From 0b705c6c6d7d33375b64677d6d6d87706b0cdfa7 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Tue, 24 Aug 2021 15:24:31 +0200 Subject: [PATCH] mavlink: add npfg_status, regenerate headers --- mavlink/include/mavlink/v2.0 | 2 +- .../FixedwingPositionControl.cpp | 2 + src/modules/mavlink/mavlink_main.cpp | 3 + src/modules/mavlink/mavlink_messages.cpp | 6 +- src/modules/mavlink/streams/NPFG_STATUS.hpp | 95 +++++++++++++++++++ 5 files changed, 106 insertions(+), 2 deletions(-) create mode 100644 src/modules/mavlink/streams/NPFG_STATUS.hpp diff --git a/mavlink/include/mavlink/v2.0 b/mavlink/include/mavlink/v2.0 index 9867107002..7773fa892b 160000 --- a/mavlink/include/mavlink/v2.0 +++ b/mavlink/include/mavlink/v2.0 @@ -1 +1 @@ -Subproject commit 98671070020c2aa4790ab75c74da4a0968209a67 +Subproject commit 7773fa892bc93f05c5b90de7163287e7dc60aeeb diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 43d7df5446..87b6779ce7 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -515,6 +515,8 @@ FixedwingPositionControl::status_publish() npfg_status.time_const = 0.0f; } + npfg_status.timestamp = hrt_absolute_time(); + _pos_ctrl_status_pub.publish(pos_ctrl_status); _npfg_status_pub.publish(npfg_status); } diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 6f7dc43d47..6965f2646e 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1528,6 +1528,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("HOME_POSITION", 0.5f); configure_stream_local("LOCAL_POSITION_NED", 1.0f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.0f); + configure_stream_local("NPFG_STATUS", 1.0f); configure_stream_local("OBSTACLE_DISTANCE", 1.0f); configure_stream_local("ORBIT_EXECUTION_STATUS", 2.0f); configure_stream_local("PING", 0.1f); @@ -1587,6 +1588,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f); + configure_stream_local("NPFG_STATUS", 10.0f); configure_stream_local("OPTICAL_FLOW_RAD", 10.0f); configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f); configure_stream_local("PING", 1.0f); @@ -1729,6 +1731,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("HOME_POSITION", 0.5f); configure_stream_local("MANUAL_CONTROL", 5.0f); configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f); + configure_stream_local("NPFG_STATUS", 10.0f); configure_stream_local("OPTICAL_FLOW_RAD", 10.0f); configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f); configure_stream_local("PING", 1.0f); diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 08c17d368b..01d7e31a2a 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -88,6 +88,7 @@ #include "streams/MANUAL_CONTROL.hpp" #include "streams/MOUNT_ORIENTATION.hpp" #include "streams/NAV_CONTROLLER_OUTPUT.hpp" +#include "streams/NPFG_STATUS.hpp" #include "streams/OBSTACLE_DISTANCE.hpp" #include "streams/OPTICAL_FLOW_RAD.hpp" #include "streams/ORBIT_EXECUTION_STATUS.hpp" @@ -533,8 +534,11 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), #endif // COMPONENT_INFORMATION_HPP #if defined(RAW_RPM_HPP) - create_stream_list_item() + create_stream_list_item(), #endif // RAW_RPM_HPP +#if defined(NPFG_STATUS_HPP) + create_stream_list_item() +#endif // NPFG_STATUS }; const char *get_stream_name(const uint16_t msg_id) diff --git a/src/modules/mavlink/streams/NPFG_STATUS.hpp b/src/modules/mavlink/streams/NPFG_STATUS.hpp new file mode 100644 index 0000000000..e6dbd3671a --- /dev/null +++ b/src/modules/mavlink/streams/NPFG_STATUS.hpp @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * Copyright (c) 2021 Autonomous Systems Lab, ETH Zurich. 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 NPFG_STATUS_HPP +#define NPFG_STATUS_HPP + +#include + +class MavlinkStreamNPFGStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNPFGStatus(mavlink); } + + static constexpr const char *get_name_static() { return "NPFG_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NPFG_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_npfg_status_sub.advertised()) { + return MAVLINK_MSG_ID_NPFG_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamNPFGStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _npfg_status_sub{ORB_ID(npfg_status)}; + + bool send() override + { + struct npfg_status_s npfg_status; + + if (_npfg_status_sub.update(&npfg_status)) { + mavlink_npfg_status_t msg{}; + + msg.timestamp = npfg_status.timestamp; + msg.lat_accel = npfg_status.lat_accel; + msg.lat_accel_ff = npfg_status.lat_accel_ff; + msg.bearing_feas = npfg_status.bearing_feas; + msg.bearing_feas_on_track = npfg_status.bearing_feas_on_track; + msg.signed_track_error = npfg_status.signed_track_error; + msg.track_error_bound = npfg_status.track_error_bound; + msg.airspeed_ref = npfg_status.airspeed_ref; + msg.bearing = math::degrees(npfg_status.bearing); + msg.heading_ref = math::degrees(npfg_status.heading_ref); + msg.min_ground_speed_ref = npfg_status.min_ground_speed_ref; + msg.adapted_period = npfg_status.adapted_period; + msg.p_gain = npfg_status.p_gain; + msg.time_const = npfg_status.time_const; + + mavlink_msg_npfg_status_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // NPFG_STATUS