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LibrePilot/matlab/GCSPlugin/GCSControl.m

48 lines
1.2 KiB
Matlab

% GCSCONTROL
% This class allows the user to send 4-axis stick commands to OpenPilot
% GCS.
%
% Create class by
% control = GCSControl
%
% Open connection by
% control.connect('01.23.45.67', 89)
% where the first value is the IP address of the computer running GCS and
% the second value is the port on which GCS is listening.
%
% Send command by
% control.command(pitch, yaw, roll, throttle)
% where all variables are between [-1,1]
%
% Close connection by
% control.close()
classdef GCSControl < handle
properties
udpObj;
isConnected=false;
end
methods
function obj=GCSControl()
obj.isConnected = false;
end
function obj=connect(obj,rhost,rport)
obj.udpObj = udp(rhost,rport);
fopen(obj.udpObj);
obj.isConnected = true;
end
function obj=command(obj,pitch,yaw,roll,throttle)
if(obj.isConnected)
fwrite(obj.udpObj,[42,pitch,yaw,roll,throttle,36],'double')
end
end
function obj=close(obj)
if(obj.isConnected)
fclose(obj.udpObj);
obj.isConnected = false;
end
end
end
end