diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index b5bece715b4..ad95c355c97 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -71,8 +71,6 @@ #include #include #include -#include -#include #include #include #include @@ -117,6 +115,7 @@ using matrix::wrap_2pi; #include "streams/GPS_STATUS.hpp" #include "streams/HIGH_LATENCY2.hpp" #include "streams/HIL_STATE_QUATERNION.hpp" +#include "streams/MANUAL_CONTROL.hpp" #include "streams/MOUNT_ORIENTATION.hpp" #include "streams/NAV_CONTROLLER_OUTPUT.hpp" #include "streams/OBSTACLE_DISTANCE.hpp" @@ -3584,89 +3583,6 @@ protected: } }; - -class MavlinkStreamManualControl : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamManualControl::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "MANUAL_CONTROL"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_MANUAL_CONTROL; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamManualControl(mavlink); - } - - unsigned get_size() override - { - return _manual_control_setpoint_sub.advertised() ? - (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; - uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)}; - - /* do not allow top copying this class */ - MavlinkStreamManualControl(MavlinkStreamManualControl &) = delete; - MavlinkStreamManualControl &operator = (const MavlinkStreamManualControl &) = delete; - -protected: - explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - manual_control_setpoint_s manual_control_setpoint; - - if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) { - mavlink_manual_control_t msg{}; - - msg.target = mavlink_system.sysid; - msg.x = manual_control_setpoint.x * 1000; - msg.y = manual_control_setpoint.y * 1000; - msg.z = manual_control_setpoint.z * 1000; - msg.r = manual_control_setpoint.r * 1000; - - manual_control_switches_s manual_control_switches{}; - - if (_manual_control_switches_sub.copy(&manual_control_switches)) { - unsigned shift = 2; - msg.buttons = 0; - msg.buttons |= (manual_control_switches.mode_switch << (shift * 0)); - msg.buttons |= (manual_control_switches.return_switch << (shift * 1)); - msg.buttons |= (manual_control_switches.posctl_switch << (shift * 2)); - msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3)); - msg.buttons |= (manual_control_switches.acro_switch << (shift * 4)); - msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5)); - msg.buttons |= (manual_control_switches.kill_switch << (shift * 6)); - } - - mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -3784,7 +3700,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), #endif // ATTITUDE_TARGET_HPP create_stream_list_item(), +#if defined(MANUAL_CONTROL_HPP) create_stream_list_item(), +#endif // MANUAL_CONTROL_HPP #if defined(TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP) create_stream_list_item(), #endif // TRAJECTORY_REPRESENTATION_WAYPOINTS_HPP diff --git a/src/modules/mavlink/streams/MANUAL_CONTROL.hpp b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp new file mode 100644 index 00000000000..3ddb1b48d80 --- /dev/null +++ b/src/modules/mavlink/streams/MANUAL_CONTROL.hpp @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * 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 MANUAL_CONTROL_HPP +#define MANUAL_CONTROL_HPP + +#include +#include + +class MavlinkStreamManualControl : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamManualControl(mavlink); } + + static constexpr const char *get_name_static() { return "MANUAL_CONTROL"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MANUAL_CONTROL; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _manual_control_setpoint_sub.advertised() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : + 0; + } + +private: + explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; + uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)}; + + bool send() override + { + manual_control_setpoint_s manual_control_setpoint; + + if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) { + mavlink_manual_control_t msg{}; + + msg.target = mavlink_system.sysid; + msg.x = manual_control_setpoint.x * 1000; + msg.y = manual_control_setpoint.y * 1000; + msg.z = manual_control_setpoint.z * 1000; + msg.r = manual_control_setpoint.r * 1000; + + manual_control_switches_s manual_control_switches{}; + + if (_manual_control_switches_sub.copy(&manual_control_switches)) { + unsigned shift = 2; + msg.buttons = 0; + msg.buttons |= (manual_control_switches.mode_switch << (shift * 0)); + msg.buttons |= (manual_control_switches.return_switch << (shift * 1)); + msg.buttons |= (manual_control_switches.posctl_switch << (shift * 2)); + msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3)); + msg.buttons |= (manual_control_switches.acro_switch << (shift * 4)); + msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5)); + msg.buttons |= (manual_control_switches.kill_switch << (shift * 6)); + } + + mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // MANUAL_CONTROL