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)

SetpointType	getSetpointType () 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 ()

virtual void	clearOptionalRequirements (px4_msgs::msg::SetpointConfigReply &setpoint_config_reply)

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()>

using	SetpointType = decltype(px4_msgs::msg::SetpointConfig::type)

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

◆ desiredUpdateRateHz()

float px4_ros2::DirectActuatorsSetpointType::desiredUpdateRateHz ( )

inlineoverridevirtual

Reimplemented from px4_ros2::SetpointBase.

◆ getSetpointType()

SetpointType px4_ros2::DirectActuatorsSetpointType::getSetpointType ( )

inlineoverridevirtual

Returns one of px4_msgs::msg::SetpointType::TYPE_*

Implements px4_ros2::SetpointBase.

◆ 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

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

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

Public Member Functions