mavlink: add HYGROMETER_SENSOR stream

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);

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<MavlinkStreamHomePosition>(),
 #endif // HOME_POSITION_HPP
+#if defined(HYGROMETER_SENSOR_HPP)
+	create_stream_list_item<MavlinkStreamHygrometerSensor>(),
+#endif // HYGROMETER_SENSOR_HPP
 #if defined(SERVO_OUTPUT_RAW_HPP)
 	create_stream_list_item<MavlinkStreamServoOutputRaw<0> >(),
 	create_stream_list_item<MavlinkStreamServoOutputRaw<1> >(),

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 <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/topics/sensor_hygrometer.h>
+
+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_s> _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