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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink.h
* Dummy mavlink node that interfaces to a mavros node via UDP
* This simulates the onboard mavlink app to some degree. It should be possible to
* send offboard setpoints via mavros to the SITL setup the same way as on the real system
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "ros/ros.h"
#include <mavconn/interface.h>
#include <px4/vehicle_attitude.h>
#include <px4/vehicle_attitude_setpoint.h>
#include <px4/offboard_control_mode.h>
namespace px4
{
class Mavlink
{
public:
Mavlink();
~Mavlink() {}
protected:
ros::NodeHandle _n;
mavconn::MAVConnInterface::Ptr _link;
ros::Subscriber _v_att_sub;
ros::Publisher _v_att_sp_pub;
ros::Publisher _offboard_control_mode_pub;
/**
*
* Simulates output of attitude data from the FCU
* Equivalent to the mavlink stream ATTITUDE
*
* */
void VehicleAttitudeCallback(const vehicle_attitudeConstPtr &msg);
/**
*
* Handle incoming mavlink messages ant publish them to ROS ("Mavlink Receiver")
*
* */
void handle_msg(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid);
/**
*
* Handle SET_ATTITUDE_TARGET mavlink messages
*
* */
void handle_msg_set_attitude_target(const mavlink_message_t *mmsg);
};
}
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