mavlink: move POSITION_TARGET_LOCAL_NED to separate streams header

- position type_mask

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<MavlinkStreamServoOutputRaw<1> >(),
 	create_stream_list_item<MavlinkStreamHILActuatorControls>(),
 	create_stream_list_item<MavlinkStreamPositionTargetGlobalInt>(),
-	create_stream_list_item<MavlinkStreamLocalPositionSetpoint>(),
+#if defined(POSITION_TARGET_LOCAL_NED_HPP)
+	create_stream_list_item<MavlinkStreamPositionTargetLocalNed>(),
+#endif // POSITION_TARGET_LOCAL_NED_HPP
 #if defined(ATTITUDE_TARGET_HPP)
 	create_stream_list_item<MavlinkStreamAttitudeTarget>(),
 #endif // ATTITUDE_TARGET_HPP

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 <uORB/topics/vehicle_local_position_setpoint.h>
+
+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