mavlink: move WIND_COV to streams header

src/modules/mavlink/mavlink_messages.cpp

@@ -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

@@ -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