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mavlink: move NAV_CONTROLLER_OUTPUT to separate streams header

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This commit is contained in:
Daniel Agar
2020-12-27 20:19:42 -05:00
committed by Lorenz Meier
parent 9f57df75e8
commit 5762c3b356
2 changed files with 95 additions and 78 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -78
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@@ -73,13 +73,11 @@
#include <uORB/topics/input_rc.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/position_controller_status.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/tecs_status.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/transponder_report.h>
#include <uORB/topics/vehicle_air_data.h>
@@ -121,6 +119,7 @@ using matrix::wrap_2pi;
#include "streams/HIGH_LATENCY2.hpp"
#include "streams/HIL_STATE_QUATERNION.hpp"
#include "streams/MOUNT_ORIENTATION.hpp"
#include "streams/NAV_CONTROLLER_OUTPUT.hpp"
#include "streams/OBSTACLE_DISTANCE.hpp"
#include "streams/OPTICAL_FLOW_RAD.hpp"
#include "streams/ORBIT_EXECUTION_STATUS.hpp"
@@ -3776,82 +3775,6 @@ protected:
}
};
class MavlinkStreamNavControllerOutput : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamNavControllerOutput::get_name_static();
}
static constexpr const char *get_name_static()
{
return "NAV_CONTROLLER_OUTPUT";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamNavControllerOutput(mavlink);
}
unsigned get_size() override
{
return (_pos_ctrl_status_sub.advertised()) ?
MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _pos_ctrl_status_sub{ORB_ID(position_controller_status)};
uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
/* do not allow top copying this class */
MavlinkStreamNavControllerOutput(MavlinkStreamNavControllerOutput &) = delete;
MavlinkStreamNavControllerOutput &operator = (const MavlinkStreamNavControllerOutput &) = delete;
protected:
explicit MavlinkStreamNavControllerOutput(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (_pos_ctrl_status_sub.updated()) {
position_controller_status_s pos_ctrl_status{};
_pos_ctrl_status_sub.copy(&pos_ctrl_status);
tecs_status_s tecs_status{};
_tecs_status_sub.copy(&tecs_status);
mavlink_nav_controller_output_t msg{};
msg.nav_roll = math::degrees(pos_ctrl_status.nav_roll);
msg.nav_pitch = math::degrees(pos_ctrl_status.nav_pitch);
msg.nav_bearing = (int16_t)math::degrees(pos_ctrl_status.nav_bearing);
msg.target_bearing = (int16_t)math::degrees(pos_ctrl_status.target_bearing);
msg.wp_dist = (uint16_t)pos_ctrl_status.wp_dist;
msg.xtrack_error = pos_ctrl_status.xtrack_error;
msg.alt_error = tecs_status.altitude_filtered - tecs_status.altitude_sp;
msg.aspd_error = tecs_status.airspeed_filtered - tecs_status.airspeed_sp;
mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -3988,7 +3911,9 @@ static const StreamListItem streams_list[] = {
#if defined(DEBUG_FLOAT_ARRAY_HPP)
create_stream_list_item<MavlinkStreamDebugFloatArray>(),
#endif // DEBUG_FLOAT_ARRAY_HPP
#if defined(NAV_CONTROLLER_OUTPUT_HPP)
create_stream_list_item<MavlinkStreamNavControllerOutput>(),
#endif // NAV_CONTROLLER_OUTPUT_HPP
create_stream_list_item<MavlinkStreamCameraCapture>(),
create_stream_list_item<MavlinkStreamCameraTrigger>(),
create_stream_list_item<MavlinkStreamCameraImageCaptured>(),
src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp
+92
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@@ -0,0 +1,92 @@
/****************************************************************************
*
* 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 NAV_CONTROLLER_OUTPUT_HPP
#define NAV_CONTROLLER_OUTPUT_HPP
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/tecs_status.h>
class MavlinkStreamNavControllerOutput : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNavControllerOutput(mavlink); }
static constexpr const char *get_name_static() { return "NAV_CONTROLLER_OUTPUT"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _position_controller_status_sub.advertised() ? MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamNavControllerOutput(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _position_controller_status_sub{ORB_ID(position_controller_status)};
uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
bool send() override
{
position_controller_status_s pos_ctrl_status;
if (_position_controller_status_sub.update(&pos_ctrl_status)) {
tecs_status_s tecs_status{};
_tecs_status_sub.copy(&tecs_status);
mavlink_nav_controller_output_t msg{};
msg.nav_roll = math::degrees(pos_ctrl_status.nav_roll);
msg.nav_pitch = math::degrees(pos_ctrl_status.nav_pitch);
msg.nav_bearing = roundf(math::degrees(pos_ctrl_status.nav_bearing));
msg.target_bearing = roundf(math::degrees(pos_ctrl_status.target_bearing));
msg.wp_dist = math::constrain(roundf(pos_ctrl_status.wp_dist), 0.f, (float)UINT16_MAX);
msg.xtrack_error = pos_ctrl_status.xtrack_error;
msg.alt_error = tecs_status.altitude_filtered - tecs_status.altitude_sp;
msg.aspd_error = tecs_status.airspeed_filtered - tecs_status.airspeed_sp;
mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // NAV_CONTROLLER_OUTPUT_HPP