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mavlink: move GROUND_TRUTH stream to separate file

sbg
Daniel Agar 4 years ago
parent
283264603a
commit
cb4d974977
2 changed files with 117 additions and 97 deletions
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  1. 100
      src/modules/mavlink/mavlink_messages.cpp
  2. 114
      src/modules/mavlink/streams/GROUND_TRUTH.hpp

100
src/modules/mavlink/mavlink_messages.cpp
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@ -118,6 +118,7 @@ using matrix::wrap_2pi; @@ -118,6 +118,7 @@ using matrix::wrap_2pi;
#include "streams/ESC_STATUS.hpp"
#include "streams/EXTENDED_SYS_STATE.hpp"
#include "streams/FLIGHT_INFORMATION.hpp"
#include "streams/GROUND_TRUTH.hpp"
#include "streams/HIGH_LATENCY2.hpp"
#include "streams/OBSTACLE_DISTANCE.hpp"
#include "streams/ORBIT_EXECUTION_STATUS.hpp"
@ -4932,103 +4933,6 @@ protected: @@ -4932,103 +4933,6 @@ protected:
}
};
class MavlinkStreamGroundTruth : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamGroundTruth::get_name_static();
}
static constexpr const char *get_name_static()
{
return "GROUND_TRUTH";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamGroundTruth(mavlink);
}
unsigned get_size() override
{
return (_att_sub.advertised()
|| _gpos_sub.advertised()) ? MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)};
uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position_groundtruth)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position_groundtruth)};
/* do not allow top copying this class */
MavlinkStreamGroundTruth(MavlinkStreamGroundTruth &) = delete;
MavlinkStreamGroundTruth &operator = (const MavlinkStreamGroundTruth &) = delete;
protected:
explicit MavlinkStreamGroundTruth(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (_angular_velocity_sub.updated() || _att_sub.updated() || _gpos_sub.updated() || _lpos_sub.updated()) {
vehicle_attitude_s att{};
_att_sub.copy(&att);
vehicle_global_position_s gpos{};
_gpos_sub.copy(&gpos);
vehicle_local_position_s lpos{};
_lpos_sub.copy(&lpos);
vehicle_angular_velocity_s angular_velocity{};
_angular_velocity_sub.copy(&angular_velocity);
mavlink_hil_state_quaternion_t msg{};
// vehicle_attitude -> hil_state_quaternion
msg.attitude_quaternion[0] = att.q[0];
msg.attitude_quaternion[1] = att.q[1];
msg.attitude_quaternion[2] = att.q[2];
msg.attitude_quaternion[3] = att.q[3];
msg.rollspeed = angular_velocity.xyz[0];
msg.pitchspeed = angular_velocity.xyz[1];
msg.yawspeed = angular_velocity.xyz[2];
// vehicle_global_position -> hil_state_quaternion
// same units as defined in mavlink/common.xml
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;
msg.alt = gpos.alt * 1e3f;
msg.vx = lpos.vx * 1e2f;
msg.vy = lpos.vy * 1e2f;
msg.vz = lpos.vz * 1e2f;
msg.ind_airspeed = 0;
msg.true_airspeed = 0;
msg.xacc = lpos.ax;
msg.yacc = lpos.ay;
msg.zacc = lpos.az;
mavlink_msg_hil_state_quaternion_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>(),
@ -5090,7 +4994,9 @@ static const StreamListItem streams_list[] = { @@ -5090,7 +4994,9 @@ static const StreamListItem streams_list[] = {
#if defined(HIGH_LATENCY2_HPP)
create_stream_list_item<MavlinkStreamHighLatency2>(),
#endif // HIGH_LATENCY2_HPP
#if defined(GROUND_TRUTH_HPP)
create_stream_list_item<MavlinkStreamGroundTruth>(),
#endif // GROUND_TRUTH_HPP
#if defined(PING_HPP)
create_stream_list_item<MavlinkStreamPing>(),
#endif // PING_HPP

114
src/modules/mavlink/streams/GROUND_TRUTH.hpp
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@ -0,0 +1,114 @@ @@ -0,0 +1,114 @@
/****************************************************************************
*
* 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 GROUND_TRUTH_HPP
#define GROUND_TRUTH_HPP
class MavlinkStreamGroundTruth : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGroundTruth(mavlink); }
static constexpr const char *get_name_static() { return "GROUND_TRUTH"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_STATE_QUATERNION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_att_sub.advertised() || _gpos_sub.advertised()) {
return MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamGroundTruth(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)};
uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position_groundtruth)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position_groundtruth)};
bool send() override
{
if (_angular_velocity_sub.updated() || _att_sub.updated() || _gpos_sub.updated() || _lpos_sub.updated()) {
vehicle_attitude_s att{};
_att_sub.copy(&att);
vehicle_global_position_s gpos{};
_gpos_sub.copy(&gpos);
vehicle_local_position_s lpos{};
_lpos_sub.copy(&lpos);
vehicle_angular_velocity_s angular_velocity{};
_angular_velocity_sub.copy(&angular_velocity);
mavlink_hil_state_quaternion_t msg{};
// vehicle_attitude -> hil_state_quaternion
msg.attitude_quaternion[0] = att.q[0];
msg.attitude_quaternion[1] = att.q[1];
msg.attitude_quaternion[2] = att.q[2];
msg.attitude_quaternion[3] = att.q[3];
msg.rollspeed = angular_velocity.xyz[0];
msg.pitchspeed = angular_velocity.xyz[1];
msg.yawspeed = angular_velocity.xyz[2];
// vehicle_global_position -> hil_state_quaternion
// same units as defined in mavlink/common.xml
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;
msg.alt = gpos.alt * 1e3f;
msg.vx = lpos.vx * 1e2f;
msg.vy = lpos.vy * 1e2f;
msg.vz = lpos.vz * 1e2f;
msg.ind_airspeed = 0;
msg.true_airspeed = 0;
msg.xacc = lpos.ax;
msg.yacc = lpos.ay;
msg.zacc = lpos.az;
mavlink_msg_hil_state_quaternion_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // GROUND_TRUTH_HPP
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