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orbit: sending telem via mavlink

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This commit is contained in:
Alessandro Simovic
2018-12-18 14:40:07 +01:00
committed by Matthias Grob
parent a08ea4764d
commit 10913a66b4
1 changed files with 72 additions and 1 deletions
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src/modules/mavlink/mavlink_messages.cpp
+72 -1
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@@ -75,6 +75,7 @@
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/orbit_status.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_combined.h>
@@ -4767,6 +4768,75 @@ protected:
}
};
class MavlinkStreamOrbitStatus : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamOrbitStatus::get_name_static();
}
static const char *get_name_static()
{
return "ORBIT_EXECUTION_STATUS";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS;
}
uint16_t get_id()
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamOrbitStatus(mavlink);
}
unsigned get_size()
{
return MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
MavlinkOrbSubscription *_sub;
uint64_t _orbit_status_time;
/* do not allow top copying this class */
MavlinkStreamOrbitStatus(MavlinkStreamOrbitStatus &);
MavlinkStreamOrbitStatus &operator = (const MavlinkStreamOrbitStatus &);
protected:
explicit MavlinkStreamOrbitStatus(Mavlink *mavlink) : MavlinkStream(mavlink),
_sub(_mavlink->add_orb_subscription(ORB_ID(orbit_status))),
_orbit_status_time(0)
{}
bool send(const hrt_abstime t)
{
struct orbit_status_s _orbit_status;
if (_sub->update(&_orbit_status_time, &_orbit_status)) {
mavlink_orbit_execution_status_t _msg_orbit_execution_status;
_msg_orbit_execution_status.time_usec = _orbit_status.timestamp;
_msg_orbit_execution_status.radius = _orbit_status.radius;
_msg_orbit_execution_status.frame = _orbit_status.frame;
_msg_orbit_execution_status.x = _orbit_status.x;
_msg_orbit_execution_status.y = _orbit_status.y;
_msg_orbit_execution_status.z = _orbit_status.z;
mavlink_msg_orbit_execution_status_send_struct(_mavlink->get_channel(), &_msg_orbit_execution_status);
}
return true;
}
};
static const StreamListItem streams_list[] = {
StreamListItem(&MavlinkStreamHeartbeat::new_instance, &MavlinkStreamHeartbeat::get_name_static, &MavlinkStreamHeartbeat::get_id_static),
StreamListItem(&MavlinkStreamStatustext::new_instance, &MavlinkStreamStatustext::get_name_static, &MavlinkStreamStatustext::get_id_static),
@@ -4824,7 +4894,8 @@ static const StreamListItem streams_list[] = {
StreamListItem(&MavlinkStreamMountOrientation::new_instance, &MavlinkStreamMountOrientation::get_name_static, &MavlinkStreamMountOrientation::get_id_static),
StreamListItem(&MavlinkStreamHighLatency2::new_instance, &MavlinkStreamHighLatency2::get_name_static, &MavlinkStreamHighLatency2::get_id_static),
StreamListItem(&MavlinkStreamGroundTruth::new_instance, &MavlinkStreamGroundTruth::get_name_static, &MavlinkStreamGroundTruth::get_id_static),
StreamListItem(&MavlinkStreamPing::new_instance, &MavlinkStreamPing::get_name_static, &MavlinkStreamPing::get_id_static)
StreamListItem(&MavlinkStreamPing::new_instance, &MavlinkStreamPing::get_name_static, &MavlinkStreamPing::get_id_static),
StreamListItem(&MavlinkStreamOrbitStatus::new_instance, &MavlinkStreamOrbitStatus::get_name_static, &MavlinkStreamOrbitStatus::get_id_static)
};
const char *get_stream_name(const uint16_t msg_id)