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mavlink: move ODOMETRY to separate stream header

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This commit is contained in:
Daniel Agar
2021-02-20 12:53:51 -05:00
parent 7daa97f279
commit ede01e8f1a
2 changed files with 174 additions and 156 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -156
View File
@@ -149,6 +149,7 @@ using matrix::wrap_2pi;
# include "streams/DEBUG_VECT.hpp"
# include "streams/LINK_NODE_STATUS.hpp"
# include "streams/NAMED_VALUE_FLOAT.hpp"
# include "streams/ODOMETRY.hpp"
#endif // !CONSTRAINED_FLASH
// ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
@@ -2565,162 +2566,6 @@ protected:
}
};
class MavlinkStreamOdometry : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamOdometry::get_name_static();
}
static constexpr const char *get_name_static()
{
return "ODOMETRY";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ODOMETRY;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOdometry(mavlink);
}
unsigned get_size() override
{
if (_mavlink->odometry_loopback_enabled()) {
return _vodom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
} else {
return _odom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
}
private:
uORB::Subscription _odom_sub{ORB_ID(vehicle_odometry)};
uORB::Subscription _vodom_sub{ORB_ID(vehicle_visual_odometry)};
/* do not allow top copying this class */
MavlinkStreamOdometry(MavlinkStreamOdometry &) = delete;
MavlinkStreamOdometry &operator = (const MavlinkStreamOdometry &) = delete;
protected:
explicit MavlinkStreamOdometry(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_odometry_s odom;
// check if it is to send visual odometry loopback or not
bool odom_updated = false;
mavlink_odometry_t msg{};
if (_mavlink->odometry_loopback_enabled()) {
odom_updated = _vodom_sub.update(&odom);
// set the frame_id according to the local frame of the data
if (odom.local_frame == vehicle_odometry_s::LOCAL_FRAME_NED) {
msg.frame_id = MAV_FRAME_LOCAL_NED;
} else {
msg.frame_id = MAV_FRAME_LOCAL_FRD;
}
// source: external vision system
msg.estimator_type = MAV_ESTIMATOR_TYPE_VISION;
} else {
odom_updated = _odom_sub.update(&odom);
msg.frame_id = MAV_FRAME_LOCAL_NED;
// source: PX4 estimator
msg.estimator_type = MAV_ESTIMATOR_TYPE_AUTOPILOT;
}
if (odom_updated) {
msg.time_usec = odom.timestamp_sample;
msg.child_frame_id = MAV_FRAME_BODY_FRD;
// Current position
msg.x = odom.x;
msg.y = odom.y;
msg.z = odom.z;
// Current orientation
msg.q[0] = odom.q[0];
msg.q[1] = odom.q[1];
msg.q[2] = odom.q[2];
msg.q[3] = odom.q[3];
switch (odom.velocity_frame) {
case vehicle_odometry_s::BODY_FRAME_FRD:
msg.vx = odom.vx;
msg.vy = odom.vy;
msg.vz = odom.vz;
break;
case vehicle_odometry_s::LOCAL_FRAME_FRD:
case vehicle_odometry_s::LOCAL_FRAME_NED:
// Body frame to local frame
const matrix::Dcmf R_body_to_local(matrix::Quatf(odom.q));
// Rotate linear velocity from local to body frame
const matrix::Vector3f linvel_body(R_body_to_local.transpose() *
matrix::Vector3f(odom.vx, odom.vy, odom.vz));
msg.vx = linvel_body(0);
msg.vy = linvel_body(1);
msg.vz = linvel_body(2);
break;
}
// Current body rates
msg.rollspeed = odom.rollspeed;
msg.pitchspeed = odom.pitchspeed;
msg.yawspeed = odom.yawspeed;
// get the covariance matrix size
// pose_covariance
static constexpr size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]);
static_assert(POS_URT_SIZE == (sizeof(msg.pose_covariance) / sizeof(msg.pose_covariance[0])),
"Odometry Pose Covariance matrix URT array size mismatch");
// velocity_covariance
static constexpr size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]);
static_assert(VEL_URT_SIZE == (sizeof(msg.velocity_covariance) / sizeof(msg.velocity_covariance[0])),
"Odometry Velocity Covariance matrix URT array size mismatch");
// copy pose covariances
for (size_t i = 0; i < POS_URT_SIZE; i++) {
msg.pose_covariance[i] = odom.pose_covariance[i];
}
// copy velocity covariances
//TODO: Apply rotation matrix to transform from body-fixed NED to earth-fixed NED frame
for (size_t i = 0; i < VEL_URT_SIZE; i++) {
