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mavlink: move GLOBAL_POSITION_INT to separate stream header

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This commit is contained in:
Daniel Agar
2021-02-20 13:00:15 -05:00
parent ede01e8f1a
commit 50bd757037
2 changed files with 127 additions and 105 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -105
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@@ -115,6 +115,7 @@ using matrix::wrap_2pi;
#include "streams/ESTIMATOR_STATUS.hpp"
#include "streams/EXTENDED_SYS_STATE.hpp"
#include "streams/FLIGHT_INFORMATION.hpp"
#include "streams/GLOBAL_POSITION_INT.hpp"
#include "streams/GPS_GLOBAL_ORIGIN.hpp"
#include "streams/GPS_STATUS.hpp"
#include "streams/HIGH_LATENCY2.hpp"
@@ -2461,111 +2462,6 @@ protected:
}
};
class MavlinkStreamGlobalPositionInt : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamGlobalPositionInt::get_name_static();
}
static constexpr const char *get_name_static()
{
return "GLOBAL_POSITION_INT";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamGlobalPositionInt(mavlink);
}
unsigned get_size() override
{
return _gpos_sub.advertised() ? MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_sub{ORB_ID(home_position)};
uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
/* do not allow top copying this class */
MavlinkStreamGlobalPositionInt(MavlinkStreamGlobalPositionInt &) = delete;
MavlinkStreamGlobalPositionInt &operator = (const MavlinkStreamGlobalPositionInt &) = delete;
protected:
explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_global_position_s gpos;
vehicle_local_position_s lpos;
if (_gpos_sub.update(&gpos) && _lpos_sub.update(&lpos)) {
mavlink_global_position_int_t msg{};
if (lpos.z_valid && lpos.z_global) {
msg.alt = (-lpos.z + lpos.ref_alt) * 1000.0f;
} else {
// fall back to baro altitude
vehicle_air_data_s air_data{};
_air_data_sub.copy(&air_data);
if (air_data.timestamp > 0) {
msg.alt = air_data.baro_alt_meter * 1000.0f;
}
}
home_position_s home{};
_home_sub.copy(&home);
if ((home.timestamp > 0) && home.valid_alt) {
if (lpos.z_valid) {
msg.relative_alt = -(lpos.z - home.z) * 1000.0f;
} else {
msg.relative_alt = msg.alt - (home.alt * 1000.0f);
}
} else {
if (lpos.z_valid) {
msg.relative_alt = -lpos.z * 1000.0f;
}
}
msg.time_boot_ms = gpos.timestamp / 1000;
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;
msg.vx = lpos.vx * 100.0f;
msg.vy = lpos.vy * 100.0f;
msg.vz = lpos.vz * 100.0f;
msg.hdg = math::degrees(wrap_2pi(lpos.heading)) * 100.0f;
mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -2672,7 +2568,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamGPS2Raw>(),
create_stream_list_item<MavlinkStreamSystemTime>(),
create_stream_list_item<MavlinkStreamTimesync>(),
#if defined(GLOBAL_POSITION_INT_HPP)
create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
#endif // GLOBAL_POSITION_INT_HPP
#if defined(LOCAL_POSITION_NED_HPP)
create_stream_list_item<MavlinkStreamLocalPositionNED>(),
#endif // LOCAL_POSITION_NED_HPP
src/modules/mavlink/streams/GLOBAL_POSITION_INT.hpp
+124
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@@ -0,0 +1,124 @@
/****************************************************************************
*
* Copyright (c) 2021 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 GLOBAL_POSITION_INT_HPP
#define GLOBAL_POSITION_INT_HPP
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
class MavlinkStreamGlobalPositionInt : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGlobalPositionInt(mavlink); }
static constexpr const char *get_name_static() { return "GLOBAL_POSITION_INT"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GLOBAL_POSITION_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 _gpos_sub.advertised() ? MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_sub{ORB_ID(home_position)};
uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
bool send() override
{
vehicle_global_position_s gpos;
vehicle_local_position_s lpos;
if (_gpos_sub.update(&gpos) && _lpos_sub.update(&lpos)) {
mavlink_global_position_int_t msg{};
if (lpos.z_valid && lpos.z_global) {
msg.alt = (-lpos.z + lpos.ref_alt) * 1000.0f;
} else {
// fall back to baro altitude
vehicle_air_data_s air_data{};
_air_data_sub.copy(&air_data);
if (air_data.timestamp > 0) {
msg.alt = air_data.baro_alt_meter * 1000.0f;
}
}
home_position_s home{};
_home_sub.copy(&home);
if ((home.timestamp > 0) && home.valid_alt) {
if (lpos.z_valid) {
msg.relative_alt = -(lpos.z - home.z) * 1000.0f;
} else {
msg.relative_alt = msg.alt - (home.alt * 1000.0f);
}
} else {
if (lpos.z_valid) {
msg.relative_alt = -lpos.z * 1000.0f;
}
}
msg.time_boot_ms = gpos.timestamp / 1000;
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;
msg.vx = lpos.vx * 100.0f;
msg.vy = lpos.vy * 100.0f;
msg.vz = lpos.vz * 100.0f;
msg.hdg = math::degrees(wrap_2pi(lpos.heading)) * 100.0f;
mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // GLOBAL_POSITION_INT_HPP