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mavlink_messages: cast rotation types for assert

sbg
Matthias Grob 4 years ago committed by Daniel Agar
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1 changed files with 83 additions and 42 deletions
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  1. 125
      src/modules/mavlink/mavlink_messages.cpp

125
src/modules/mavlink/mavlink_messages.cpp
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@ -124,50 +124,91 @@ using matrix::Vector3f; @@ -124,50 +124,91 @@ using matrix::Vector3f;
using matrix::wrap_2pi;
// ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
static_assert(MAV_SENSOR_ROTATION_NONE == ROTATION_NONE, "Roll: 0, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_YAW_45 == ROTATION_YAW_45, "Roll: 0, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_YAW_90 == ROTATION_YAW_90, "Roll: 0, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_YAW_135 == ROTATION_YAW_135, "Roll: 0, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_YAW_180 == ROTATION_YAW_180, "Roll: 0, Pitch: 0, Yaw: 180");
static_assert(MAV_SENSOR_ROTATION_YAW_225 == ROTATION_YAW_225, "Roll: 0, Pitch: 0, Yaw: 225");
static_assert(MAV_SENSOR_ROTATION_YAW_270 == ROTATION_YAW_270, "Roll: 0, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_YAW_315 == ROTATION_YAW_315, "Roll: 0, Pitch: 0, Yaw: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_180 == ROTATION_ROLL_180, "Roll: 180, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_45 == ROTATION_ROLL_180_YAW_45, "Roll: 180, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_90 == ROTATION_ROLL_180_YAW_90, "Roll: 180, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_135 == ROTATION_ROLL_180_YAW_135, "Roll: 180, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_PITCH_180 == ROTATION_PITCH_180, "Roll: 0, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_225 == ROTATION_ROLL_180_YAW_225, "Roll: 180, Pitch: 0, Yaw: 225");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_270 == ROTATION_ROLL_180_YAW_270, "Roll: 180, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_315 == ROTATION_ROLL_180_YAW_315, "Roll: 180, Pitch: 0, Yaw: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_90 == ROTATION_ROLL_90, "Roll: 90, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_45 == ROTATION_ROLL_90_YAW_45, "Roll: 90, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_90 == ROTATION_ROLL_90_YAW_90, "Roll: 90, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_135 == ROTATION_ROLL_90_YAW_135, "Roll: 90, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_ROLL_270 == ROTATION_ROLL_270, "Roll: 270, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_45 == ROTATION_ROLL_270_YAW_45, "Roll: 270, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_90 == ROTATION_ROLL_270_YAW_90, "Roll: 270, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_135 == ROTATION_ROLL_270_YAW_135, "Roll: 270, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_PITCH_90 == ROTATION_PITCH_90, "Roll: 0, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_PITCH_270 == ROTATION_PITCH_270, "Roll: 0, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_90 == ROTATION_PITCH_180_YAW_90, "Roll: 0, Pitch: 180, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_270 == ROTATION_PITCH_180_YAW_270, "Roll: 0, Pitch: 180, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_90 == ROTATION_ROLL_90_PITCH_90, "Roll: 90, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_90 == ROTATION_ROLL_180_PITCH_90, "Roll: 180, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_90 == ROTATION_ROLL_270_PITCH_90, "Roll: 270, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180 == ROTATION_ROLL_90_PITCH_180, "Roll: 90, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_180 == ROTATION_ROLL_270_PITCH_180, "Roll: 270, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_270 == ROTATION_ROLL_90_PITCH_270, "Roll: 90, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_270 == ROTATION_ROLL_180_PITCH_270, "Roll: 180, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_270 == ROTATION_ROLL_270_PITCH_270, "Roll: 270, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90 == ROTATION_ROLL_90_PITCH_180_YAW_90,
static_assert(MAV_SENSOR_ROTATION_NONE == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_NONE),
"Roll: 0, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_YAW_45 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_45),
"Roll: 0, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_90),
"Roll: 0, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_YAW_135 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_135),
"Roll: 0, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_YAW_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_180),
"Roll: 0, Pitch: 0, Yaw: 180");
static_assert(MAV_SENSOR_ROTATION_YAW_225 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_225),
"Roll: 0, Pitch: 0, Yaw: 225");
static_assert(MAV_SENSOR_ROTATION_YAW_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_270),
"Roll: 0, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_YAW_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_315),
"Roll: 0, Pitch: 0, Yaw: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180),
"Roll: 180, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_45 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_45),
"Roll: 180, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_90),
"Roll: 180, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_135 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_135),
"Roll: 180, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_PITCH_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_180),
"Roll: 0, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_225 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_225),
"Roll: 180, Pitch: 0, Yaw: 225");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_270),
"Roll: 180, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_315),
"Roll: 180, Pitch: 0, Yaw: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90),
"Roll: 90, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_45 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_YAW_45),
"Roll: 90, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_YAW_90),
"Roll: 90, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_135 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_YAW_135),
"Roll: 90, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_ROLL_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270),
"Roll: 270, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_45 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_45),
"Roll: 270, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_90),
"Roll: 270, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_135 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_135),
"Roll: 270, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_PITCH_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_90),
"Roll: 0, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_PITCH_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_270),
"Roll: 0, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_180_YAW_90),
"Roll: 0, Pitch: 180, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_180_YAW_270),
"Roll: 0, Pitch: 180, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_90),
"Roll: 90, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_PITCH_90),
"Roll: 180, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_PITCH_90),
"Roll: 270, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_180),
"Roll: 90, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_180 == static_cast<MAV_SENSOR_ORIENTATION>
(ROTATION_ROLL_270_PITCH_180), "Roll: 270, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_270),
"Roll: 90, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_270 == static_cast<MAV_SENSOR_ORIENTATION>
(ROTATION_ROLL_180_PITCH_270), "Roll: 180, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_270 == static_cast<MAV_SENSOR_ORIENTATION>
(ROTATION_ROLL_270_PITCH_270), "Roll: 270, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>
(ROTATION_ROLL_90_PITCH_180_YAW_90),
"Roll: 90, Pitch: 180, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_270 == ROTATION_ROLL_90_YAW_270, "Roll: 90, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == ROTATION_ROLL_90_PITCH_68_YAW_293,
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_YAW_270),
"Roll: 90, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == static_cast<MAV_SENSOR_ORIENTATION>
(ROTATION_ROLL_90_PITCH_68_YAW_293),
"Roll: 90, Pitch: 68, Yaw: 293");
static_assert(MAV_SENSOR_ROTATION_PITCH_315 == ROTATION_PITCH_315, "Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == ROTATION_ROLL_90_PITCH_315, "Roll: 90, Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_180 == ROTATION_ROLL_270_YAW_180, "Roll: 270, Yaw: 180");
static_assert(MAV_SENSOR_ROTATION_PITCH_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_315), "Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_315),
"Roll: 90, Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_180),
"Roll: 270, Yaw: 180");
static_assert(42 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync");
static uint16_t cm_uint16_from_m_float(float m)

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