msg.velocity_covariance[i] = odom.velocity_covariance[i];
}
mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -2831,7 +2676,9 @@ static const StreamListItem streams_list[] = {
#if defined(LOCAL_POSITION_NED_HPP)
create_stream_list_item<MavlinkStreamLocalPositionNED>(),
#endif // LOCAL_POSITION_NED_HPP
#if defined(ODOMETRY_HPP)
create_stream_list_item<MavlinkStreamOdometry>(),
#endif // ODOMETRY_HPP
#if defined(ESTIMATOR_STATUS_HPP)
create_stream_list_item<MavlinkStreamEstimatorStatus>(),
#endif // ESTIMATOR_STATUS_HPP
src/modules/mavlink/streams/ODOMETRY.hpp
+171
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@@ -0,0 +1,171 @@
/****************************************************************************
*
* 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 ODOMETRY_HPP
#define ODOMETRY_HPP
#include <uORB/topics/vehicle_odometry.h>
class MavlinkStreamOdometry : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOdometry(mavlink); }
static constexpr const char *get_name_static() { return "ODOMETRY"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ODOMETRY; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_mavlink->odometry_loopback_enabled()) {
return _vodom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
} else {
return _odom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
}
private:
explicit MavlinkStreamOdometry(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _odom_sub{ORB_ID(vehicle_odometry)};
uORB::Subscription _vodom_sub{ORB_ID(vehicle_visual_odometry)};
bool send() override
{
vehicle_odometry_s odom;
// check if it is to send visual odometry loopback or not
bool odom_updated = false;
mavlink_odometry_t msg{};
if (_mavlink->odometry_loopback_enabled()) {
odom_updated = _vodom_sub.update(&odom);
// set the frame_id according to the local frame of the data
if (odom.local_frame == vehicle_odometry_s::LOCAL_FRAME_NED) {
msg.frame_id = MAV_FRAME_LOCAL_NED;
} else {
msg.frame_id = MAV_FRAME_LOCAL_FRD;
}
// source: external vision system
msg.estimator_type = MAV_ESTIMATOR_TYPE_VISION;
} else {
odom_updated = _odom_sub.update(&odom);
msg.frame_id = MAV_FRAME_LOCAL_NED;
// source: PX4 estimator
msg.estimator_type = MAV_ESTIMATOR_TYPE_AUTOPILOT;
}
if (odom_updated) {
msg.time_usec = odom.timestamp_sample;
msg.child_frame_id = MAV_FRAME_BODY_FRD;
// Current position
msg.x = odom.x;
msg.y = odom.y;
msg.z = odom.z;
// Current orientation
msg.q[0] = odom.q[0];
msg.q[1] = odom.q[1];
msg.q[2] = odom.q[2];
msg.q[3] = odom.q[3];
switch (odom.velocity_frame) {
case vehicle_odometry_s::BODY_FRAME_FRD:
msg.vx = odom.vx;
msg.vy = odom.vy;
msg.vz = odom.vz;
break;
case vehicle_odometry_s::LOCAL_FRAME_FRD:
case vehicle_odometry_s::LOCAL_FRAME_NED:
// Body frame to local frame
const matrix::Dcmf R_body_to_local(matrix::Quatf(odom.q));
// Rotate linear velocity from local to body frame
const matrix::Vector3f linvel_body(R_body_to_local.transpose() *
matrix::Vector3f(odom.vx, odom.vy, odom.vz));
msg.vx = linvel_body(0);
msg.vy = linvel_body(1);
msg.vz = linvel_body(2);
break;
}
// Current body rates
msg.rollspeed = odom.rollspeed;
msg.pitchspeed = odom.pitchspeed;
msg.yawspeed = odom.yawspeed;
// get the covariance matrix size
// pose_covariance
static constexpr size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]);
static_assert(POS_URT_SIZE == (sizeof(msg.pose_covariance) / sizeof(msg.pose_covariance[0])),
"Odometry Pose Covariance matrix URT array size mismatch");
// velocity_covariance
static constexpr size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]);
static_assert(VEL_URT_SIZE == (sizeof(msg.velocity_covariance) / sizeof(msg.velocity_covariance[0])),
"Odometry Velocity Covariance matrix URT array size mismatch");
// copy pose covariances
for (size_t i = 0; i < POS_URT_SIZE; i++) {
msg.pose_covariance[i] = odom.pose_covariance[i];
}
// copy velocity covariances
//TODO: Apply rotation matrix to transform from body-fixed NED to earth-fixed NED frame
for (size_t i = 0; i < VEL_URT_SIZE; i++) {
msg.velocity_covariance[i] = odom.velocity_covariance[i];
}
mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // ODOMETRY_HPP