diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index dbda84dcc6..8b7a465f88 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -138,6 +138,7 @@ using matrix::wrap_2pi; #include "streams/SYSTEM_TIME.hpp" #include "streams/TIMESYNC.hpp" #include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp" +#include "streams/VFR_HUD.hpp" #include "streams/VIBRATION.hpp" #include "streams/WIND_COV.hpp" @@ -1212,124 +1213,6 @@ public: } }; -class MavlinkStreamVFRHUD : public MavlinkStream -{ -public: - - const char *get_name() const override - { - return MavlinkStreamVFRHUD::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "VFR_HUD"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_VFR_HUD; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamVFRHUD(mavlink); - } - - unsigned get_size() override - { - if (_lpos_sub.advertised() || _airspeed_validated_sub.advertised()) { - return MAVLINK_MSG_ID_VFR_HUD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - - return 0; - } - -private: - uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; - uORB::Subscription _act0_sub{ORB_ID(actuator_controls_0)}; - uORB::Subscription _act1_sub{ORB_ID(actuator_controls_1)}; - uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; - uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; - - /* do not allow top copying this class */ - MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &) = delete; - MavlinkStreamVFRHUD &operator = (const MavlinkStreamVFRHUD &) = delete; - -protected: - explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_lpos_sub.updated() || _airspeed_validated_sub.updated()) { - - vehicle_local_position_s lpos{}; - _lpos_sub.copy(&lpos); - - actuator_armed_s armed{}; - _armed_sub.copy(&armed); - - airspeed_validated_s airspeed_validated{}; - _airspeed_validated_sub.copy(&airspeed_validated); - - mavlink_vfr_hud_t msg{}; - msg.airspeed = airspeed_validated.calibrated_airspeed_m_s; - msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy); - msg.heading = math::degrees(wrap_2pi(lpos.heading)); - - if (armed.armed) { - actuator_controls_s act0{}; - actuator_controls_s act1{}; - _act0_sub.copy(&act0); - _act1_sub.copy(&act1); - - // VFR_HUD throttle should only be used for operator feedback. - // VTOLs switch between actuator_controls_0 and actuator_controls_1. During transition there isn't a - // a single throttle value, but this should still be a useful heuristic for operator awareness. - // - // Use ACTUATOR_CONTROL_TARGET if accurate states are needed. - msg.throttle = 100 * math::max( - act0.control[actuator_controls_s::INDEX_THROTTLE], - act1.control[actuator_controls_s::INDEX_THROTTLE]); - - } else { - msg.throttle = 0.0f; - } - - if (lpos.z_valid && lpos.z_global) { - /* use local position estimate */ - msg.alt = -lpos.z + lpos.ref_alt; - - } else { - vehicle_air_data_s air_data{}; - _air_data_sub.copy(&air_data); - - /* fall back to baro altitude */ - if (air_data.timestamp > 0) { - msg.alt = air_data.baro_alt_meter; - } - } - - if (lpos.v_z_valid) { - msg.climb = -lpos.vz; - } - - mavlink_msg_vfr_hud_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraTrigger : public MavlinkStream { public: @@ -1538,7 +1421,9 @@ static const StreamListItem streams_list[] = { #if defined(ATTITUDE_QUATERNION_HPP) create_stream_list_item(), #endif // ATTITUDE_QUATERNION_HPP +#if defined(VFR_HUD_HPP) create_stream_list_item(), +#endif // VFR_HUD_HPP #if defined(GPS_GLOBAL_ORIGIN_HPP) create_stream_list_item(), #endif // GPS_GLOBAL_ORIGIN_HPP diff --git a/src/modules/mavlink/streams/VFR_HUD.hpp b/src/modules/mavlink/streams/VFR_HUD.hpp new file mode 100644 index 0000000000..28d9ef28bc --- /dev/null +++ b/src/modules/mavlink/streams/VFR_HUD.hpp @@ -0,0 +1,137 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 VFR_HUD_HPP +#define VFR_HUD_HPP + +#include +#include +#include +#include +#include + +class MavlinkStreamVFRHUD : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamVFRHUD(mavlink); } + + static constexpr const char *get_name_static() { return "VFR_HUD"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_VFR_HUD; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_lpos_sub.advertised() || _airspeed_validated_sub.advertised()) { + return MAVLINK_MSG_ID_VFR_HUD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; + uORB::Subscription _act0_sub{ORB_ID(actuator_controls_0)}; + uORB::Subscription _act1_sub{ORB_ID(actuator_controls_1)}; + uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; + uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; + + bool send() override + { + if (_lpos_sub.updated() || _airspeed_validated_sub.updated()) { + + vehicle_local_position_s lpos{}; + _lpos_sub.copy(&lpos); + + actuator_armed_s armed{}; + _armed_sub.copy(&armed); + + airspeed_validated_s airspeed_validated{}; + _airspeed_validated_sub.copy(&airspeed_validated); + + mavlink_vfr_hud_t msg{}; + msg.airspeed = airspeed_validated.calibrated_airspeed_m_s; + msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy); + msg.heading = math::degrees(wrap_2pi(lpos.heading)); + + if (armed.armed) { + actuator_controls_s act0{}; + actuator_controls_s act1{}; + _act0_sub.copy(&act0); + _act1_sub.copy(&act1); + + // VFR_HUD throttle should only be used for operator feedback. + // VTOLs switch between actuator_controls_0 and actuator_controls_1. During transition there isn't a + // a single throttle value, but this should still be a useful heuristic for operator awareness. + // + // Use ACTUATOR_CONTROL_TARGET if accurate states are needed. + msg.throttle = 100 * math::max( + act0.control[actuator_controls_s::INDEX_THROTTLE], + act1.control[actuator_controls_s::INDEX_THROTTLE]); + + } else { + msg.throttle = 0.0f; + } + + if (lpos.z_valid && lpos.z_global) { + /* use local position estimate */ + msg.alt = -lpos.z + lpos.ref_alt; + + } else { + vehicle_air_data_s air_data{}; + _air_data_sub.copy(&air_data); + + /* fall back to baro altitude */ + if (air_data.timestamp > 0) { + msg.alt = air_data.baro_alt_meter; + } + } + + if (lpos.v_z_valid) { + msg.climb = -lpos.vz; + } + + mavlink_msg_vfr_hud_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // VFR_HUD_HPP