Base class for a global position measurement provider. More...

#include <px4_ros2/navigation/experimental/global_position_measurement_interface.hpp>

Inheritance diagram for px4_ros2::GlobalPositionMeasurementInterface:

Public Member Functions
	GlobalPositionMeasurementInterface (rclcpp::Node &node, uint8_t id=1, GlobalPositionSource source=GlobalPositionSource::Vision, std::string topic_namespace_prefix="")

void	update (const GlobalPositionMeasurement &global_position_measurement) const
	Publishes a global position measurement to the FMU. Throws an exception if the following conditions are not met:

void	reset ()
	Notify the FMU that the global position estimate has been reset.

Public Member Functions inherited from px4_ros2::PositionMeasurementInterfaceBase
	PositionMeasurementInterfaceBase (rclcpp::Node &node, std::string topic_namespace_prefix="")

bool	doRegister ()

Public Member Functions inherited from px4_ros2::Context
	Context (rclcpp::Node &node, std::string topic_namespace_prefix="")

rclcpp::Node &	node ()

const std::string &	topicNamespacePrefix () const

virtual void	addSetpointType (SetpointBase *setpoint)

virtual void	setRequirement (const RequirementFlags &requirement_flags)

Additional Inherited Members
Protected Attributes inherited from px4_ros2::PositionMeasurementInterfaceBase
rclcpp::Node &	_node

Detailed Description

Base class for a global position measurement provider.

Constructor & Destructor Documentation

◆ GlobalPositionMeasurementInterface()

px4_ros2::GlobalPositionMeasurementInterface::GlobalPositionMeasurementInterface	(	rclcpp::Node &	node,
		uint8_t	id = `1`,
		GlobalPositionSource	source = `GlobalPositionSource::Vision`,
		std::string	topic_namespace_prefix = `""`
	)

explicit

Parameters

node	ROS node
id	Unique identifier non-zero for this position source. PX4 uses this to demultiplex measurements from multiple external positioning sources on the same topic.
source	Source type of the position data. Defaults to GlobalPositionSource::Vision.
topic_namespace_prefix	optional topic prefix

Member Function Documentation

◆ reset()

void px4_ros2::GlobalPositionMeasurementInterface::reset ( )

inline

Notify the FMU that the global position estimate has been reset.

Increments the reset counter for horizontal position (latitude and longitude) to signal the EKF of a discontinuity in external position data (e.g., loss of tracking or reinitialization). Future measurement updates will contain the incremented counter. This prevents the EKF from rejecting future measurement updates after an inconsistency in data.

◆ update()

void px4_ros2::GlobalPositionMeasurementInterface::update ( const GlobalPositionMeasurement & global_position_measurement ) const

Publishes a global position measurement to the FMU. Throws an exception if the following conditions are not met:

The sample timestamp is defined.
Values do not have a NAN.
If a measurement value is provided, its associated variance value is well defined.
Parameters

global_position_measurement The global position measurement to publish.

Exceptions

px4_ros2::NavigationInterfaceInvalidArgument if the conditions above are not met.

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

px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_position_measurement_interface.hpp