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mavlink_messages: Subscribe to all distance_sensor instances

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This will make all distance_sensor messages be published to
mavlink. Previously, if you ran multiple distance_sensor publishers,
typically multiple distance sensors, then you'd only get one of them
on mavlink.

The modifications to MavlinkStreamDistanceSensor are based on
MavlinkStreamBatteryStatus, which already exists with multi-instance
subscription and streaming to mavlink.

Use SubscriptionMultiArray

Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Morten Fyhn Amundsen
2020-03-06 10:32:54 +01:00
committed by Daniel Agar
parent 0d4d21cd67
commit cfe4982023
1 changed files with 35 additions and 31 deletions
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src/modules/mavlink/mavlink_messages.cpp
+35 -31
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@@ -4515,11 +4515,11 @@ public:
unsigned get_size() override unsigned get_size() override
{ {
return _distance_sensor_sub.advertised() ? (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; return _distance_sensor_subs.advertised_count() * (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
} }
private: private:
uORB::Subscription _distance_sensor_sub{ORB_ID(distance_sensor)}; uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
/* do not allow top copying this class */ /* do not allow top copying this class */
MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &) = delete; MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &) = delete;
@@ -4531,44 +4531,48 @@ protected:
bool send(const hrt_abstime t) override bool send(const hrt_abstime t) override
{ {
distance_sensor_s dist_sensor; bool updated = false;
if (_distance_sensor_sub.update(&dist_sensor)) { for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
mavlink_distance_sensor_t msg{}; distance_sensor_s dist_sensor;
msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */ if (_distance_sensor_subs[i].update(&dist_sensor)) {
mavlink_distance_sensor_t msg{};
switch (dist_sensor.type) { msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
case MAV_DISTANCE_SENSOR_ULTRASOUND:
msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND;
break;
case MAV_DISTANCE_SENSOR_LASER: switch (dist_sensor.type) {
msg.type = MAV_DISTANCE_SENSOR_LASER; case MAV_DISTANCE_SENSOR_ULTRASOUND:
break; msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND;
break;
case MAV_DISTANCE_SENSOR_INFRARED: case MAV_DISTANCE_SENSOR_LASER:
msg.type = MAV_DISTANCE_SENSOR_INFRARED; msg.type = MAV_DISTANCE_SENSOR_LASER;
break; break;
default: case MAV_DISTANCE_SENSOR_INFRARED:
msg.type = MAV_DISTANCE_SENSOR_LASER; msg.type = MAV_DISTANCE_SENSOR_INFRARED;
break; break;
default:
msg.type = MAV_DISTANCE_SENSOR_LASER;
break;
}
msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm
msg.id = i;
msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm
msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm
msg.orientation = dist_sensor.orientation;
msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2
mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
updated = true;
} }
msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm
msg.id = dist_sensor.id;
msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm
msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm
msg.orientation = dist_sensor.orientation;
msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2
mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
return true;
} }
return false; return updated;
} }
}; };