diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index c16658c208..2e33c63b31 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1497,15 +1497,16 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ESC_STATUS", 1.0f); configure_stream_local("ESTIMATOR_STATUS", 0.5f); configure_stream_local("EXTENDED_SYS_STATE", 1.0f); - configure_stream_local("GLOBAL_POSITION_INT", 5.0f); configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f); - configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f); configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f); + configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f); + configure_stream_local("GLOBAL_POSITION_INT", 5.0f); configure_stream_local("GPS2_RAW", 1.0f); configure_stream_local("GPS_GLOBAL_ORIGIN", 0.1f); configure_stream_local("GPS_RAW_INT", 1.0f); configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); + configure_stream_local("HYGROMETER_SENSOR", 0.1f); configure_stream_local("LOCAL_POSITION_NED", 1.0f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.0f); configure_stream_local("OBSTACLE_DISTANCE", 1.0f); @@ -1558,14 +1559,15 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ESTIMATOR_STATUS", 1.0f); configure_stream_local("EXTENDED_SYS_STATE", 5.0f); configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f); - configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f); configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f); + configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f); configure_stream_local("GLOBAL_POSITION_INT", 50.0f); configure_stream_local("GPS2_RAW", unlimited_rate); configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); configure_stream_local("GPS_RAW_INT", unlimited_rate); configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); + configure_stream_local("HYGROMETER_SENSOR", 1.0f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f); configure_stream_local("OPTICAL_FLOW_RAD", 10.0f); configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f); @@ -1627,6 +1629,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); configure_stream_local("GPS_RAW_INT", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); + configure_stream_local("HYGROMETER_SENSOR", 1.0f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f); configure_stream_local("OPTICAL_FLOW_RAD", 1.0f); configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f); @@ -1662,6 +1665,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GLOBAL_POSITION_INT", 10.0f); configure_stream_local("GPS_RAW_INT", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); + configure_stream_local("HYGROMETER_SENSOR", 0.1f); configure_stream_local("RC_CHANNELS", 5.0f); configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f); configure_stream_local("SYS_STATUS", 5.0f); @@ -1708,6 +1712,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HIGHRES_IMU", 50.0f); configure_stream_local("HOME_POSITION", 0.5f); + configure_stream_local("HYGROMETER_SENSOR", 1.0f); configure_stream_local("MAG_CAL_REPORT", 1.0f); configure_stream_local("MANUAL_CONTROL", 5.0f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f); diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 17451f25d8..ca174cd973 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -79,13 +79,14 @@ #include "streams/GLOBAL_POSITION_INT.hpp" #include "streams/GPS_GLOBAL_ORIGIN.hpp" #include "streams/GPS_RAW_INT.hpp" -#include "streams/GPS_STATUS.hpp" #include "streams/GPS_RTCM_DATA.hpp" +#include "streams/GPS_STATUS.hpp" #include "streams/HEARTBEAT.hpp" #include "streams/HIGHRES_IMU.hpp" #include "streams/HIL_ACTUATOR_CONTROLS.hpp" #include "streams/HIL_STATE_QUATERNION.hpp" #include "streams/HOME_POSITION.hpp" +#include "streams/HYGROMETER_SENSOR.hpp" #include "streams/LANDING_TARGET.hpp" #include "streams/LOCAL_POSITION_NED.hpp" #include "streams/MAG_CAL_REPORT.hpp" @@ -420,6 +421,9 @@ static const StreamListItem streams_list[] = { #if defined(HOME_POSITION_HPP) create_stream_list_item(), #endif // HOME_POSITION_HPP +#if defined(HYGROMETER_SENSOR_HPP) + create_stream_list_item(), +#endif // HYGROMETER_SENSOR_HPP #if defined(SERVO_OUTPUT_RAW_HPP) create_stream_list_item >(), create_stream_list_item >(), diff --git a/src/modules/mavlink/streams/HYGROMETER_SENSOR.hpp b/src/modules/mavlink/streams/HYGROMETER_SENSOR.hpp new file mode 100644 index 0000000000..9787f9dee2 --- /dev/null +++ b/src/modules/mavlink/streams/HYGROMETER_SENSOR.hpp @@ -0,0 +1,84 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef HYGROMETER_SENSOR_HPP +#define HYGROMETER_SENSOR_HPP + +#include +#include + +class MavlinkStreamHygrometerSensor : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHygrometerSensor(mavlink); } + + static constexpr const char *get_name_static() { return "HYGROMETER_SENSOR"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HYGROMETER_SENSOR; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _sensor_hygrometer_subs.advertised_count() * (MAVLINK_MSG_ID_HYGROMETER_SENSOR_LEN + + MAVLINK_NUM_NON_PAYLOAD_BYTES); + } + +private: + explicit MavlinkStreamHygrometerSensor(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::SubscriptionMultiArray _sensor_hygrometer_subs{ORB_ID::sensor_hygrometer}; + + bool send() override + { + bool updated = false; + + for (int i = 0; i < _sensor_hygrometer_subs.size(); i++) { + sensor_hygrometer_s sensor_hygrometer; + + if (_sensor_hygrometer_subs[i].update(&sensor_hygrometer)) { + mavlink_hygrometer_sensor_t msg{}; + msg.id = i; // uint8_t Hygrometer ID + msg.temperature = roundf(sensor_hygrometer.temperature * 100.f); // degrees to centidegrees (int16_t) + msg.humidity = roundf(sensor_hygrometer.humidity); // % (uint16_t) + + mavlink_msg_hygrometer_sensor_send_struct(_mavlink->get_channel(), &msg); + + updated = true; + } + } + + return updated; + } +}; +#endif // HYGROMETER_SENSOR_HPP