diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 0dbc47575e4..133233066cd 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -121,6 +121,7 @@ using matrix::wrap_2pi; #include "streams/OPTICAL_FLOW_RAD.hpp" #include "streams/ORBIT_EXECUTION_STATUS.hpp" #include "streams/PING.hpp" +#include "streams/POSITION_TARGET_LOCAL_NED.hpp" #include "streams/PROTOCOL_VERSION.hpp" #include "streams/RAW_RPM.hpp" #include "streams/RC_CHANNELS.hpp" @@ -3424,81 +3425,6 @@ protected: } }; - -class MavlinkStreamLocalPositionSetpoint : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamLocalPositionSetpoint::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "POSITION_TARGET_LOCAL_NED"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamLocalPositionSetpoint(mavlink); - } - - unsigned get_size() override - { - return _pos_sp_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)}; - - /* do not allow top copying this class */ - MavlinkStreamLocalPositionSetpoint(MavlinkStreamLocalPositionSetpoint &) = delete; - MavlinkStreamLocalPositionSetpoint &operator = (const MavlinkStreamLocalPositionSetpoint &) = delete; - -protected: - explicit MavlinkStreamLocalPositionSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_local_position_setpoint_s pos_sp; - - if (_pos_sp_sub.update(&pos_sp)) { - mavlink_position_target_local_ned_t msg{}; - - msg.time_boot_ms = pos_sp.timestamp / 1000; - msg.coordinate_frame = MAV_FRAME_LOCAL_NED; - msg.x = pos_sp.x; - msg.y = pos_sp.y; - msg.z = pos_sp.z; - msg.yaw = pos_sp.yaw; - msg.yaw_rate = pos_sp.yawspeed; - msg.vx = pos_sp.vx; - msg.vy = pos_sp.vy; - msg.vz = pos_sp.vz; - msg.afx = pos_sp.acceleration[0]; - msg.afy = pos_sp.acceleration[1]; - msg.afz = pos_sp.acceleration[2]; - - mavlink_msg_position_target_local_ned_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -3611,7 +3537,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item >(), create_stream_list_item(), create_stream_list_item(), - create_stream_list_item(), +#if defined(POSITION_TARGET_LOCAL_NED_HPP) + create_stream_list_item(), +#endif // POSITION_TARGET_LOCAL_NED_HPP #if defined(ATTITUDE_TARGET_HPP) create_stream_list_item(), #endif // ATTITUDE_TARGET_HPP diff --git a/src/modules/mavlink/streams/POSITION_TARGET_LOCAL_NED.hpp b/src/modules/mavlink/streams/POSITION_TARGET_LOCAL_NED.hpp new file mode 100644 index 00000000000..69f3fba111a --- /dev/null +++ b/src/modules/mavlink/streams/POSITION_TARGET_LOCAL_NED.hpp @@ -0,0 +1,140 @@ +/**************************************************************************** + * + * 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 POSITION_TARGET_LOCAL_NED_HPP +#define POSITION_TARGET_LOCAL_NED_HPP + +#include + +class MavlinkStreamPositionTargetLocalNed : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamPositionTargetLocalNed(mavlink); } + + static constexpr const char *get_name_static() { return "POSITION_TARGET_LOCAL_NED"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _pos_sp_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamPositionTargetLocalNed(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)}; + + bool send() override + { + vehicle_local_position_setpoint_s pos_sp; + + if (_pos_sp_sub.update(&pos_sp)) { + mavlink_position_target_local_ned_t msg{}; + + msg.time_boot_ms = pos_sp.timestamp / 1000; + msg.coordinate_frame = MAV_FRAME_LOCAL_NED; + + // position + if (!PX4_ISFINITE(pos_sp.x)) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_X_IGNORE; + } + + if (!PX4_ISFINITE(pos_sp.y)) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_Y_IGNORE; + } + + if (!PX4_ISFINITE(pos_sp.z)) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_Z_IGNORE; + } + + // velocity + if (!PX4_ISFINITE(pos_sp.vx)) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_VX_IGNORE; + } + + if (!PX4_ISFINITE(pos_sp.vy)) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_VY_IGNORE; + } + + if (!PX4_ISFINITE(pos_sp.vz)) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_VZ_IGNORE; + } + + // acceleration + if (!PX4_ISFINITE(pos_sp.acceleration[0])) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_AX_IGNORE; + } + + if (!PX4_ISFINITE(pos_sp.acceleration[1])) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_AY_IGNORE; + } + + if (!PX4_ISFINITE(pos_sp.acceleration[2])) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_AZ_IGNORE; + } + + // yaw + if (!PX4_ISFINITE(pos_sp.yaw)) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_YAW_IGNORE; + } + + // yaw rate + if (!PX4_ISFINITE(pos_sp.yawspeed)) { + msg.type_mask |= POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; + } + + msg.x = pos_sp.x; + msg.y = pos_sp.y; + msg.z = pos_sp.z; + msg.vx = pos_sp.vx; + msg.vy = pos_sp.vy; + msg.vz = pos_sp.vz; + msg.afx = pos_sp.acceleration[0]; + msg.afy = pos_sp.acceleration[1]; + msg.afz = pos_sp.acceleration[2]; + msg.yaw = pos_sp.yaw; + msg.yaw_rate = pos_sp.yawspeed; + + mavlink_msg_position_target_local_ned_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // POSITION_TARGET_LOCAL_NED