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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-06 11:31:35 +08:00
mavlink: move SCALED_PRESSURE to separate stream header
This commit is contained in:
Daniel Agar
@@ -131,6 +131,7 @@ using matrix::wrap_2pi;
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#include "streams/RAW_RPM.hpp"
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#include "streams/RAW_RPM.hpp"
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#include "streams/RC_CHANNELS.hpp"
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#include "streams/RC_CHANNELS.hpp"
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#include "streams/SCALED_IMU.hpp"
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#include "streams/SCALED_IMU.hpp"
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#include "streams/SCALED_PRESSURE.hpp"
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#include "streams/SERVO_OUTPUT_RAW.hpp"
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#include "streams/SERVO_OUTPUT_RAW.hpp"
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#include "streams/STATUSTEXT.hpp"
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#include "streams/STATUSTEXT.hpp"
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#include "streams/STORAGE_INFORMATION.hpp"
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#include "streams/STORAGE_INFORMATION.hpp"
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@@ -157,6 +158,8 @@ using matrix::wrap_2pi;
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# include "streams/LINK_NODE_STATUS.hpp"
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# include "streams/LINK_NODE_STATUS.hpp"
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# include "streams/NAMED_VALUE_FLOAT.hpp"
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# include "streams/NAMED_VALUE_FLOAT.hpp"
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# include "streams/ODOMETRY.hpp"
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# include "streams/ODOMETRY.hpp"
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# include "streams/SCALED_PRESSURE2.hpp"
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# include "streams/SCALED_PRESSURE3.hpp"
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# include "streams/UTM_GLOBAL_POSITION.hpp"
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# include "streams/UTM_GLOBAL_POSITION.hpp"
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#endif // !CONSTRAINED_FLASH
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#endif // !CONSTRAINED_FLASH
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@@ -1067,152 +1070,6 @@ protected:
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}
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}
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};
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};
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template <int N, typename Derived>
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class MavlinkStreamScaledPressureBase : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return Derived::get_name_static();
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}
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uint16_t get_id() override
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{
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return Derived::get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new Derived(mavlink);
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}
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private:
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uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};
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uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), N};
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/* do not allow top copying this class */
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MavlinkStreamScaledPressureBase(MavlinkStreamScaledPressureBase &) = delete;
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MavlinkStreamScaledPressureBase &operator = (const MavlinkStreamScaledPressureBase &) = delete;
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protected:
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explicit MavlinkStreamScaledPressureBase(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
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sensor_baro_s sensor_baro{};
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differential_pressure_s differential_pressure{};
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_sensor_baro_sub.copy(&sensor_baro);
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_differential_pressure_sub.copy(&differential_pressure);
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typename Derived::mav_msg_type msg{};
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msg.time_boot_ms = sensor_baro.timestamp / 1000;
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msg.press_abs = sensor_baro.pressure;
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msg.press_diff = differential_pressure.differential_pressure_raw_pa;
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msg.temperature = sensor_baro.temperature;
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Derived::send(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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template <int N> class MavlinkStreamScaledPressure {};
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template <>
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class MavlinkStreamScaledPressure<0> : public MavlinkStreamScaledPressureBase<0, MavlinkStreamScaledPressure<0> >
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{
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public:
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typedef MavlinkStreamScaledPressureBase<0, MavlinkStreamScaledPressure<0> > Base;
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typedef mavlink_scaled_pressure_t mav_msg_type;
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explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {}
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static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<0>::mav_msg_type *msg)
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{
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mavlink_msg_scaled_pressure_send_struct(channel, msg);
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}
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static const char *get_name_static()
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{
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return "SCALED_PRESSURE";
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}
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static uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_SCALED_PRESSURE;
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}
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unsigned get_size() override
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{
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return MAVLINK_MSG_ID_SCALED_PRESSURE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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};
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template <>
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class MavlinkStreamScaledPressure<1> : public MavlinkStreamScaledPressureBase<1, MavlinkStreamScaledPressure<1> >
