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mavlink: messages cleanup remaining headers

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This commit is contained in:
Daniel Agar
2021-02-20 20:48:43 -05:00
parent 3f872ebf20
commit 4a7b2c490a
13 changed files with 63 additions and 244 deletions
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src/modules/mavlink/mavlink_messages.cpp
+1 -38
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@@ -54,44 +54,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.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_imu.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/vtol_vehicle_status.h>
using matrix::Vector3f;
using matrix::wrap_2pi;
#include "streams/ACTUATOR_CONTROL_TARGET.hpp"
#include "streams/ACTUATOR_OUTPUT_STATUS.hpp"
@@ -139,8 +102,8 @@ using matrix::wrap_2pi;
#include "streams/SERVO_OUTPUT_RAW.hpp"
#include "streams/STATUSTEXT.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/SYSTEM_TIME.hpp"
#include "streams/SYS_STATUS.hpp"
#include "streams/SYSTEM_TIME.hpp"
#include "streams/TIMESYNC.hpp"
#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
#include "streams/VFR_HUD.hpp"
src/modules/mavlink/streams/ACTUATOR_OUTPUT_STATUS.hpp
+10 -31
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@@ -34,50 +34,29 @@
#ifndef ACTUATOR_OUTPUT_STATUS_HPP
#define ACTUATOR_OUTPUT_STATUS_HPP
#include <uORB/topics/actuator_outputs.h>
class MavlinkStreamActuatorOutputStatus : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamActuatorOutputStatus::get_name_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamActuatorOutputStatus(mavlink); }
static constexpr const char *get_name_static()
{
return "ACTUATOR_OUTPUT_STATUS";
}
static constexpr const char *get_name_static() { return "ACTUATOR_OUTPUT_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS; }
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamActuatorOutputStatus(mavlink);
}
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return (_act_output_sub.advertised()) ? (MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
return _act_output_sub.advertised() ? (MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamActuatorOutputStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _act_output_sub{ORB_ID(actuator_outputs)};
/* do not allow top copying this class */
MavlinkStreamActuatorOutputStatus(MavlinkStreamActuatorOutputStatus &) = delete;
MavlinkStreamActuatorOutputStatus &operator = (const MavlinkStreamActuatorOutputStatus &) = delete;
protected:
explicit MavlinkStreamActuatorOutputStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
actuator_outputs_s act;
src/modules/mavlink/streams/ALTITUDE.hpp
+4 -2
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@@ -34,6 +34,8 @@
#ifndef ALTITUDE_HPP
#define ALTITUDE_HPP
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/wind.h>
@@ -56,9 +58,9 @@ public:
private:
explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_sub{ORB_ID(home_position)};
uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _home_sub{ORB_ID(home_position)};
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
bool send() override
{
src/modules/mavlink/streams/ATTITUDE.hpp
+7 -31
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@@ -40,30 +40,13 @@
class MavlinkStreamAttitude : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamAttitude::get_name_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitude(mavlink); }
static constexpr const char *get_name_static()
{
return "ATTITUDE";
}
static constexpr const char *get_name_static() { return "ATTITUDE"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE; }
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ATTITUDE;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamAttitude(mavlink);
}
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
@@ -71,18 +54,11 @@ public:
}
private:
explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
/* do not allow top copying this class */
MavlinkStreamAttitude(MavlinkStreamAttitude &) = delete;
MavlinkStreamAttitude &operator = (const MavlinkStreamAttitude &) = delete;
protected:
explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_attitude_s att;
src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp
+7 -30
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@@ -41,30 +41,13 @@
class MavlinkStreamAttitudeQuaternion : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamAttitudeQuaternion::get_name_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitudeQuaternion(mavlink); }
static constexpr const char *get_name_static()
{
return "ATTITUDE_QUATERNION";
}
static constexpr const char *get_name_static() { return "ATTITUDE_QUATERNION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE_QUATERNION; }
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamAttitudeQuaternion(mavlink);
}
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
@@ -72,18 +55,12 @@ public:
}
private:
explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
/* do not allow top copying this class */
MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &) = delete;
MavlinkStreamAttitudeQuaternion &operator = (const MavlinkStreamAttitudeQuaternion &) = delete;
protected:
explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_attitude_s att;
src/modules/mavlink/streams/ATTITUDE_TARGET.hpp
+8 -32
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@@ -40,30 +40,13 @@
class MavlinkStreamAttitudeTarget : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamAttitudeTarget::get_name_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitudeTarget(mavlink); }
static constexpr const char *get_name_static()
{
return "ATTITUDE_TARGET";
}
static constexpr const char *get_name_static() { return "ATTITUDE_TARGET"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE_TARGET; }
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ATTITUDE_TARGET;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamAttitudeTarget(mavlink);
}
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
@@ -71,23 +54,16 @@ public:
}
private:
explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
/* do not allow top copying this class */
