diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index f3d7d2c824..2afbc4a55f 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -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(), create_stream_list_item(), create_stream_list_item(), +#if defined(GLOBAL_POSITION_INT_HPP) create_stream_list_item(), +#endif // GLOBAL_POSITION_INT_HPP #if defined(LOCAL_POSITION_NED_HPP) create_stream_list_item(), #endif // LOCAL_POSITION_NED_HPP diff --git a/src/modules/mavlink/streams/GLOBAL_POSITION_INT.hpp b/src/modules/mavlink/streams/GLOBAL_POSITION_INT.hpp new file mode 100644 index 0000000000..b9ac0fa8d8 --- /dev/null +++ b/src/modules/mavlink/streams/GLOBAL_POSITION_INT.hpp @@ -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 +#include +#include +#include + +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