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{
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public:
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typedef MavlinkStreamScaledPressureBase<1, MavlinkStreamScaledPressure<1> > Base;
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typedef mavlink_scaled_pressure2_t mav_msg_type;
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explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {}
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static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<1>::mav_msg_type *msg)
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{
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mavlink_msg_scaled_pressure2_send_struct(channel, msg);
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}
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static const char *get_name_static()
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{
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return "SCALED_PRESSURE2";
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}
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static uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_SCALED_PRESSURE2;
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}
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unsigned get_size() override
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{
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return MAVLINK_MSG_ID_SCALED_PRESSURE2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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};
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template <>
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class MavlinkStreamScaledPressure<2> : public MavlinkStreamScaledPressureBase<2, MavlinkStreamScaledPressure<2> >
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{
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public:
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typedef MavlinkStreamScaledPressureBase<2, MavlinkStreamScaledPressure<2> > Base;
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typedef mavlink_scaled_pressure3_t mav_msg_type;
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explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {}
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static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<2>::mav_msg_type *msg)
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{
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mavlink_msg_scaled_pressure3_send_struct(channel, msg);
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}
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static const char *get_name_static()
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{
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return "SCALED_PRESSURE3";
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}
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static uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_SCALED_PRESSURE3;
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}
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unsigned get_size() override
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{
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return MAVLINK_MSG_ID_SCALED_PRESSURE3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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};
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class MavlinkStreamCameraTrigger : public MavlinkStream
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class MavlinkStreamCameraTrigger : public MavlinkStream
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{
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{
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public:
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public:
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@@ -1409,9 +1266,15 @@ static const StreamListItem streams_list[] = {
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create_stream_list_item<MavlinkStreamScaledIMU<1> >(),
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create_stream_list_item<MavlinkStreamScaledIMU<1> >(),
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create_stream_list_item<MavlinkStreamScaledIMU<2> >(),
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create_stream_list_item<MavlinkStreamScaledIMU<2> >(),
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#endif // SCALED_IMU_HPP
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#endif // SCALED_IMU_HPP
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create_stream_list_item<MavlinkStreamScaledPressure<0> >(),
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#if defined(SCALED_PRESSURE)
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// create_stream_list_item<MavlinkStreamScaledPressure<1> >(),
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create_stream_list_item<MavlinkStreamScaledPressure>(),
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// create_stream_list_item<MavlinkStreamScaledPressure<2> >(),
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#endif // SCALED_PRESSURE
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#if defined(SCALED_PRESSURE2)
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create_stream_list_item<MavlinkStreamScaledPressure2>(),
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#endif // SCALED_PRESSURE2
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#if defined(SCALED_PRESSURE3)
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create_stream_list_item<MavlinkStreamScaledPressure3>(),
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#endif // SCALED_PRESSURE3
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#if defined(ACTUATOR_OUTPUT_STATUS_HPP)
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#if defined(ACTUATOR_OUTPUT_STATUS_HPP)
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create_stream_list_item<MavlinkStreamActuatorOutputStatus>(),
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create_stream_list_item<MavlinkStreamActuatorOutputStatus>(),
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#endif // ACTUATOR_OUTPUT_STATUS_HPP
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#endif // ACTUATOR_OUTPUT_STATUS_HPP
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@@ -0,0 +1,99 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef SCALED_PRESSURE_HPP
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#define SCALED_PRESSURE_HPP
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/sensor_baro.h>
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class MavlinkStreamScaledPressure : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure(mavlink); }
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static constexpr const char *get_name_static() { return "SCALED_PRESSURE"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) {
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return MAVLINK_MSG_ID_SCALED_PRESSURE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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return 0;
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}
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private:
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explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 0};
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uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 0};
