navigation.navigation_controller_if.NavigationControllerIf Class Reference

Provide vehicle orientation, motion, and optional GPS state. More...

Inheritance diagram for navigation.navigation_controller_if.NavigationControllerIf:

Public Member Functions
bool	is_started (self)
	Return whether the controller is ready to read state.
bool	is_available (self)
	Return whether navigation support is configured and available.
str|None	status_message (self)
	Return an availability message, if one applies.
MotionCalibration|None	calibration (self)
	Return the active stationary calibration, if any.
None	start (self)
	Start the controller and its configured sources.
None	stop (self)
	Stop the controller and its configured sources.
None	reset_heading (self, float heading_deg=0.0)
	Reset relative heading to the requested number of degrees.
MotionCalibration	calibrate_stationary (self, int sample_count=100, float sample_interval_s=0.01)
	Measure motion-sensor biases while stationary.
None	update_gps_state (self, GpsState gps_state)
	Accept the latest normalized GPS report.
NavigationState	read_state (self)
	Read and return the current navigation state.

Detailed Description

Provide vehicle orientation, motion, and optional GPS state.

Member Function Documentation

calibrate_stationary()

MotionCalibration navigation.navigation_controller_if.NavigationControllerIf.calibrate_stationary	(		self,
		int	sample_count = 100,
		float	sample_interval_s = 0.01
	)

Measure motion-sensor biases while stationary.

Parameters

sample_count	Number of stationary samples to collect.
sample_interval_s	Delay between samples in seconds.

Returns

Measured stationary motion calibration.

Reimplemented in navigation.navigation_controller_stub.NavigationControllerStub, and navigation.unconfigured_navigation_controller.UnconfiguredNavigationController.

calibration()

MotionCalibration | None navigation.navigation_controller_if.NavigationControllerIf.calibration

(

self

)

Return the active stationary calibration, if any.

Returns

Active calibration, or None before calibration.

Reimplemented in navigation.navigation_controller_stub.NavigationControllerStub, and navigation.unconfigured_navigation_controller.UnconfiguredNavigationController.

is_available()

bool navigation.navigation_controller_if.NavigationControllerIf.is_available

(

self

)

Return whether navigation support is configured and available.

Return values

True	Navigation support is available.
False	Navigation support is unavailable.

Reimplemented in navigation.navigation_controller_stub.NavigationControllerStub, and navigation.unconfigured_navigation_controller.UnconfiguredNavigationController.

is_started()

bool navigation.navigation_controller_if.NavigationControllerIf.is_started

(

self

)

Return whether the controller is ready to read state.

Return values

True	The controller has been started.
False	The controller has not been started.

Reimplemented in navigation.navigation_controller_stub.NavigationControllerStub, and navigation.unconfigured_navigation_controller.UnconfiguredNavigationController.

read_state()

NavigationState navigation.navigation_controller_if.NavigationControllerIf.read_state

(

self

)

Read and return the current navigation state.

Returns

Current orientation, motion, and optional GPS state.

Reimplemented in navigation.navigation_controller_stub.NavigationControllerStub, and navigation.unconfigured_navigation_controller.UnconfiguredNavigationController.

reset_heading()

None navigation.navigation_controller_if.NavigationControllerIf.reset_heading	(		self,
		float	heading_deg = 0.0
	)

Reset relative heading to the requested number of degrees.

Parameters

heading_deg

Desired heading after resetting, in degrees.

Reimplemented in navigation.navigation_controller_stub.NavigationControllerStub, and navigation.unconfigured_navigation_controller.UnconfiguredNavigationController.

status_message()

str | None navigation.navigation_controller_if.NavigationControllerIf.status_message

(

self

)

Return an availability message, if one applies.

Returns

Human-readable status, or None when no message applies.

Reimplemented in navigation.navigation_controller_stub.NavigationControllerStub, and navigation.unconfigured_navigation_controller.UnconfiguredNavigationController.

update_gps_state()

None navigation.navigation_controller_if.NavigationControllerIf.update_gps_state	(		self,
		GpsState	gps_state
	)

Accept the latest normalized GPS report.

Parameters

gps_state

Latest normalized GPS state.

Reimplemented in navigation.unconfigured_navigation_controller.UnconfiguredNavigationController, and navigation.navigation_controller_stub.NavigationControllerStub.

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

• controllers/navigation/navigation_controller_if.py