diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index e4371711eb..a68abe0f24 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -104,7 +104,6 @@ #include #include #include -#include 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(), create_stream_list_item(), @@ -4723,7 +4646,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), - create_stream_list_item(), +#if defined(WIND_COV_HPP) + create_stream_list_item(), +#endif // WIND_COV_HPP #if defined(MOUNT_ORIENTATION_HPP) create_stream_list_item(), #endif // MOUNT_ORIENTATION_HPP diff --git a/src/modules/mavlink/streams/WIND_COV.hpp b/src/modules/mavlink/streams/WIND_COV.hpp new file mode 100644 index 0000000000..ec816e183f --- /dev/null +++ b/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 +#include + +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