mavlink: move ATTITUDE to streams hpp

Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>

src/modules/mavlink/mavlink_messages.cpp

@@ -106,6 +106,7 @@ using matrix::Vector3f;
 using matrix::wrap_2pi;
 
 #include "streams/ALTITUDE.hpp"
+#include "streams/ATTITUDE.hpp"
 #include "streams/AUTOPILOT_VERSION.hpp"
 #include "streams/DISTANCE_SENSOR.hpp"
 #include "streams/ESC_INFO.hpp"
@@ -1432,83 +1433,6 @@ protected:
 	}
 };
 
-
-class MavlinkStreamAttitude : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamAttitude::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "ATTITUDE";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_ATTITUDE;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamAttitude(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
-	uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamAttitude(MavlinkStreamAttitude &) = delete;
-	MavlinkStreamAttitude &operator = (const MavlinkStreamAttitude &) = delete;
-
-
-protected:
-	explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		vehicle_attitude_s att;
-
-		if (_att_sub.update(&att)) {
-			vehicle_angular_velocity_s angular_velocity{};
-			_angular_velocity_sub.copy(&angular_velocity);
-
-			mavlink_attitude_t msg{};
-
-			const matrix::Eulerf euler = matrix::Quatf(att.q);
-			msg.time_boot_ms = att.timestamp / 1000;
-			msg.roll = euler.phi();
-			msg.pitch = euler.theta();
-			msg.yaw = euler.psi();
-
-			msg.rollspeed = angular_velocity.xyz[0];
-			msg.pitchspeed = angular_velocity.xyz[1];
-			msg.yawspeed = angular_velocity.xyz[2];
-
-			mavlink_msg_attitude_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
-
 class MavlinkStreamAttitudeQuaternion : public MavlinkStream
 {
 public:
@@ -4225,7 +4149,9 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamScaledPressure<0> >(),
 	// create_stream_list_item<MavlinkStreamScaledPressure<1> >(),
 	// create_stream_list_item<MavlinkStreamScaledPressure<2> >(),
+#if defined(ATTITUDE_HPP)
 	create_stream_list_item<MavlinkStreamAttitude>(),
+#endif // ATTITUDE_HPP
 	create_stream_list_item<MavlinkStreamAttitudeQuaternion>(),
 	create_stream_list_item<MavlinkStreamVFRHUD>(),
 #if defined(GPS_GLOBAL_ORIGIN_HPP)

src/modules/mavlink/streams/ATTITUDE.hpp

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   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 ATTITUDE_HPP
+#define ATTITUDE_HPP
+
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_angular_velocity.h>
+
+class MavlinkStreamAttitude : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamAttitude::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "ATTITUDE";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_ATTITUDE;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamAttitude(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
+
+	/* do not allow top copying this class */
+	MavlinkStreamAttitude(MavlinkStreamAttitude &) = delete;
+	MavlinkStreamAttitude &operator = (const MavlinkStreamAttitude &) = delete;
+
+
+protected:
+	explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send() override
+	{
+		vehicle_attitude_s att;
+
+		if (_att_sub.update(&att)) {
+			vehicle_angular_velocity_s angular_velocity{};
+			_angular_velocity_sub.copy(&angular_velocity);
+
+			mavlink_attitude_t msg{};
+
+			const matrix::Eulerf euler = matrix::Quatf(att.q);
+			msg.time_boot_ms = att.timestamp / 1000;
+			msg.roll = euler.phi();
+			msg.pitch = euler.theta();
+			msg.yaw = euler.psi();
+
+			msg.rollspeed = angular_velocity.xyz[0];
+			msg.pitchspeed = angular_velocity.xyz[1];
+			msg.yawspeed = angular_velocity.xyz[2];
+
+			mavlink_msg_attitude_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // ATTITUDE_HPP