Class representing a drone. More...

#include <Drone.hpp>

Inheritance diagram for blunux::drone::Drone:

Public Member Functions
	Drone (std::array< std::shared_ptr< imu::IImu >, 2 > imu, std::shared_ptr< pmu::IPMU > pmu, std::shared_ptr< tilt::ITiltControl > tilt_controller)

void	set_light (float intensity)
	Sets intensity of the drone lights.

void	set_indicator (blunux::pmu::IndicatorsSetpoint indicators)
	Enable/diable the indicators on the light board.

float	get_light () const
	Get the current light intensity.

float	get_depth (bool wait_for_data=true) const
	Get the depth.

float	get_water_temperature (bool wait_for_data=true) const
	Get the water temperature.

std::string	get_blunux_version () const
	Get the Blunux version.

std::string	get_model_name () const
	Get the model name.

blueye::protocol::Model	get_model () const
	Get the drone Model.

pmu::IndicatorsSetpoint	get_indicator () const
	Get the indicator status.

imu::ImuData	get_imu_raw (unsigned int n) const
	Get the raw IMU data of IMU.

imu::ImuData	get_imu () const
	Get the calibrated IMU data.

imu::ImuSelfTest	imu_self_test (unsigned int n) const
	Get the IMU self test result.

sensors::DepthSelfTestResult	depth_self_test () const
	Get the depth self test result.

std::optional< float >	get_battery_percentage (bool wait_for_data=true) const
	Get the battery percentage.

std::optional< std::string >	get_battery_type (bool wait_for_data=true) const
	Get the battery type.

void	add_pressure_callback (std::function< void(const Pressure &)> cb)

void	add_temperature_callback (std::function< void(const Temperature &)> cb)

void	add_error_callback (std::function< void(const DroneError &)> cb)

std::shared_ptr< tilt::ITiltControl >	tilt ()

std::shared_ptr< observer::ICompassCalibration >	compass_calibration ()

std::shared_ptr< pmu::IPMUCallbacks >	pmu_callbacks ()

std::shared_ptr< observer::IObserverState >	observer_state ()

void	set_fluid_density (double density)
	Set the fluid density to change between saltwater and freshwater for the depth output.

double	get_fluid_density () const
	Get the fluid density.

blueye::protocol::PressureSensorType	get_depth_sensor_type () const
	Get the depth sensor type.

void	clear_callbacks ()

Protected Attributes
const std::array< std::shared_ptr< imu::IImu >, 2 >	imu

const std::shared_ptr< pmu::IPMU >	pmu

std::shared_ptr< observer::PioneerObserver >	observer

Detailed Description

Class representing a drone.

This class represents a drone and provides functionalities for controlling and monitoring the drone's behavior. It encapsulates various components and subsystems of the drone, such as the flight controller, sensors, and communication interfaces.

Member Function Documentation

◆ depth_self_test()

sensors::DepthSelfTestResult blunux::drone::Drone::depth_self_test ( ) const

Get the depth self test result.

Returns: Depth self test result

◆ get_battery_percentage()

std::optional< float > blunux::drone::Drone::get_battery_percentage ( bool wait_for_data = true ) const

Get the battery percentage.

Parameters

wait_for_data If true, wait for data from the PMU

Returns: Battery state of charge in %

Examples: be-drone-battery.cpp.

◆ get_battery_type()

std::optional< std::string > blunux::drone::Drone::get_battery_type ( bool wait_for_data = true ) const

Get the battery type.

Parameters

wait_for_data If true, wait for data from the PMU

Returns: Batterytype

Examples: be-drone-battery.cpp.

◆ get_blunux_version()

std::string blunux::drone::Drone::get_blunux_version ( ) const

Get the Blunux version.

Returns: Blunux version

◆ get_depth()

float blunux::drone::Drone::get_depth ( bool wait_for_data = true ) const

Get the depth.

Returns: Depth in m

Examples: be-drone-depth.cpp.

◆ get_depth_sensor_type()

blueye::protocol::PressureSensorType blunux::drone::Drone::get_depth_sensor_type ( ) const

inline

Get the depth sensor type.

Returns: blueye::protocol::PressureSensorType Depth sensor type

◆ get_fluid_density()

double blunux::drone::Drone::get_fluid_density ( ) const

inline

Get the fluid density.

Returns: double density in [g/L]

◆ get_imu()

imu::ImuData blunux::drone::Drone::get_imu ( ) const

Get the calibrated IMU data.

Returns: Calibrated imu data

Examples: be-drone-imu.cpp.

◆ get_imu_raw()

imu::ImuData blunux::drone::Drone::get_imu_raw ( unsigned int n ) const

Get the raw IMU data of IMU.

Parameters

n	IMU number

Returns: Imu data

Examples: be-drone-imu.cpp.

◆ get_indicator()

pmu::IndicatorsSetpoint blunux::drone::Drone::get_indicator ( ) const

Get the indicator status.

Returns: Indicator status

Examples: be-drone-indicators.cpp.

◆ get_light()

float blunux::drone::Drone::get_light ( ) const

Get the current light intensity.

Returns: Light intensity [0..1]

Examples: be-drone-lights.cpp.

◆ get_model()

blueye::protocol::Model blunux::drone::Drone::get_model ( ) const

Get the drone Model.

Returns: Drone model

◆ get_model_name()

std::string blunux::drone::Drone::get_model_name ( ) const

Get the model name.

Returns: Model name, f. ex. "X3"

◆ get_water_temperature()

float blunux::drone::Drone::get_water_temperature ( bool wait_for_data = true ) const

Get the water temperature.

Returns: Water temperature in °C

◆ imu_self_test()

imu::ImuSelfTest blunux::drone::Drone::imu_self_test ( unsigned int n ) const

Get the IMU self test result.

Parameters

n	IMU number

Returns: Imu self test result

◆ set_fluid_density()

void blunux::drone::Drone::set_fluid_density ( double density )

inline

Set the fluid density to change between saltwater and freshwater for the depth output.

Parameters

density Density in [g/L]

Returns: void

◆ set_indicator()

void blunux::drone::Drone::set_indicator ( blunux::pmu::IndicatorsSetpoint indicators )

Enable/diable the indicators on the light board.

Parameters

indicators Indicator status

Examples: be-drone-indicators.cpp.

◆ set_light()

void blunux::drone::Drone::set_light ( float intensity )

Sets intensity of the drone lights.

Parameters

intensity Light intensity [0..1]

Examples: be-drone-lights.cpp.

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

/github/workspace/src/drone/Drone.hpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ depth_self_test()

◆ get_battery_percentage()

◆ get_battery_type()

◆ get_blunux_version()

◆ get_depth()

◆ get_depth_sensor_type()

◆ get_fluid_density()

◆ get_imu()

◆ get_imu_raw()

◆ get_indicator()

◆ get_light()

◆ get_model()

◆ get_model_name()

◆ get_water_temperature()

◆ imu_self_test()

◆ set_fluid_density()

◆ set_indicator()

◆ set_light()