MipResources::HummingBirdUavComm Class Reference
[Unmanned Air Vehicle]

Implements methods for communication with AscTec HummingBird. More...

#include <HummingBirdUavComm.h>

List of all members.

Public Member Functions
string	getObjectName () const
	Mandatory from MIPObject class.
	HummingBirdUavComm (int argc, const char *argv[])
	Constructor with parameters.
	HummingBirdUavComm (const char *portname)
	Constructor with single parameter.
	~HummingBirdUavComm ()
	Destructor.
uint	getPort ()
	getPort: returns serial port file descriptor.
int	send (void *msg, unsigned short size)
	Low level function. Simply send an array of char on port.
int	receive (void *buffer, unsigned short numChar)
	Low level function. Simply receive a specified number of chars on port.
int	requestData (unsigned short dataType)
	Send a message of data request to the HummingBird.
int	waitForData (void *dataP, int &packet_descriptor)
	Starts a loop waiting for data structs.
int	transmitControl (struct LABROB_CTRL_INPUT &ctrl)
	Transmits a single control sequence (control input).
int	transmitControlFlags (struct LABROB_CTRL_FLAGS &ctrl)
	Transmits a single control sequence (control flags).
int	transmitControlGains (struct LABROB_CONTROLLERS_GAINS &ctrl)
	Transmits a single control sequence (controllers gains).
int	transmitFilterGains (struct LABROB_FILTERS_GAINS &ctrl)
	Transmits a single control sequence (filters gains).
int	transmitPoseInput (struct LABROB_POSE_INPUT &ctrl)
	Transmits a single control sequence (pose informations).
unsigned short	crc16 (void *data, unsigned short cnt)
	Implements crc16 algorithm.

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Detailed Description

Implements methods for communication with AscTec HummingBird.

Author:

Lorenzo Rosa TODO Modifica del tempo di lettura dati in base a quello impostato sul quadrotor. TODO Invio / ricezione dei pacchetti di selezione delle frequenze di invio dati/controllo. TODO Rivedere polling e funzioni di invio/ricezione. TODO Sicronizzazione clock (su win? su linux? su entrambi!). TODO Creazione di pacchetti di attivazione/stop di invio dati.

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

• resources/Uav/HummingBirdUavComm.h
• resources/Uav/HummingBirdUavComm.cpp