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mavlink: move ALTITUDE to streams header

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This commit is contained in:
Daniel Agar
2020-11-12 13:22:53 -05:00
parent a8f0987028
commit 860a7fd1db
2 changed files with 138 additions and 118 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -118
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@@ -108,6 +108,7 @@
using matrix::Vector3f;
using matrix::wrap_2pi;
#include "streams/ALTITUDE.hpp"
#include "streams/AUTOPILOT_VERSION.hpp"
#include "streams/ESC_INFO.hpp"
#include "streams/ESC_STATUS.hpp"
@@ -4464,124 +4465,6 @@ protected:
}
};
class MavlinkStreamAltitude : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamAltitude::get_name_static();
}
static constexpr const char *get_name_static()
{
return "ALTITUDE";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ALTITUDE;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamAltitude(mavlink);
}
unsigned get_size() override
{
return _local_pos_sub.advertised() ? MAVLINK_MSG_ID_ALTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_sub{ORB_ID(home_position)};
uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
/* do not allow top copying this class */
MavlinkStreamAltitude(MavlinkStreamAltitude &) = delete;
MavlinkStreamAltitude &operator = (const MavlinkStreamAltitude &) = delete;
protected:
explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
mavlink_altitude_t msg{};
msg.altitude_monotonic = NAN;
msg.altitude_amsl = NAN;
msg.altitude_local = NAN;
msg.altitude_relative = NAN;
msg.altitude_terrain = NAN;
msg.bottom_clearance = NAN;
// always update monotonic altitude
bool air_data_updated = false;
vehicle_air_data_s air_data{};
_air_data_sub.copy(&air_data);
if (air_data.timestamp > 0) {
msg.altitude_monotonic = air_data.baro_alt_meter;
air_data_updated = true;
}
bool lpos_updated = false;
vehicle_local_position_s local_pos;
if (_local_pos_sub.copy(&local_pos)) {
if (local_pos.z_valid) {
if (local_pos.z_global) {
msg.altitude_amsl = -local_pos.z + local_pos.ref_alt;
} else {
msg.altitude_amsl = msg.altitude_monotonic;
}
msg.altitude_local = -local_pos.z;
home_position_s home{};
_home_sub.copy(&home);
if (home.valid_alt) {
msg.altitude_relative = -(local_pos.z - home.z);
} else {
msg.altitude_relative = -local_pos.z;
}
if (local_pos.dist_bottom_valid) {
msg.altitude_terrain = -local_pos.z - local_pos.dist_bottom;
msg.bottom_clearance = local_pos.dist_bottom;
}
}
lpos_updated = true;
}
// local position timeout after 10 ms
// avoid publishing only baro altitude_monotonic if possible
bool lpos_timeout = (hrt_elapsed_time(&local_pos.timestamp) > 10_ms);
if (lpos_updated || (air_data_updated && lpos_timeout)) {
msg.time_usec = hrt_absolute_time();
mavlink_msg_altitude_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamHeartbeat>(),
create_stream_list_item<MavlinkStreamStatustext>(),
@@ -4642,7 +4525,9 @@ static const StreamListItem streams_list[] = {
#if defined(EXTENDED_SYS_STATE_HPP)
create_stream_list_item<MavlinkStreamExtendedSysState>(),
#endif // EXTENDED_SYS_STATE_HPP
#if defined(ALTITUDE_HPP)
create_stream_list_item<MavlinkStreamAltitude>(),
#endif // ALTITUDE_HPP
create_stream_list_item<MavlinkStreamADSBVehicle>(),
create_stream_list_item<MavlinkStreamUTMGlobalPosition>(),
create_stream_list_item<MavlinkStreamCollision>(),
src/modules/mavlink/streams/ALTITUDE.hpp
+135
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@@ -0,0 +1,135 @@
/****************************************************************************
*
* 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 ALTITUDE_HPP
#define ALTITUDE_HPP
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/wind_estimate.h>
class MavlinkStreamAltitude : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAltitude(mavlink); }
static constexpr const char *get_name_static() { return "ALTITUDE"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ALTITUDE; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _local_pos_sub.advertised() ? MAVLINK_MSG_ID_ALTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_sub{ORB_ID(home_position)};
uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
bool send() override
{
mavlink_altitude_t msg{};
msg.altitude_monotonic = NAN;
msg.altitude_amsl = NAN;
msg.altitude_local = NAN;
msg.altitude_relative = NAN;
msg.altitude_terrain = NAN;
msg.bottom_clearance = NAN;
// always update monotonic altitude
bool air_data_updated = false;
vehicle_air_data_s air_data{};
_air_data_sub.copy(&air_data);
if (air_data.timestamp > 0) {
msg.altitude_monotonic = air_data.baro_alt_meter;
air_data_updated = true;
}
bool lpos_updated = false;
vehicle_local_position_s local_pos;
if (_local_pos_sub.copy(&local_pos)) {
if (local_pos.z_valid) {
if (local_pos.z_global) {
msg.altitude_amsl = -local_pos.z + local_pos.ref_alt;
} else {
msg.altitude_amsl = msg.altitude_monotonic;
}
msg.altitude_local = -local_pos.z;
home_position_s home{};
_home_sub.copy(&home);
if (home.valid_alt) {
msg.altitude_relative = -(local_pos.z - home.z);
} else {
msg.altitude_relative = -local_pos.z;
}
if (local_pos.dist_bottom_valid) {
msg.altitude_terrain = -local_pos.z - local_pos.dist_bottom;
msg.bottom_clearance = local_pos.dist_bottom;
}
}
lpos_updated = true;
}
// local position timeout after 10 ms
// avoid publishing only baro altitude_monotonic if possible
bool lpos_timeout = (hrt_elapsed_time(&local_pos.timestamp) > 10_ms);
if (lpos_updated || (air_data_updated && lpos_timeout)) {
msg.time_usec = hrt_absolute_time();
mavlink_msg_altitude_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // ALTITUDE_HPP