mavlink: move LOCAL_POSITION_NED to separate stream header

src/modules/mavlink/mavlink_messages.cpp

@@ -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

@@ -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