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mavlink: move POSITION_TARGET_GLOBAL_INT to separate streams header

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This commit is contained in:
Daniel Agar
2020-12-27 21:08:12 -05:00
committed by Lorenz Meier
parent 672a1c90aa
commit 3b20310e9c
3 changed files with 122 additions and 98 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -98
View File
@@ -82,11 +82,9 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_imu.h>
#include <uORB/topics/vehicle_imu_status.h>
#include <uORB/topics/vehicle_magnetometer.h>
@@ -121,6 +119,7 @@ using matrix::wrap_2pi;
#include "streams/OPTICAL_FLOW_RAD.hpp"
#include "streams/ORBIT_EXECUTION_STATUS.hpp"
#include "streams/PING.hpp"
#include "streams/POSITION_TARGET_GLOBAL_INT.hpp"
#include "streams/POSITION_TARGET_LOCAL_NED.hpp"
#include "streams/PROTOCOL_VERSION.hpp"
#include "streams/RAW_RPM.hpp"
@@ -3329,102 +3328,6 @@ protected:
}
};
class MavlinkStreamPositionTargetGlobalInt : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamPositionTargetGlobalInt::get_name_static();
}
static constexpr const char *get_name_static()
{
return "POSITION_TARGET_GLOBAL_INT";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamPositionTargetGlobalInt(mavlink);
}
unsigned get_size() override
{
return _pos_sp_triplet_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _lpos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
/* do not allow top copying this class */
MavlinkStreamPositionTargetGlobalInt(MavlinkStreamPositionTargetGlobalInt &) = delete;
MavlinkStreamPositionTargetGlobalInt &operator = (const MavlinkStreamPositionTargetGlobalInt &) = delete;
protected:
explicit MavlinkStreamPositionTargetGlobalInt(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_control_mode_s control_mode{};
_control_mode_sub.copy(&control_mode);
if (control_mode.flag_control_position_enabled) {
position_setpoint_triplet_s pos_sp_triplet{};
_pos_sp_triplet_sub.copy(&pos_sp_triplet);
if (pos_sp_triplet.timestamp > 0 && pos_sp_triplet.current.valid && PX4_ISFINITE(pos_sp_triplet.current.lat)
&& PX4_ISFINITE(pos_sp_triplet.current.lon)) {
mavlink_position_target_global_int_t msg{};
msg.time_boot_ms = hrt_absolute_time() / 1000;
msg.coordinate_frame = MAV_FRAME_GLOBAL_INT;
msg.lat_int = pos_sp_triplet.current.lat * 1e7;
msg.lon_int = pos_sp_triplet.current.lon * 1e7;
msg.alt = pos_sp_triplet.current.alt;
vehicle_local_position_setpoint_s lpos_sp;
if (_lpos_sp_sub.copy(&lpos_sp)) {
// velocity
msg.vx = lpos_sp.vx;
msg.vy = lpos_sp.vy;
msg.vz = lpos_sp.vz;
// acceleration
msg.afx = lpos_sp.acceleration[0];
msg.afy = lpos_sp.acceleration[1];
msg.afz = lpos_sp.acceleration[2];
// yaw
msg.yaw = lpos_sp.yaw;
msg.yaw_rate = lpos_sp.yawspeed;
}
mavlink_msg_position_target_global_int_send_struct(_mavlink->get_channel(), &msg);
return true;
}
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -3536,7 +3439,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamServoOutputRaw<0> >(),
create_stream_list_item<MavlinkStreamServoOutputRaw<1> >(),
create_stream_list_item<MavlinkStreamHILActuatorControls>(),
#if defined(POSITION_TARGET_GLOBAL_INT_HPP)
create_stream_list_item<MavlinkStreamPositionTargetGlobalInt>(),
#endif // POSITION_TARGET_GLOBAL_INT_HPP
#if defined(POSITION_TARGET_LOCAL_NED_HPP)
create_stream_list_item<MavlinkStreamPositionTargetLocalNed>(),
#endif // POSITION_TARGET_LOCAL_NED_HPP
src/modules/mavlink/streams/EXTENDED_SYS_STATE.hpp
+5
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@@ -34,6 +34,11 @@
#ifndef EXTENDED_SYS_STATE_HPP
#define EXTENDED_SYS_STATE_HPP
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
class MavlinkStreamExtendedSysState : public MavlinkStream
{
public:
src/modules/mavlink/streams/POSITION_TARGET_GLOBAL_INT.hpp
+114
View File
@@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (c) 2020 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 POSITION_TARGET_GLOBAL_INT_HPP
#define POSITION_TARGET_GLOBAL_INT_HPP
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
class MavlinkStreamPositionTargetGlobalInt : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamPositionTargetGlobalInt(mavlink); }
static constexpr const char *get_name_static() { return "POSITION_TARGET_GLOBAL_INT"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _pos_sp_triplet_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamPositionTargetGlobalInt(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _lpos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
bool send() override
{
vehicle_control_mode_s control_mode{};
_control_mode_sub.copy(&control_mode);
if (control_mode.flag_control_position_enabled) {
position_setpoint_triplet_s pos_sp_triplet{};
_pos_sp_triplet_sub.copy(&pos_sp_triplet);
if (pos_sp_triplet.timestamp > 0 && pos_sp_triplet.current.valid
&& PX4_ISFINITE(pos_sp_triplet.current.lat) && PX4_ISFINITE(pos_sp_triplet.current.lon)) {
mavlink_position_target_global_int_t msg{};
msg.time_boot_ms = hrt_absolute_time() / 1000;
msg.coordinate_frame = MAV_FRAME_GLOBAL_INT;
msg.lat_int = pos_sp_triplet.current.lat * 1e7;
msg.lon_int = pos_sp_triplet.current.lon * 1e7;
msg.alt = pos_sp_triplet.current.alt;
vehicle_local_position_setpoint_s lpos_sp;
if (_lpos_sp_sub.copy(&lpos_sp) && (lpos_sp.timestamp > 0)) {
// velocity
msg.vx = lpos_sp.vx;
msg.vy = lpos_sp.vy;
msg.vz = lpos_sp.vz;
// acceleration
msg.afx = lpos_sp.acceleration[0];
msg.afy = lpos_sp.acceleration[1];
msg.afz = lpos_sp.acceleration[2];
// yaw
msg.yaw = lpos_sp.yaw;
msg.yaw_rate = lpos_sp.yawspeed;
}
mavlink_msg_position_target_global_int_send_struct(_mavlink->get_channel(), &msg);
return true;
}
}
return false;
}
};
#endif // POSITION_TARGET_GLOBAL_INT_HPP