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update mavlink to master, rename MOUNT_STATUS

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The mavlink message MOUNT_STATUS has been renamed to MOUNT_ORIENTATION.

This changes the Firmware code accordingly.
This commit is contained in:
Julian Oes
2016-11-28 21:01:22 +01:00
committed by Lorenz Meier
parent 780e903d5b
commit 0109f6f549
7 changed files with 31 additions and 31 deletions
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src/modules/mavlink/mavlink_messages.cpp
+22 -22
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@@ -89,7 +89,7 @@
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/mount_status.h>
#include <uORB/topics/mount_orientation.h>
#include <uORB/topics/collision_report.h>
#include <uORB/uORB.h>
@@ -3526,22 +3526,22 @@ protected:
}
};
class MavlinkStreamMountStatus : public MavlinkStream
class MavlinkStreamMountOrientation : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamMountStatus::get_name_static();
return MavlinkStreamMountOrientation::get_name_static();
}
static const char *get_name_static()
{
return "MOUNT_STATUS";
return "MOUNT_ORIENTATION";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_MOUNT_STATUS;
return MAVLINK_MSG_ID_MOUNT_ORIENTATION;
}
uint16_t get_id()
@@ -3551,43 +3551,43 @@ public:
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamMountStatus(mavlink);
return new MavlinkStreamMountOrientation(mavlink);
}
unsigned get_size()
{
return (_mount_status_time > 0) ? MAVLINK_MSG_ID_MOUNT_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
return (_mount_orientation_time > 0) ? MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
MavlinkOrbSubscription *_mount_status_sub;
uint64_t _mount_status_time;
MavlinkOrbSubscription *_mount_orientation_sub;
uint64_t _mount_orientation_time;
/* do not allow top copying this class */
MavlinkStreamMountStatus(MavlinkStreamMountStatus &);
MavlinkStreamMountStatus &operator = (const MavlinkStreamMountStatus &);
MavlinkStreamMountOrientation(MavlinkStreamMountOrientation &);
MavlinkStreamMountOrientation &operator = (const MavlinkStreamMountOrientation &);
protected:
explicit MavlinkStreamMountStatus(Mavlink *mavlink) : MavlinkStream(mavlink),
_mount_status_sub(_mavlink->add_orb_subscription(ORB_ID(mount_status))),
_mount_status_time(0)
explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink),
_mount_orientation_sub(_mavlink->add_orb_subscription(ORB_ID(mount_orientation))),
_mount_orientation_time(0)
{}
void send(const hrt_abstime t)
{
struct mount_status_s mount_status = {};
struct mount_orientation_s mount_orientation = {};
bool updated = _mount_status_sub->update(&_mount_status_time, &mount_status);
bool updated = _mount_orientation_sub->update(&_mount_orientation_time, &mount_orientation);
if (updated) {
mavlink_mount_status_t msg = {};
mavlink_mount_orientation_t msg = {};
msg.roll = 180.0f / M_PI_F * mount_status.attitude_euler_angle[0];
msg.pitch = 180.0f / M_PI_F * mount_status.attitude_euler_angle[1];
msg.yaw = 180.0f / M_PI_F * mount_status.attitude_euler_angle[2];
msg.roll = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[0];
msg.pitch = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[1];
msg.yaw = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[2];
mavlink_msg_mount_status_send_struct(_mavlink->get_channel(), &msg);
mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg);
}
}
};
@@ -3637,6 +3637,6 @@ const StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamADSBVehicle::new_instance, &MavlinkStreamADSBVehicle::get_name_static, &MavlinkStreamADSBVehicle::get_id_static),
new StreamListItem(&MavlinkStreamCollision::new_instance, &MavlinkStreamCollision::get_name_static, &MavlinkStreamCollision::get_id_static),
new StreamListItem(&MavlinkStreamWind::new_instance, &MavlinkStreamWind::get_name_static, &MavlinkStreamWind::get_id_static),
new StreamListItem(&MavlinkStreamMountStatus::new_instance, &MavlinkStreamMountStatus::get_name_static, &MavlinkStreamMountStatus::get_id_static),
new StreamListItem(&MavlinkStreamMountOrientation::new_instance, &MavlinkStreamMountOrientation::get_name_static, &MavlinkStreamMountOrientation::get_id_static),
nullptr
};