MavlinkStreamAttitudeTarget(MavlinkStreamAttitudeTarget &) = delete;
MavlinkStreamAttitudeTarget &operator = (const MavlinkStreamAttitudeTarget &) = delete;
protected:
explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_attitude_setpoint_s att_sp;
if (_att_sp_sub.update(&att_sp)) {
mavlink_attitude_target_t msg{};
msg.time_boot_ms = att_sp.timestamp / 1000;
@@ -100,7 +76,7 @@ protected:
msg.body_pitch_rate = att_rates_sp.pitch;
msg.body_yaw_rate = att_rates_sp.yaw;
msg.thrust = Vector3f(att_sp.thrust_body).norm();
msg.thrust = matrix::Vector3f(att_sp.thrust_body).norm();
mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg);
src/modules/mavlink/streams/COLLISION.hpp
+7 -30
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@@ -39,30 +39,13 @@
class MavlinkStreamCollision : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamCollision::get_name_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCollision(mavlink); }
static constexpr const char *get_name_static()
{
return "COLLISION";
}
static constexpr const char *get_name_static() { return "COLLISION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COLLISION; }
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_COLLISION;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamCollision(mavlink);
}
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
@@ -70,16 +53,10 @@ public:
}
private:
explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _collision_sub{ORB_ID(collision_report)};
/* do not allow top copying this class */
MavlinkStreamCollision(MavlinkStreamCollision &) = delete;
MavlinkStreamCollision &operator = (const MavlinkStreamCollision &) = delete;
protected:
explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
collision_report_s report;
src/modules/mavlink/streams/GLOBAL_POSITION_INT.hpp
+1 -1
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@@ -110,7 +110,7 @@ private:
msg.vy = lpos.vy * 100.0f;
msg.vz = lpos.vz * 100.0f;
msg.hdg = math::degrees(wrap_2pi(lpos.heading)) * 100.0f;
msg.hdg = math::degrees(matrix::wrap_2pi(lpos.heading)) * 100.0f;
mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg);
src/modules/mavlink/streams/GPS2_RAW.hpp
+1 -1
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@@ -79,7 +79,7 @@ private:
msg.vel = UINT16_MAX; // If unknown, set to: UINT16_MAX
}
msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f;
msg.cog = math::degrees(matrix::wrap_2pi(gps.cog_rad)) * 1e2f;
msg.satellites_visible = gps.satellites_used;
//msg.dgps_numch = // Number of DGPS satellites
src/modules/mavlink/streams/GPS_RAW_INT.hpp
+1 -1
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@@ -79,7 +79,7 @@ private:
msg.vel = UINT16_MAX; // If unknown, set to: UINT16_MAX
}
msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f;
msg.cog = math::degrees(matrix::wrap_2pi(gps.cog_rad)) * 1e2f;
msg.satellites_visible = gps.satellites_used;
msg.alt_ellipsoid = gps.alt_ellipsoid;
msg.h_acc = gps.eph * 1e3f; // position uncertainty in mm
src/modules/mavlink/streams/GPS_STATUS.hpp
+6 -14
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@@ -39,35 +39,27 @@
class MavlinkStreamGPSStatus : public MavlinkStream
{
public:
const char *get_name() const override { return MavlinkStreamGPSStatus::get_name_static(); }
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSStatus(mavlink); }
static constexpr const char *get_name_static() { return "GPS_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_STATUS; }
const char *get_name() const override { return MavlinkStreamGPSStatus::get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSStatus(mavlink); }
unsigned get_size() override
{
return _satellite_info_sub.advertised() ? MAVLINK_MSG_ID_GPS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
return _satellite_info_sub.advertised() ? (MAVLINK_MSG_ID_GPS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamGPSStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _satellite_info_sub{ORB_ID(satellite_info)};
// Disallow copy and move construction.
MavlinkStreamGPSStatus(MavlinkStreamGPSStatus &) = delete;
MavlinkStreamGPSStatus &operator = (const MavlinkStreamGPSStatus &) = delete;
protected:
explicit MavlinkStreamGPSStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
satellite_info_s sat {};
satellite_info_s sat;
if (_satellite_info_sub.update(&sat)) {
mavlink_gps_status_t msg{};
src/modules/mavlink/streams/OPTICAL_FLOW_RAD.hpp
+9 -32
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@@ -39,52 +39,29 @@
class MavlinkStreamOpticalFlowRad : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamOpticalFlowRad::get_name_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOpticalFlowRad(mavlink); }
static constexpr const char *get_name_static()
{
return "OPTICAL_FLOW_RAD";
}
static constexpr const char *get_name_static() { return "OPTICAL_FLOW_RAD"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; }
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOpticalFlowRad(mavlink);
}
const char *get_name() const override { return MavlinkStreamOpticalFlowRad::get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
return _optical_flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _flow_sub{ORB_ID(optical_flow)};
explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink) {}
/* do not allow top copying this class */
MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete;
MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete;
protected:
explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
uORB::Subscription _optical_flow_sub{ORB_ID(optical_flow)};
bool send() override
{
optical_flow_s flow;
if (_flow_sub.update(&flow)) {
if (_optical_flow_sub.update(&flow)) {
mavlink_optical_flow_rad_t msg{};
msg.time_usec = flow.timestamp;
src/modules/mavlink/streams/VFR_HUD.hpp
+1 -1
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@@ -86,7 +86,7 @@ private:
mavlink_vfr_hud_t msg{};
msg.airspeed = airspeed_validated.calibrated_airspeed_m_s;
msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy);
msg.heading = math::degrees(wrap_2pi(lpos.heading));
msg.heading = math::degrees(matrix::wrap_2pi(lpos.heading));
if (armed.armed) {
actuator_controls_s act0{};