From 239ed19827ad076f39a0aed26d87b09e136dc02a Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 20 Feb 2021 12:33:48 -0500 Subject: [PATCH] mavlink: move ATT_POS_MOCAP to separate stream header - now only available on non flash constrained boards --- src/modules/mavlink/mavlink_messages.cpp | 74 +--------------- src/modules/mavlink/streams/ATT_POS_MOCAP.hpp | 86 +++++++++++++++++++ 2 files changed, 90 insertions(+), 70 deletions(-) create mode 100644 src/modules/mavlink/streams/ATT_POS_MOCAP.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index c5be46060b..d38eef956b 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -141,11 +141,12 @@ using matrix::wrap_2pi; #include "streams/WIND_COV.hpp" #if !defined(CONSTRAINED_FLASH) +# include "streams/ATT_POS_MOCAP.hpp" # include "streams/DEBUG.hpp" # include "streams/DEBUG_FLOAT_ARRAY.hpp" # include "streams/DEBUG_VECT.hpp" -# include "streams/NAMED_VALUE_FLOAT.hpp" # include "streams/LINK_NODE_STATUS.hpp" +# include "streams/NAMED_VALUE_FLOAT.hpp" #endif // !CONSTRAINED_FLASH // ensure PX4 rotation enum and MAV_SENSOR_ROTATION align @@ -2986,75 +2987,6 @@ protected: } }; -class MavlinkStreamAttPosMocap : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamAttPosMocap::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ATT_POS_MOCAP"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ATT_POS_MOCAP; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAttPosMocap(mavlink); - } - - unsigned get_size() override - { - return _mocap_sub.advertised() ? MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _mocap_sub{ORB_ID(vehicle_mocap_odometry)}; - - /* do not allow top copying this class */ - MavlinkStreamAttPosMocap(MavlinkStreamAttPosMocap &) = delete; - MavlinkStreamAttPosMocap &operator = (const MavlinkStreamAttPosMocap &) = delete; - -protected: - explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_odometry_s mocap; - - if (_mocap_sub.update(&mocap)) { - mavlink_att_pos_mocap_t msg{}; - - msg.time_usec = mocap.timestamp_sample; - msg.q[0] = mocap.q[0]; - msg.q[1] = mocap.q[1]; - msg.q[2] = mocap.q[2]; - msg.q[3] = mocap.q[3]; - msg.x = mocap.x; - msg.y = mocap.y; - msg.z = mocap.z; - - mavlink_msg_att_pos_mocap_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -3166,7 +3098,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), +#if defined(ATT_POS_MOCAP_HPP) create_stream_list_item(), +#endif // ATT_POS_MOCAP_HPP #if !defined(CONSTRAINED_FLASH) create_stream_list_item(), create_stream_list_item(), diff --git a/src/modules/mavlink/streams/ATT_POS_MOCAP.hpp b/src/modules/mavlink/streams/ATT_POS_MOCAP.hpp new file mode 100644 index 0000000000..07ea7a9129 --- /dev/null +++ b/src/modules/mavlink/streams/ATT_POS_MOCAP.hpp @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 ATT_POS_MOCAP_HPP +#define ATT_POS_MOCAP_HPP + +#include + +class MavlinkStreamAttPosMocap : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttPosMocap(mavlink); } + + static constexpr const char *get_name_static() { return "ATT_POS_MOCAP"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATT_POS_MOCAP; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _mocap_sub.advertised() ? MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _mocap_sub{ORB_ID(vehicle_mocap_odometry)}; + + bool send() override + { + vehicle_odometry_s mocap; + + if (_mocap_sub.update(&mocap)) { + mavlink_att_pos_mocap_t msg{}; + + msg.time_usec = mocap.timestamp_sample; + msg.q[0] = mocap.q[0]; + msg.q[1] = mocap.q[1]; + msg.q[2] = mocap.q[2]; + msg.q[3] = mocap.q[3]; + msg.x = mocap.x; + msg.y = mocap.y; + msg.z = mocap.z; + // msg.covariance = + + mavlink_msg_att_pos_mocap_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // ATT_POS_MOCAP_HPP