mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 02:36:37 +08:00
mavlink: move POSITION_TARGET_LOCAL_NED to separate streams header
- position type_mask
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
6b1d02feb7
commit
672a1c90aa
@@ -121,6 +121,7 @@ using matrix::wrap_2pi;
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#include "streams/OPTICAL_FLOW_RAD.hpp"
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#include "streams/ORBIT_EXECUTION_STATUS.hpp"
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#include "streams/PING.hpp"
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#include "streams/POSITION_TARGET_LOCAL_NED.hpp"
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#include "streams/PROTOCOL_VERSION.hpp"
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#include "streams/RAW_RPM.hpp"
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#include "streams/RC_CHANNELS.hpp"
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@@ -3424,81 +3425,6 @@ protected:
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}
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};
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class MavlinkStreamLocalPositionSetpoint : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamLocalPositionSetpoint::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "POSITION_TARGET_LOCAL_NED";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamLocalPositionSetpoint(mavlink);
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}
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unsigned get_size() override
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{
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return _pos_sp_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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uORB::Subscription _pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
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/* do not allow top copying this class */
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MavlinkStreamLocalPositionSetpoint(MavlinkStreamLocalPositionSetpoint &) = delete;
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MavlinkStreamLocalPositionSetpoint &operator = (const MavlinkStreamLocalPositionSetpoint &) = delete;
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protected:
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explicit MavlinkStreamLocalPositionSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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vehicle_local_position_setpoint_s pos_sp;
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if (_pos_sp_sub.update(&pos_sp)) {
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mavlink_position_target_local_ned_t msg{};
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msg.time_boot_ms = pos_sp.timestamp / 1000;
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msg.coordinate_frame = MAV_FRAME_LOCAL_NED;
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msg.x = pos_sp.x;
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msg.y = pos_sp.y;
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msg.z = pos_sp.z;
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msg.yaw = pos_sp.yaw;
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msg.yaw_rate = pos_sp.yawspeed;
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msg.vx = pos_sp.vx;
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msg.vy = pos_sp.vy;
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msg.vz = pos_sp.vz;
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msg.afx = pos_sp.acceleration[0];
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msg.afy = pos_sp.acceleration[1];
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msg.afz = pos_sp.acceleration[2];
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mavlink_msg_position_target_local_ned_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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class MavlinkStreamCameraCapture : public MavlinkStream
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{
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public:
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@@ -3611,7 +3537,9 @@ static const StreamListItem streams_list[] = {
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create_stream_list_item<MavlinkStreamServoOutputRaw<1> >(),
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create_stream_list_item<MavlinkStreamHILActuatorControls>(),
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create_stream_list_item<MavlinkStreamPositionTargetGlobalInt>(),
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create_stream_list_item<MavlinkStreamLocalPositionSetpoint>(),
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#if defined(POSITION_TARGET_LOCAL_NED_HPP)
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create_stream_list_item<MavlinkStreamPositionTargetLocalNed>(),
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#endif // POSITION_TARGET_LOCAL_NED_HPP
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#if defined(ATTITUDE_TARGET_HPP)
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create_stream_list_item<MavlinkStreamAttitudeTarget>(),
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#endif // ATTITUDE_TARGET_HPP
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@@ -0,0 +1,140 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef POSITION_TARGET_LOCAL_NED_HPP
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#define POSITION_TARGET_LOCAL_NED_HPP
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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class MavlinkStreamPositionTargetLocalNed : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamPositionTargetLocalNed(mavlink); }
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static constexpr const char *get_name_static() { return "POSITION_TARGET_LOCAL_NED"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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return _pos_sp_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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explicit MavlinkStreamPositionTargetLocalNed(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
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bool send() override
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{
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vehicle_local_position_setpoint_s pos_sp;
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if (_pos_sp_sub.update(&pos_sp)) {
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mavlink_position_target_local_ned_t msg{};
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msg.time_boot_ms = pos_sp.timestamp / 1000;
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msg.coordinate_frame = MAV_FRAME_LOCAL_NED;
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// position
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if (!PX4_ISFINITE(pos_sp.x)) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_X_IGNORE;
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}
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if (!PX4_ISFINITE(pos_sp.y)) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_Y_IGNORE;
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}
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if (!PX4_ISFINITE(pos_sp.z)) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_Z_IGNORE;
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}
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// velocity
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if (!PX4_ISFINITE(pos_sp.vx)) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_VX_IGNORE;
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}
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if (!PX4_ISFINITE(pos_sp.vy)) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_VY_IGNORE;
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}
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if (!PX4_ISFINITE(pos_sp.vz)) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_VZ_IGNORE;
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}
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// acceleration
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if (!PX4_ISFINITE(pos_sp.acceleration[0])) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_AX_IGNORE;
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}
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if (!PX4_ISFINITE(pos_sp.acceleration[1])) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_AY_IGNORE;
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}
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if (!PX4_ISFINITE(pos_sp.acceleration[2])) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_AZ_IGNORE;
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}
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// yaw
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if (!PX4_ISFINITE(pos_sp.yaw)) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_YAW_IGNORE;
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}
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// yaw rate
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if (!PX4_ISFINITE(pos_sp.yawspeed)) {
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msg.type_mask |= POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
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}
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msg.x = pos_sp.x;
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msg.y = pos_sp.y;
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msg.z = pos_sp.z;
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msg.vx = pos_sp.vx;
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msg.vy = pos_sp.vy;
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msg.vz = pos_sp.vz;
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msg.afx = pos_sp.acceleration[0];
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msg.afy = pos_sp.acceleration[1];
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msg.afz = pos_sp.acceleration[2];
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msg.yaw = pos_sp.yaw;
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msg.yaw_rate = pos_sp.yawspeed;
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mavlink_msg_position_target_local_ned_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // POSITION_TARGET_LOCAL_NED
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