Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 22:58:10 +08:00
Code Issues Actions 15 Packages Projects Releases Wiki Activity

mavlink: move LOCAL_POSITION_NED to separate stream header

Browse Source
This commit is contained in:
Daniel Agar
2021-02-20 12:49:11 -05:00
parent 5f7d577e04
commit 7daa97f279
2 changed files with 89 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+3 -68
View File
@@ -121,6 +121,7 @@ using matrix::wrap_2pi;
#include "streams/HIL_ACTUATOR_CONTROLS.hpp"
#include "streams/HIL_STATE_QUATERNION.hpp"
#include "streams/HOME_POSITION.hpp"
#include "streams/LOCAL_POSITION_NED.hpp"
#include "streams/MANUAL_CONTROL.hpp"
#include "streams/MOUNT_ORIENTATION.hpp"
#include "streams/NAV_CONTROLLER_OUTPUT.hpp"
@@ -2720,74 +2721,6 @@ protected:
}
};
class MavlinkStreamLocalPositionNED : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamLocalPositionNED::get_name_static();
}
static constexpr const char *get_name_static()
{
return "LOCAL_POSITION_NED";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_LOCAL_POSITION_NED;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamLocalPositionNED(mavlink);
}
unsigned get_size() override
{
return _lpos_sub.advertised() ? MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
/* do not allow top copying this class */
MavlinkStreamLocalPositionNED(MavlinkStreamLocalPositionNED &) = delete;
MavlinkStreamLocalPositionNED &operator = (const MavlinkStreamLocalPositionNED &) = delete;
protected:
explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_local_position_s lpos;
if (_lpos_sub.update(&lpos)) {
mavlink_local_position_ned_t msg{};
msg.time_boot_ms = lpos.timestamp / 1000;
msg.x = lpos.x;
msg.y = lpos.y;
msg.z = lpos.z;
msg.vx = lpos.vx;
msg.vy = lpos.vy;
msg.vz = lpos.vz;
mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -2895,7 +2828,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamSystemTime>(),
create_stream_list_item<MavlinkStreamTimesync>(),
create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
#if defined(LOCAL_POSITION_NED_HPP)
create_stream_list_item<MavlinkStreamLocalPositionNED>(),
#endif // LOCAL_POSITION_NED_HPP
create_stream_list_item<MavlinkStreamOdometry>(),
#if defined(ESTIMATOR_STATUS_HPP)
create_stream_list_item<MavlinkStreamEstimatorStatus>(),
src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp
+86
View File
@@ -0,0 +1,86 @@
/****************************************************************************
*
* Copyright (c) 2021 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 LOCAL_POSITION_NED_HPP
#define LOCAL_POSITION_NED_HPP
#include <uORB/topics/vehicle_local_position.h>
class MavlinkStreamLocalPositionNED : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamLocalPositionNED(mavlink); }
static constexpr const char *get_name_static() { return "LOCAL_POSITION_NED"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_LOCAL_POSITION_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 _lpos_sub.advertised() ? MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
bool send() override
{
vehicle_local_position_s lpos;
if (_lpos_sub.update(&lpos)) {
if (lpos.xy_valid && lpos.v_xy_valid) {
mavlink_local_position_ned_t msg{};
msg.time_boot_ms = lpos.timestamp / 1000;
msg.x = lpos.x;
msg.y = lpos.y;
msg.z = lpos.z;
msg.vx = lpos.vx;
msg.vy = lpos.vy;
msg.vz = lpos.vz;
mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg);
return true;
}
}
return false;
}
};
#endif // LOCAL_POSITION_NED_HPP