fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: move ATTITUDE_TARGET to streams hpp

Browse Source 
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
This commit is contained in:
Antonio Sanjurjo Cortés
2020-11-29 20:26:07 -05:00
committed by Daniel Agar
parent ce28aa089b
commit 2243931abd
2 changed files with 117 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+3 -76
View File
@@ -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<MavlinkStreamHILActuatorControls>(),
create_stream_list_item<MavlinkStreamPositionTargetGlobalInt>(),
create_stream_list_item<MavlinkStreamLocalPositionSetpoint>(),
#if defined(ATTITUDE_TARGET_HPP)
create_stream_list_item<MavlinkStreamAttitudeTarget>(),
#endif // ATTITUDE_TARGET_HPP
create_stream_list_item<MavlinkStreamRCChannels>(),
create_stream_list_item<MavlinkStreamManualControl>(),
create_stream_list_item<MavlinkStreamTrajectoryRepresentationWaypoints>(),
src/modules/mavlink/streams/ATTITUDE_TARGET.hpp
+114
View File
@@ -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 <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
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