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mavlink: move WIND_COV to streams header

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This commit is contained in:
Daniel Agar
2020-11-12 13:18:59 -05:00
parent 4a9f293596
commit a8f0987028
2 changed files with 98 additions and 79 deletions
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src/modules/mavlink/mavlink_messages.cpp
+4 -79
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@@ -104,7 +104,6 @@
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/wind_estimate.h>
using matrix::Vector3f;
using matrix::wrap_2pi;
@@ -124,6 +123,7 @@ using matrix::wrap_2pi;
#include "streams/PROTOCOL_VERSION.hpp"
#include "streams/RAW_RPM.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/WIND_COV.hpp"
#if !defined(CONSTRAINED_FLASH)
# include "streams/DEBUG.hpp"
@@ -4582,83 +4582,6 @@ protected:
}
};
class MavlinkStreamWind : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamWind::get_name_static();
}
static constexpr const char *get_name_static()
{
return "WIND_COV";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_WIND_COV;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamWind(mavlink);
}
unsigned get_size() override
{
return _wind_estimate_sub.advertised() ? MAVLINK_MSG_ID_WIND_COV_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _wind_estimate_sub{ORB_ID(wind_estimate)};
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
/* do not allow top copying this class */
MavlinkStreamWind(MavlinkStreamWind &) = delete;
MavlinkStreamWind &operator = (const MavlinkStreamWind &) = delete;
protected:
explicit MavlinkStreamWind(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
wind_estimate_s wind_estimate;
if (_wind_estimate_sub.update(&wind_estimate)) {
mavlink_wind_cov_t msg{};
msg.time_usec = wind_estimate.timestamp;
msg.wind_x = wind_estimate.windspeed_north;
msg.wind_y = wind_estimate.windspeed_east;
msg.wind_z = 0.0f;
msg.var_horiz = wind_estimate.variance_north + wind_estimate.variance_east;
msg.var_vert = 0.0f;
vehicle_local_position_s lpos{};
_local_pos_sub.copy(&lpos);
msg.wind_alt = (lpos.z_valid && lpos.z_global) ? (-lpos.z + lpos.ref_alt) : NAN;
msg.horiz_accuracy = 0.0f;
msg.vert_accuracy = 0.0f;
mavlink_msg_wind_cov_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>(),
@@ -4723,7 +4646,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamADSBVehicle>(),
create_stream_list_item<MavlinkStreamUTMGlobalPosition>(),
create_stream_list_item<MavlinkStreamCollision>(),
create_stream_list_item<MavlinkStreamWind>(),
#if defined(WIND_COV_HPP)
create_stream_list_item<MavlinkStreamWindCov>(),
#endif // WIND_COV_HPP
#if defined(MOUNT_ORIENTATION_HPP)
create_stream_list_item<MavlinkStreamMountOrientation>(),
#endif // MOUNT_ORIENTATION_HPP
src/modules/mavlink/streams/WIND_COV.hpp
+94
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@@ -0,0 +1,94 @@
/****************************************************************************
*
* 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 WIND_COV_HPP
#define WIND_COV_HPP
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/wind_estimate.h>
class MavlinkStreamWindCov : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamWindCov(mavlink); }
static constexpr const char *get_name_static() { return "WIND_COV"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_WIND_COV; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _wind_estimate_sub.advertised() ? MAVLINK_MSG_ID_WIND_COV_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamWindCov(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _wind_estimate_sub{ORB_ID(wind_estimate)};
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
bool send() override
{
wind_estimate_s wind_estimate;
if (_wind_estimate_sub.update(&wind_estimate)) {
mavlink_wind_cov_t msg{};
msg.time_usec = wind_estimate.timestamp;
msg.wind_x = wind_estimate.windspeed_north;
msg.wind_y = wind_estimate.windspeed_east;
msg.wind_z = 0.0f;
msg.var_horiz = wind_estimate.variance_north + wind_estimate.variance_east;
msg.var_vert = 0.0f;
vehicle_local_position_s lpos{};
_local_pos_sub.copy(&lpos);
msg.wind_alt = (lpos.z_valid && lpos.z_global) ? (-lpos.z + lpos.ref_alt) : NAN;
msg.horiz_accuracy = 0.0f;
msg.vert_accuracy = 0.0f;
mavlink_msg_wind_cov_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // WIND_COV