diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index ae5d3b5705..2277988667 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -143,6 +143,7 @@ using matrix::wrap_2pi; #if !defined(CONSTRAINED_FLASH) # include "streams/ADSB_VEHICLE.hpp" # include "streams/ATT_POS_MOCAP.hpp" +# include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp" # include "streams/DEBUG.hpp" # include "streams/DEBUG_FLOAT_ARRAY.hpp" # include "streams/DEBUG_VECT.hpp" @@ -1488,112 +1489,6 @@ protected: } }; -#if !defined(CONSTRAINED_FLASH) -class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamAutopilotStateForGimbalDevice::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "AUTOPILOT_STATE_FOR_GIMBAL_DEVICE"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAutopilotStateForGimbalDevice(mavlink); - } - - unsigned get_size() override - { - return _att_sub.advertised() ? MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; - uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; - uORB::Subscription _est_sub{ORB_ID(estimator_status)}; - uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)}; - - /* do not allow top copying this class */ - MavlinkStreamAutopilotStateForGimbalDevice(MavlinkStreamAutopilotStateForGimbalDevice &) = delete; - MavlinkStreamAutopilotStateForGimbalDevice &operator = (const MavlinkStreamAutopilotStateForGimbalDevice &) = delete; - -protected: - explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_att_sub.advertised()) { - - mavlink_autopilot_state_for_gimbal_device_t msg{}; - - { - vehicle_attitude_s att{}; - _att_sub.copy(&att); - msg.time_boot_us = att.timestamp; - msg.q[0] = att.q[0]; - msg.q[1] = att.q[1]; - msg.q[2] = att.q[2]; - msg.q[3] = att.q[3]; - msg.q_estimated_delay_us = 0; // I don't know. - } - - { - vehicle_local_position_s lpos{}; - _lpos_sub.copy(&lpos); - msg.vx = lpos.vx; - msg.vy = lpos.vy; - msg.vz = lpos.vz; - msg.v_estimated_delay_us = 0; // I don't know. - } - - { - vehicle_attitude_setpoint_s att_sp{}; - _att_sp_sub.copy(&att_sp); - msg.feed_forward_angular_velocity_z = att_sp.yaw_sp_move_rate; - } - - { - estimator_status_s est{}; - _est_sub.copy(&est); - msg.estimator_status = est.solution_status_flags; - } - - { - vehicle_land_detected_s land_detected{}; - _landed_sub.copy(&land_detected); - - // Ignore take-off and landing states for now. - msg.landed_state = land_detected.landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR; - } - - mavlink_msg_autopilot_state_for_gimbal_device_send_struct(_mavlink->get_channel(), &msg); - - return true; - - } - - return false; - } -}; -#endif - class MavlinkStreamCameraTrigger : public MavlinkStream { public: @@ -1832,11 +1727,11 @@ static const StreamListItem streams_list[] = { #if defined(ATT_POS_MOCAP_HPP) create_stream_list_item(), #endif // ATT_POS_MOCAP_HPP -#if !defined(CONSTRAINED_FLASH) - create_stream_list_item(), -#endif -#if defined(GIMBAL_DEVICE_ATTITUDE_STATUS_HPP) +#if defined(AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP) create_stream_list_item(), +#endif // AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP +#if defined(GIMBAL_DEVICE_ATTITUDE_STATUS_HPP) + create_stream_list_item(), #endif // GIMBAL_DEVICE_ATTITUDE_STATUS_HPP #if defined(GIMBAL_MANAGER_INFORMATION_HPP) create_stream_list_item(), diff --git a/src/modules/mavlink/streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp b/src/modules/mavlink/streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp new file mode 100644 index 0000000000..5e4dea2a03 --- /dev/null +++ b/src/modules/mavlink/streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp @@ -0,0 +1,143 @@ +/**************************************************************************** + * + * 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 AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP +#define AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP + +#include +#include +#include +#include +#include +#include + +class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAutopilotStateForGimbalDevice(mavlink); } + + static constexpr const char *get_name_static() { return "AUTOPILOT_STATE_FOR_GIMBAL_DEVICE"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE; } + + 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()) { + return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; + uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; + uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; + uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; + uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)}; + + bool send() override + { + vehicle_attitude_s att; + + if (_att_sub.update(&att)) { + mavlink_autopilot_state_for_gimbal_device_t msg{}; + + //msg.target_system = 0; // TODO + //msg.target_component = 0; // TODO + + msg.time_boot_us = att.timestamp; + msg.q[0] = att.q[0]; + msg.q[1] = att.q[1]; + msg.q[2] = att.q[2]; + msg.q[3] = att.q[3]; + msg.q_estimated_delay_us = 0; // I don't know. + + { + vehicle_local_position_s lpos; + + if (_lpos_sub.copy(&lpos)) { + msg.vx = lpos.vx; + msg.vy = lpos.vy; + msg.vz = lpos.vz; + msg.v_estimated_delay_us = 0; // I don't know. + } + } + + { + vehicle_attitude_setpoint_s att_sp; + + if (_att_sp_sub.copy(&att_sp)) { + msg.feed_forward_angular_velocity_z = att_sp.yaw_sp_move_rate; + } + } + + { + estimator_selector_status_s estimator_selector_status; + + if (_estimator_selector_status_sub.update(&estimator_selector_status)) { + _estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance); + + } + + estimator_status_s est; + + if (_estimator_status_sub.copy(&est)) { + msg.estimator_status = est.solution_status_flags; + } + } + + { + vehicle_land_detected_s land_detected; + + if (_landed_sub.copy(&land_detected)) { + // Ignore take-off and landing states for now. + msg.landed_state = land_detected.landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR; + } + } + + mavlink_msg_autopilot_state_for_gimbal_device_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP