Provides access to the vehicle's home position.
More...
#include <px4_ros2/vehicle_state/home_position.hpp>
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| HomePosition (Context &context) |
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| Eigen::Vector3f | localPosition () const |
| | Get the vehicle's home position in local coordinates. More...
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| Eigen::Vector3d | globalPosition () const |
| | Get the vehicle's home position in global coordinates. More...
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| float | yaw () const |
| | Get the vehicle's home position yaw. More...
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| bool | localPositionValid () const |
| | Check if vehicle's local home position is valid (xyz). More...
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| bool | globaHorizontalPositionValid () const |
| | Check if vehicle's global horizontal home position is valid (lat, lon). More...
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| bool | altitudeValid () const |
| | Check if vehicle's home position altitude is valid. More...
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| bool | manualHome () const |
| | Check if home position has been set manually. More...
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| Subscription (Context &context, const std::string &topic) |
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| void | onUpdate (const UpdateCallback &callback) |
| | Add a callback to execute when receiving a new message. More...
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| const px4_msgs::msg::HomePosition & | last () const |
| | Get the last-received message. More...
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| const rclcpp::Time & | lastTime () const |
| | Get the receive-time of the last message. More...
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| bool | lastValid (const std::chrono::duration< int64_t, DurationT > max_delay=500ms) const |
| | Check whether the last message is still valid. To be valid, the message must have been received within a given time of the current time. More...
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Provides access to the vehicle's home position.
◆ altitudeValid()
| bool px4_ros2::HomePosition::altitudeValid |
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const |
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inline |
Check if vehicle's home position altitude is valid.
- Returns
- true if altitude has been set, otherwise false
◆ globaHorizontalPositionValid()
| bool px4_ros2::HomePosition::globaHorizontalPositionValid |
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const |
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Check if vehicle's global horizontal home position is valid (lat, lon).
- Returns
- true if latitude and longitude have been set, otherwise false
◆ globalPosition()
| Eigen::Vector3d px4_ros2::HomePosition::globalPosition |
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const |
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Get the vehicle's home position in global coordinates.
- Returns
- the global coordinates of the home position (latitude [°], longitude [°], altitude [m AMSL])
◆ localPosition()
| Eigen::Vector3f px4_ros2::HomePosition::localPosition |
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const |
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inline |
Get the vehicle's home position in local coordinates.
- Returns
- the local coordinates of the home position (NED) [m]
◆ localPositionValid()
| bool px4_ros2::HomePosition::localPositionValid |
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const |
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inline |
Check if vehicle's local home position is valid (xyz).
- Returns
- true if the local position has been set, otherwise false
◆ manualHome()
| bool px4_ros2::HomePosition::manualHome |
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const |
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Check if home position has been set manually.
- Returns
- true if set manually, otherwise false
◆ yaw()
| float px4_ros2::HomePosition::yaw |
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const |
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inline |
Get the vehicle's home position yaw.
- Returns
- the yaw of the home position (NED) [rad]
The documentation for this class was generated from the following file:
Public Member Functions inherited from px4_ros2::Subscription< px4_msgs::msg::HomePosition >