitude control. More...

#include <px4_ros2/control/setpoint_types/experimental/attitude.hpp>

Inheritance diagram for px4_ros2::AttitudeSetpointType:

Public Member Functions
	AttitudeSetpointType (Context &context)
Configuration	getConfiguration () override
float	desiredUpdateRateHz () override
void	update (const Eigen::Quaternionf &attitude_setpoint, const Eigen::Vector3f &thrust_setpoint_frd, float yaw_sp_move_rate_rad_s=0.f)
void	update (float roll, float pitch, float yaw, const Eigen::Vector3f &thrust_setpoint_body, float yaw_sp_move_rate_rad_s=0.f)
	Send an attitude setpoint to the flight controller. Euler angles follow the RPY extrinsic Tait-Bryan convention (equiv. YPR intrinsic)
Public Member Functions inherited from px4_ros2::SetpointBase
	SetpointBase (Context &context)
std::shared_ptr< SetpointBase >	getSharedPtr ()
void	setShouldActivateCallback (const ShouldActivateCB &should_activate_cb)
void	setActive (bool active)

Additional Inherited Members
Public Types inherited from px4_ros2::SetpointBase
using	ShouldActivateCB = std::function< void()>
Protected Member Functions inherited from px4_ros2::SetpointBase
void	onUpdate ()

Detailed Description

Setpoint type for direct attitude control.

Member Function Documentation

desiredUpdateRateHz()

float px4_ros2::AttitudeSetpointType::desiredUpdateRateHz ( )

inlineoverridevirtual

Reimplemented from px4_ros2::SetpointBase.

getConfiguration()

Configuration px4_ros2::AttitudeSetpointType::getConfiguration ( )

overridevirtual

Implements px4_ros2::SetpointBase.

update()

void px4_ros2::AttitudeSetpointType::update	(	float	roll,
		float	pitch,
		float	yaw,
		const Eigen::Vector3f &	thrust_setpoint_body,
		float	yaw_sp_move_rate_rad_s = 0.f
	)

Send an attitude setpoint to the flight controller. Euler angles follow the RPY extrinsic Tait-Bryan convention (equiv. YPR intrinsic)

Parameters

roll	Attitude setpoint roll angle [rad]
pitch	Attitude setpoint pitch angle [rad]
yaw	Attitude setpoint yaw angle [rad]
thrust_setpoint_body	Throttle demand [-1, 1]^3
yaw_sp_move_rate_rad_s	Yaw setpoint move rate [rad/s]

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

• px4_ros2_cpp/include/px4_ros2/control/setpoint_types/experimental/attitude.hpp