diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 133233066c..1330fecb99 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -82,11 +82,9 @@ #include #include #include -#include #include #include #include -#include #include #include #include @@ -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 >(), create_stream_list_item >(), create_stream_list_item(), +#if defined(POSITION_TARGET_GLOBAL_INT_HPP) create_stream_list_item(), +#endif // POSITION_TARGET_GLOBAL_INT_HPP #if defined(POSITION_TARGET_LOCAL_NED_HPP) create_stream_list_item(), #endif // POSITION_TARGET_LOCAL_NED_HPP diff --git a/src/modules/mavlink/streams/EXTENDED_SYS_STATE.hpp b/src/modules/mavlink/streams/EXTENDED_SYS_STATE.hpp index 511059b717..b6cf44e634 100644 --- a/src/modules/mavlink/streams/EXTENDED_SYS_STATE.hpp +++ b/src/modules/mavlink/streams/EXTENDED_SYS_STATE.hpp @@ -34,6 +34,11 @@ #ifndef EXTENDED_SYS_STATE_HPP #define EXTENDED_SYS_STATE_HPP +#include +#include +#include +#include + class MavlinkStreamExtendedSysState : public MavlinkStream { public: diff --git a/src/modules/mavlink/streams/POSITION_TARGET_GLOBAL_INT.hpp b/src/modules/mavlink/streams/POSITION_TARGET_GLOBAL_INT.hpp new file mode 100644 index 0000000000..f568e2aadc --- /dev/null +++ b/src/modules/mavlink/streams/POSITION_TARGET_GLOBAL_INT.hpp @@ -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 +#include +#include + +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