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add yaw_absolute to mount_orientation

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daniele
2019-11-22 16:07:25 +01:00
committed by Lorenz Meier
parent 44c7b90a7b
commit ffd010b42d
1 changed files with 8 additions and 3 deletions
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src/modules/mavlink/mavlink_messages.cpp
+8 -3
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@@ -4721,7 +4721,8 @@ public:
private: private:
MavlinkOrbSubscription *_mount_orientation_sub; MavlinkOrbSubscription *_mount_orientation_sub;
uint64_t _mount_orientation_time; MavlinkOrbSubscription *_gpos_sub;
uint64_t _mount_orientation_time{0};
/* do not allow top copying this class */ /* do not allow top copying this class */
MavlinkStreamMountOrientation(MavlinkStreamMountOrientation &) = delete; MavlinkStreamMountOrientation(MavlinkStreamMountOrientation &) = delete;
@@ -4730,12 +4731,12 @@ private:
protected: protected:
explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink), explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink),
_mount_orientation_sub(_mavlink->add_orb_subscription(ORB_ID(mount_orientation))), _mount_orientation_sub(_mavlink->add_orb_subscription(ORB_ID(mount_orientation))),
_mount_orientation_time(0) _gpos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_global_position)))
{} {}
bool send(const hrt_abstime t) override bool send(const hrt_abstime t) override
{ {
struct mount_orientation_s mount_orientation; mount_orientation_s mount_orientation{};
if (_mount_orientation_sub->update(&_mount_orientation_time, &mount_orientation)) { if (_mount_orientation_sub->update(&_mount_orientation_time, &mount_orientation)) {
mavlink_mount_orientation_t msg = {}; mavlink_mount_orientation_t msg = {};
@@ -4744,6 +4745,10 @@ protected:
msg.pitch = math::degrees(mount_orientation.attitude_euler_angle[1]); msg.pitch = math::degrees(mount_orientation.attitude_euler_angle[1]);
msg.yaw = math::degrees(mount_orientation.attitude_euler_angle[2]); msg.yaw = math::degrees(mount_orientation.attitude_euler_angle[2]);
vehicle_global_position_s gpos{};
_gpos_sub->update(&gpos);
msg.yaw_absolute = math::degrees(matrix::wrap_2pi(gpos.yaw + mount_orientation.attitude_euler_angle[2]));
mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg); mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg);
return true; return true;