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bool send() override
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{
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if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
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mavlink_scaled_pressure_t msg{};
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sensor_baro_s sensor_baro;
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if (_sensor_baro_sub.copy(&sensor_baro)) {
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msg.time_boot_ms = sensor_baro.timestamp / 1000;
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msg.press_abs = sensor_baro.pressure; // millibar to hPa
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msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees
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}
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differential_pressure_s differential_pressure;
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if (_differential_pressure_sub.copy(&differential_pressure)) {
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if (msg.time_boot_ms == 0) {
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msg.time_boot_ms = differential_pressure.timestamp / 1000;
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}
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msg.press_diff = differential_pressure.differential_pressure_raw_pa * 100.f; // Pa to hPa
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msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees
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}
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mavlink_msg_scaled_pressure_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // SCALED_PRESSURE_HPP
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@@ -0,0 +1,99 @@
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|
/****************************************************************************
|
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|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
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#ifndef SCALED_PRESSURE2_HPP
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#define SCALED_PRESSURE2_HPP
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/sensor_baro.h>
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class MavlinkStreamScaledPressure2 : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure2(mavlink); }
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static constexpr const char *get_name_static() { return "SCALED_PRESSURE2"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE2; }
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const char *get_name() const override { return get_name_static(); }
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||||||
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uint16_t get_id() override { return get_id_static(); }
|
||||||
|
|
||||||
|
unsigned get_size() override
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||||||
|
{
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||||||
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if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) {
|
||||||
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return MAVLINK_MSG_ID_SCALED_PRESSURE2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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||||||
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}
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||||||
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return 0;
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||||||
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}
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private:
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||||||
|
explicit MavlinkStreamScaledPressure2(Mavlink *mavlink) : MavlinkStream(mavlink) {}
|
||||||
|
|
||||||
|
uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 1};
|
||||||
|
uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 1};
|
||||||
|
|
||||||
|
bool send() override
|
||||||
|
{
|
||||||
|
if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
|
||||||
|
mavlink_scaled_pressure2_t msg{};
|
||||||
|
|
||||||
|
sensor_baro_s sensor_baro;
|
||||||
|
|
||||||
|
if (_sensor_baro_sub.copy(&sensor_baro)) {
|
||||||
|
msg.time_boot_ms = sensor_baro.timestamp / 1000;
|
||||||
|
msg.press_abs = sensor_baro.pressure; // millibar to hPa
|
||||||
|
msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees
|
||||||
|
}
|
||||||
|
|
||||||
|
differential_pressure_s differential_pressure;
|
||||||
|
|
||||||
|
if (_differential_pressure_sub.copy(&differential_pressure)) {
|
||||||
|
if (msg.time_boot_ms == 0) {
|
||||||
|
msg.time_boot_ms = differential_pressure.timestamp / 1000;
|
||||||
|
}
|
||||||
|
|
||||||
|
msg.press_diff = differential_pressure.differential_pressure_raw_pa * 100.f; // Pa to hPa
|
||||||
|
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees
|
||||||
|
}
|
||||||
|
|
||||||
|
mavlink_msg_scaled_pressure2_send_struct(_mavlink->get_channel(), &msg);
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // SCALED_PRESSURE2_HPP
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 SCALED_PRESSURE3_HPP
|
||||||
|
#define SCALED_PRESSURE3_HPP
|
||||||
|
|
||||||
|
#include <uORB/topics/differential_pressure.h>
|
||||||
|
#include <uORB/topics/sensor_baro.h>
|
||||||
|
|
||||||
|
class MavlinkStreamScaledPressure3 : public MavlinkStream
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure3(mavlink); }
|
||||||
|
|
||||||
|
static constexpr const char *get_name_static() { return "SCALED_PRESSURE3"; }
|
||||||
|
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE3; }
|
||||||
|
|
||||||
|
const char *get_name() const override { return get_name_static(); }
|
||||||
|
uint16_t get_id() override { return get_id_static(); }
|
||||||
|
|
||||||
|
unsigned get_size() override
|
||||||
|
{
|
||||||
|
if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) {
|
||||||
|
return MAVLINK_MSG_ID_SCALED_PRESSURE3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
explicit MavlinkStreamScaledPressure3(Mavlink *mavlink) : MavlinkStream(mavlink) {}
|
||||||
|
|
||||||
|
uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 2};
|
||||||
|
uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 2};
|
||||||
|
|
||||||
|
bool send() override
|
||||||
|
{
|
||||||
|
if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
|
||||||
|
mavlink_scaled_pressure3_t msg{};
|
||||||
|
|
||||||
|
sensor_baro_s sensor_baro;
|
||||||
|
|
||||||
|
if (_sensor_baro_sub.copy(&sensor_baro)) {
|
||||||
|
msg.time_boot_ms = sensor_baro.timestamp / 1000;
|
||||||
|
msg.press_abs = sensor_baro.pressure; // millibar to hPa
|
||||||
|
msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees
|
||||||
|
}
|
||||||
|
|
||||||
|
differential_pressure_s differential_pressure;
|
||||||
|
|
||||||
|
if (_differential_pressure_sub.copy(&differential_pressure)) {
|
||||||
|
if (msg.time_boot_ms == 0) {
|
||||||
|
msg.time_boot_ms = differential_pressure.timestamp / 1000;
|
||||||
|
}
|
||||||
|
|
||||||
|
msg.press_diff = differential_pressure.differential_pressure_raw_pa * 100.f; // Pa to hPa
|
||||||
|
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees
|
||||||
|
}
|
||||||
|
|
||||||
|
mavlink_msg_scaled_pressure3_send_struct(_mavlink->get_channel(), &msg);
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // SCALED_PRESSURE3_HPP
|
||||||
Reference in New Issue
Block a user