diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index c90931e0fe..8f2c8b5099 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -73,7 +73,6 @@ #include #include #include -#include #include #include #include @@ -119,6 +118,7 @@ using matrix::wrap_2pi; #include "streams/HIL_STATE_QUATERNION.hpp" #include "streams/MOUNT_ORIENTATION.hpp" #include "streams/OBSTACLE_DISTANCE.hpp" +#include "streams/OPTICAL_FLOW.hpp" #include "streams/ORBIT_EXECUTION_STATUS.hpp" #include "streams/PING.hpp" #include "streams/PROTOCOL_VERSION.hpp" @@ -4062,80 +4062,6 @@ protected: } }; -class MavlinkStreamOpticalFlowRad : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamOpticalFlowRad::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "OPTICAL_FLOW_RAD"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamOpticalFlowRad(mavlink); - } - - unsigned get_size() override - { - return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _flow_sub{ORB_ID(optical_flow)}; - - /* do not allow top copying this class */ - MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete; - MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete; - -protected: - explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - optical_flow_s flow; - - if (_flow_sub.update(&flow)) { - mavlink_optical_flow_rad_t msg{}; - - msg.time_usec = flow.timestamp; - msg.sensor_id = flow.sensor_id; - msg.integrated_x = flow.pixel_flow_x_integral; - msg.integrated_y = flow.pixel_flow_y_integral; - msg.integrated_xgyro = flow.gyro_x_rate_integral; - msg.integrated_ygyro = flow.gyro_y_rate_integral; - msg.integrated_zgyro = flow.gyro_z_rate_integral; - msg.distance = flow.ground_distance_m; - msg.quality = flow.quality; - msg.integration_time_us = flow.integration_timespan; - msg.sensor_id = flow.sensor_id; - msg.time_delta_distance_us = flow.time_since_last_sonar_update; - msg.temperature = flow.gyro_temperature; - - mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamNavControllerOutput : public MavlinkStream { public: @@ -4325,7 +4251,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), +#if defined(OPTICAL_FLOW_HPP) create_stream_list_item(), +#endif // OPTICAL_FLOW_HPP create_stream_list_item >(), create_stream_list_item >(), #if defined(NAMED_VALUE_FLOAT_HPP) diff --git a/src/modules/mavlink/streams/OPTICAL_FLOW.hpp b/src/modules/mavlink/streams/OPTICAL_FLOW.hpp new file mode 100644 index 0000000000..7a5a6620e2 --- /dev/null +++ b/src/modules/mavlink/streams/OPTICAL_FLOW.hpp @@ -0,0 +1,113 @@ +/**************************************************************************** + * + * 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 OPTICAL_FLOW_HPP +#define OPTICAL_FLOW_HPP + +#include + +class MavlinkStreamOpticalFlowRad : public MavlinkStream +{ +public: + const char *get_name() const override + { + return MavlinkStreamOpticalFlowRad::get_name_static(); + } + + static constexpr const char *get_name_static() + { + return "OPTICAL_FLOW_RAD"; + } + + static constexpr uint16_t get_id_static() + { + return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; + } + + uint16_t get_id() override + { + return get_id_static(); + } + + static MavlinkStream *new_instance(Mavlink *mavlink) + { + return new MavlinkStreamOpticalFlowRad(mavlink); + } + + unsigned get_size() override + { + return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + } + +private: + uORB::Subscription _flow_sub{ORB_ID(optical_flow)}; + + /* do not allow top copying this class */ + MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete; + MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete; + +protected: + explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink) + {} + + bool send() override + { + optical_flow_s flow; + + if (_flow_sub.update(&flow)) { + mavlink_optical_flow_rad_t msg{}; + + msg.time_usec = flow.timestamp; + msg.sensor_id = flow.sensor_id; + msg.integrated_x = flow.pixel_flow_x_integral; + msg.integrated_y = flow.pixel_flow_y_integral; + msg.integrated_xgyro = flow.gyro_x_rate_integral; + msg.integrated_ygyro = flow.gyro_y_rate_integral; + msg.integrated_zgyro = flow.gyro_z_rate_integral; + msg.distance = flow.ground_distance_m; + msg.quality = flow.quality; + msg.integration_time_us = flow.integration_timespan; + msg.sensor_id = flow.sensor_id; + msg.time_delta_distance_us = flow.time_since_last_sonar_update; + msg.temperature = flow.gyro_temperature; + + mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // OPTICAL_FLOW_HPP