Class representing a drone. More...

#include <PioneerDrone.hpp>

Inheritance diagram for blunux::drone::PioneerDrone:

Public Member Functions
void	set_thrusters (pmu::PioneerThrustersSetpoint thrusters_set_point)
	Set value of the thrusters.

virtual void	set_force (thrust_allocation::ControlForce force)
	Apply a force on the drone.

pmu::PioneerThrustersSetpoint	get_thrusters_set_point () const
	Get the thrusters set point.

Public Member Functions inherited from blunux::drone::Drone
	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 ()

Additional Inherited Members
Protected Attributes inherited from blunux::drone::Drone
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 pioneer-class drone (Pioneer, Pro, X1, X3) 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.

Examples: be-drone-battery.cpp, be-drone-depth.cpp, be-drone-imu.cpp, be-drone-indicators.cpp, be-drone-lights.cpp, be-drone-movement.cpp, be-drone-thrusters.cpp, and be-drone-tilt.cpp.

Member Function Documentation

◆ get_thrusters_set_point()

pmu::PioneerThrustersSetpoint blunux::drone::PioneerDrone::get_thrusters_set_point ( ) const

Get the thrusters set point.

Returns: Thrusters setpoint

◆ set_force()

virtual void blunux::drone::PioneerDrone::set_force ( thrust_allocation::ControlForce force )

virtual

Apply a force on the drone.

Parameters

force Force to apply to the drone

Examples: be-drone-movement.cpp.

◆ set_thrusters()

void blunux::drone::PioneerDrone::set_thrusters ( pmu::PioneerThrustersSetpoint thrusters_set_point )

Set value of the thrusters.

Parameters

thrusters_set_point Thruster setpoint

Examples: be-drone-thrusters.cpp.

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

/github/workspace/src/drone/PioneerDrone.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ get_thrusters_set_point()

◆ set_force()

◆ set_thrusters()