VehicleRoutines

Description

This module provides several utility functions that facilitate the communication with the SITL instance. Each function generates a vector of instructions that command the simulated vehicle to perform a common task. This vector of instructions can be read by MAVLinkMobilityBase with the queueInstructions() method.

Functions

armTakeoff

std::vector<std::shared_ptr<Instruction>> armTakeoff(uint8_t senderSystem, uint8_t senderComponent, VehicleType type, float altitude, uint8_t targetSystem, uint8_t targetComponent, omnetpp::simtime_t timeout=60, int retries=3);

Instructs the vehicle to ARM and TAKEOFF

setMode

std::vector<std::shared_ptr<Instruction>> setMode(uint8_t senderSystem, uint8_t senderComponent, VehicleType type, Mode mode, uint8_t targetSystem, uint8_t targetComponent, omnetpp::simtime_t timeout=60, int retries=3);

Instructs the vehicle to set a specific Mode