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mavlink: move DISTANCE_SENSOR to streams header

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This commit is contained in:
Daniel Agar
2020-11-13 10:05:22 -05:00
parent 860a7fd1db
commit 29658961ef
2 changed files with 111 additions and 91 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -91
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@@ -110,6 +110,7 @@ using matrix::wrap_2pi;
#include "streams/ALTITUDE.hpp"
#include "streams/AUTOPILOT_VERSION.hpp"
#include "streams/DISTANCE_SENSOR.hpp"
#include "streams/ESC_INFO.hpp"
#include "streams/ESC_STATUS.hpp"
#include "streams/EXTENDED_SYS_STATE.hpp"
@@ -4374,97 +4375,6 @@ protected:
}
};
class MavlinkStreamDistanceSensor : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamDistanceSensor::get_name_static();
}
static constexpr const char *get_name_static()
{
return "DISTANCE_SENSOR";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_DISTANCE_SENSOR;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamDistanceSensor(mavlink);
}
unsigned get_size() override
{
return _distance_sensor_subs.advertised_count() * (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
}
private:
uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
/* do not allow top copying this class */
MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &) = delete;
MavlinkStreamDistanceSensor &operator = (const MavlinkStreamDistanceSensor &) = delete;
protected:
explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
bool updated = false;
for (int i = 0; i < _distance_sensor_subs.size(); i++) {
distance_sensor_s dist_sensor;
if (_distance_sensor_subs[i].update(&dist_sensor)) {
mavlink_distance_sensor_t msg{};
msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
switch (dist_sensor.type) {
case MAV_DISTANCE_SENSOR_ULTRASOUND:
msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND;
break;
case MAV_DISTANCE_SENSOR_LASER:
msg.type = MAV_DISTANCE_SENSOR_LASER;
break;
case MAV_DISTANCE_SENSOR_INFRARED:
msg.type = MAV_DISTANCE_SENSOR_INFRARED;
break;
default:
msg.type = MAV_DISTANCE_SENSOR_LASER;
break;
}
msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm
msg.id = i;
msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm
msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm
msg.orientation = dist_sensor.orientation;
msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2
mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
updated = true;
}
}
return updated;
}
};
static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamHeartbeat>(),
create_stream_list_item<MavlinkStreamStatustext>(),
@@ -4521,7 +4431,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamCameraCapture>(),
create_stream_list_item<MavlinkStreamCameraTrigger>(),
create_stream_list_item<MavlinkStreamCameraImageCaptured>(),
#if defined(DISTANCE_SENSOR_HPP)
create_stream_list_item<MavlinkStreamDistanceSensor>(),
#endif // DISTANCE_SENSOR_HPP
#if defined(EXTENDED_SYS_STATE_HPP)
create_stream_list_item<MavlinkStreamExtendedSysState>(),
#endif // EXTENDED_SYS_STATE_HPP