Add MavlinkStreamGPSStatus status class stream via GPS_STATUS.hpp and add PRN code to satellite_info.msg.

2026-10-22 06:03:34 +08:00 · 2020-10-14 08:26:42 +02:00
parent de6d31ef3e
commit 047531b924
7 changed files with 112 additions and 6 deletions
@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   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 GPS_STATUS_HPP
+#define GPS_STATUS_HPP
+
+#include <uORB/topics/satellite_info.h>
+
+class MavlinkStreamGPSStatus : public MavlinkStream
+{
+public:
+	const char *get_name() const override { return MavlinkStreamGPSStatus::get_name_static(); }
+
+	static constexpr const char *get_name_static() { return "GPS_STATUS"; }
+
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_STATUS; }
+
+	uint16_t get_id() override { return get_id_static(); }
+
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSStatus(mavlink); }
+
+	unsigned get_size() override
+	{
+		return _satellite_info_sub.advertised() ? MAVLINK_MSG_ID_GPS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	uORB::Subscription _satellite_info_sub{ORB_ID(satellite_info)};
+
+	// Disallow copy and move construction.
+	MavlinkStreamGPSStatus(MavlinkStreamGPSStatus &) = delete;
+	MavlinkStreamGPSStatus &operator = (const MavlinkStreamGPSStatus &) = delete;
+
+protected:
+	explicit MavlinkStreamGPSStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send() override
+	{
+		satellite_info_s sat {};
+
+		if (_satellite_info_sub.update(&sat)) {
+			mavlink_gps_status_t msg{};
+
+			msg.satellites_visible = sat.count;
+
+			size_t sat_count = math::min(static_cast<size_t>(sat.count),
+						     sizeof(msg.satellite_used) / sizeof(msg.satellite_used[0]));
+
+			for (size_t i = 0; i < sat_count; i++) {
+				msg.satellite_used[i]      = sat.used[i];
+				msg.satellite_elevation[i] = sat.elevation[i];
+				msg.satellite_azimuth[i]   = sat.azimuth[i];
+				msg.satellite_snr[i]       = sat.snr[i];
+				msg.satellite_prn[i]       = sat.prn[i];
+			}
+
+			mavlink_msg_gps_status_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // GPS_STATUS_HPP