px4_ros2::DirectActuatorsSetpointType Class Reference

Setpoint type for direct actuator control (servos and/or motors) More...

#include <px4_ros2/control/setpoint_types/direct_actuators.hpp>

Inheritance diagram for px4_ros2::DirectActuatorsSetpointType:

Public Member Functions
	DirectActuatorsSetpointType (Context &context)
Configuration	getConfiguration () override
float	desiredUpdateRateHz () override
void	updateServos (const Eigen::Matrix< float, kMaxNumServos, 1 > &servo_commands)
void	updateMotors (const Eigen::Matrix< float, kMaxNumMotors, 1 > &motor_commands)
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)

Static Public Attributes
static constexpr int	kMaxNumMotors = px4_msgs::msg::ActuatorMotors::NUM_CONTROLS
static constexpr int	kMaxNumServos = px4_msgs::msg::ActuatorServos::NUM_CONTROLS

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 actuator control (servos and/or motors)

Member Function Documentation

updateMotors()

void px4_ros2::DirectActuatorsSetpointType::updateMotors

(

const Eigen::Matrix< float, kMaxNumMotors, 1 > &

motor_commands

)

Send motors setpoint

Parameters

motor_commands

range: [-1, 1], where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN), and NaN maps to disarmed (stop the motors)

updateServos()

void px4_ros2::DirectActuatorsSetpointType::updateServos

(

const Eigen::Matrix< float, kMaxNumServos, 1 > &

servo_commands

)

Send servos setpoint

Parameters

servo_commands

range: [-1, 1], where 1 means maximum positive position, -1 maximum negative and NaN maps to disarmed

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

• px4_ros2_cpp/include/px4_ros2/control/setpoint_types/direct_actuators.hpp