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mavlink: move ATT_POS_MOCAP to separate stream header

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- now only available on non flash constrained boards
This commit is contained in:
Daniel Agar
2021-02-20 12:33:48 -05:00
parent 3964cfb3a7
commit 239ed19827
2 changed files with 90 additions and 70 deletions
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src/modules/mavlink/mavlink_messages.cpp
+4 -70
View File
@@ -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<MavlinkStreamOdometry>(),
create_stream_list_item<MavlinkStreamEstimatorStatus>(),
create_stream_list_item<MavlinkStreamVibration>(),
#if defined(ATT_POS_MOCAP_HPP)
create_stream_list_item<MavlinkStreamAttPosMocap>(),
#endif // ATT_POS_MOCAP_HPP
#if !defined(CONSTRAINED_FLASH)
create_stream_list_item<MavlinkStreamGimbalDeviceAttitudeStatus>(),
create_stream_list_item<MavlinkStreamGimbalManagerInformation>(),
src/modules/mavlink/streams/ATT_POS_MOCAP.hpp
+86
View File
@@ -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 <uORB/topics/vehicle_odometry.h>
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