diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a68abe0f24..47bee146cb 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -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(), create_stream_list_item(), @@ -4642,7 +4525,9 @@ static const StreamListItem streams_list[] = { #if defined(EXTENDED_SYS_STATE_HPP) create_stream_list_item(), #endif // EXTENDED_SYS_STATE_HPP +#if defined(ALTITUDE_HPP) create_stream_list_item(), +#endif // ALTITUDE_HPP create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), diff --git a/src/modules/mavlink/streams/ALTITUDE.hpp b/src/modules/mavlink/streams/ALTITUDE.hpp new file mode 100644 index 0000000000..49b30f4270 --- /dev/null +++ b/src/modules/mavlink/streams/ALTITUDE.hpp @@ -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 +#include + +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