Message Handler Class Reference¶

class LA_MsgHandler : public MsgHandler¶

Base class for dataflash message handlers.

Extend this based on the type of the DataFlash message you wish to take data from

Subclassed by LA_MsgHandler_ACC, LA_MsgHandler_AHR2, LA_MsgHandler_ATT, LA_MsgHandler_BARO, LA_MsgHandler_EKF1, LA_MsgHandler_EKF4, LA_MsgHandler_ERR, LA_MsgHandler_EV, LA_MsgHandler_GPA, LA_MsgHandler_GPS, LA_MsgHandler_GYR, LA_MsgHandler_IMU, LA_MsgHandler_MAG, LA_MsgHandler_MODE, LA_MsgHandler_MSG, LA_MsgHandler_NKF1, LA_MsgHandler_NKF4, LA_MsgHandler_ORGN, LA_MsgHandler_PARM, LA_MsgHandler_PM, LA_MsgHandler_POS, LA_MsgHandler_POWR, LA_MsgHandler_RATE, LA_MsgHandler_RCOU, LA_MsgHandler_STAT, LA_MsgHandler_UBX3, LA_MsgHandler_VIBE, LA_MsgHandler_XKF1, LA_MsgHandler_XKF4

Public Functions

inline LA_MsgHandler(std::string name, const struct log_Format &f, Analyze *analyze, AnalyzerVehicle::Base *&vehicle)¶

construct a DataFlash Message Handler

Note

evaluate_all is called on “analyze” after the vehicle state has been updated

Parameters

• name – Name by which this message handler is known; e.g. GPS2

• f – DataFlash log format corresponding to the DataFlash message type

• analyze – Object which is responsible for coordinating analysis of vehicle state

• vehicle – a vehicle whose state should be updated by the message handler

inline virtual void process(const uint8_t *msg)¶

process a DataFlash message, update state, run analysis on new vehicle state

Parameters

msg – a DataFlash message

inline const std::string name() const¶

return the name of this Message Handler (e.g. GPS2)

Protected Functions

virtual bool find_T(const uint8_t *msg, uint64_t &T)¶

Try to find a timestamp given a message.

Parameters

• msg – a dataflash message

• T – [out] a timestamp value to fill in

Returns

true if a timestamp was found

bool process_set_T(const uint8_t *msg)¶

Try to set vehicle model timestamp from a given message.

Returns

true if timestamp was set

inline uint64_t T() const¶

return the current vehicle timestamp

virtual void xprocess(const uint8_t *msg) = 0¶

process a DataFlash message, update vehicle model appropriately

AnalyzerVehicle::AltitudeEstimate *altitude_estimate()¶

convenience function producing an estimate to be used for state

AnalyzerVehicle::AttitudeEstimate *attitude_estimate()¶

convenience function producing an estimate to be used for state

AnalyzerVehicle::PositionEstimate *position_estimate()¶

convenience function producing an estimate to be used for state

AnalyzerVehicle::VelocityEstimate *velocity_estimate()¶

convenience function producing an estimate to be used for state

AnalyzerVehicle::GPSInfo *gpsinfo()¶

convenience function producing an estimate to be used for state

AnalyzerVehicle::IMU *imu()¶

convenience function producing IMU to be used for state

Protected Attributes

std::string _name¶

Analyze *_analyze¶

AnalyzerVehicle::Base *&_vehicle¶

class Analyzing_MAVLink_Message_Handler : public MAVLink_Message_Handler¶

Class to take data from decoded MAVLink messages, update the vehicle model and call the analyzers.

Add methods to this class to handle more MAVLink message types

Public Functions

Analyzing_MAVLink_Message_Handler(Analyze *analyze, AnalyzerVehicle::Base *&vehicle)¶

construct an object to take MAVLink messages, update the vehicle model and call analyzers on the vehicle model

Parameters

• analyze – object responsible for vehicle analysys

• vehicle – vehicle to analyze