diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 9676276c1d..b023a19b62 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -108,6 +108,7 @@ using matrix::wrap_2pi; #include "streams/ALTITUDE.hpp" #include "streams/ATTITUDE.hpp" #include "streams/ATTITUDE_QUATERNION.hpp" +#include "streams/ATTITUDE_TARGET.hpp" #include "streams/AUTOPILOT_VERSION.hpp" #include "streams/DISTANCE_SENSOR.hpp" #include "streams/ESC_INFO.hpp" @@ -3548,82 +3549,6 @@ protected: } }; - -class MavlinkStreamAttitudeTarget : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamAttitudeTarget::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ATTITUDE_TARGET"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ATTITUDE_TARGET; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAttitudeTarget(mavlink); - } - - unsigned get_size() override - { - return _att_sp_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; - uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; - - /* do not allow top copying this class */ - MavlinkStreamAttitudeTarget(MavlinkStreamAttitudeTarget &) = delete; - MavlinkStreamAttitudeTarget &operator = (const MavlinkStreamAttitudeTarget &) = delete; - -protected: - explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_attitude_setpoint_s att_sp; - - if (_att_sp_sub.update(&att_sp)) { - - mavlink_attitude_target_t msg{}; - - msg.time_boot_ms = att_sp.timestamp / 1000; - matrix::Quatf(att_sp.q_d).copyTo(msg.q); - - vehicle_rates_setpoint_s att_rates_sp{}; - _att_rates_sp_sub.copy(&att_rates_sp); - - msg.body_roll_rate = att_rates_sp.roll; - msg.body_pitch_rate = att_rates_sp.pitch; - msg.body_yaw_rate = att_rates_sp.yaw; - - msg.thrust = att_sp.thrust_body[0]; - - mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - - class MavlinkStreamRCChannels : public MavlinkStream { public: @@ -4082,7 +4007,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), +#if defined(ATTITUDE_TARGET_HPP) create_stream_list_item(), +#endif // ATTITUDE_TARGET_HPP create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), diff --git a/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp b/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp new file mode 100644 index 0000000000..02f77bf8bb --- /dev/null +++ b/src/modules/mavlink/streams/ATTITUDE_TARGET.hpp @@ -0,0 +1,114 @@ +/**************************************************************************** + * + * 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 ATTITUDE_TARGET_HPP +#define ATTITUDE_TARGET_HPP + +#include +#include + +class MavlinkStreamAttitudeTarget : public MavlinkStream +{ +public: + const char *get_name() const override + { + return MavlinkStreamAttitudeTarget::get_name_static(); + } + + static constexpr const char *get_name_static() + { + return "ATTITUDE_TARGET"; + } + + static constexpr uint16_t get_id_static() + { + return MAVLINK_MSG_ID_ATTITUDE_TARGET; + } + + uint16_t get_id() override + { + return get_id_static(); + } + + static MavlinkStream *new_instance(Mavlink *mavlink) + { + return new MavlinkStreamAttitudeTarget(mavlink); + } + + unsigned get_size() override + { + return _att_sp_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; + uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; + + /* do not allow top copying this class */ + MavlinkStreamAttitudeTarget(MavlinkStreamAttitudeTarget &) = delete; + MavlinkStreamAttitudeTarget &operator = (const MavlinkStreamAttitudeTarget &) = delete; + +protected: + explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink) + {} + + bool send() override + { + vehicle_attitude_setpoint_s att_sp; + + if (_att_sp_sub.update(&att_sp)) { + + mavlink_attitude_target_t msg{}; + + msg.time_boot_ms = att_sp.timestamp / 1000; + matrix::Quatf(att_sp.q_d).copyTo(msg.q); + + vehicle_rates_setpoint_s att_rates_sp{}; + _att_rates_sp_sub.copy(&att_rates_sp); + + msg.body_roll_rate = att_rates_sp.roll; + msg.body_pitch_rate = att_rates_sp.pitch; + msg.body_yaw_rate = att_rates_sp.yaw; + + msg.thrust = att_sp.thrust_body[0]; + + mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // ATTITUDE_TARGET_HPP