diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index e4c9dc442f..2340c70d89 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -73,13 +73,11 @@ #include #include #include -#include #include #include #include #include #include -#include #include #include #include @@ -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(), #endif // DEBUG_FLOAT_ARRAY_HPP +#if defined(NAV_CONTROLLER_OUTPUT_HPP) create_stream_list_item(), +#endif // NAV_CONTROLLER_OUTPUT_HPP create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), diff --git a/src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp b/src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp new file mode 100644 index 0000000000..a1a7b7a7cf --- /dev/null +++ b/src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp @@ -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 +#include + +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