mavlink: move POSITION_TARGET_GLOBAL_INT to separate streams header

src/modules/mavlink/mavlink_messages.cpp

@@ -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

@@ -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

@@ -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