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mavlink: Templated SCALED_IMU mavlink stream

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This commit is contained in:
David Jablonski
2021-01-17 12:32:51 -05:00
committed by GitHub
parent 031bbb7f3e
commit 2ed48f041c
2 changed files with 205 additions and 260 deletions
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src/modules/mavlink/mavlink_messages.cpp
+6 -260
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@@ -125,6 +125,7 @@ using matrix::wrap_2pi;
#include "streams/PROTOCOL_VERSION.hpp"
#include "streams/RAW_RPM.hpp"
#include "streams/RC_CHANNELS.hpp"
#include "streams/SCALED_IMU.hpp"
#include "streams/STATUSTEXT.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
@@ -1193,263 +1194,6 @@ public:
}
};
class MavlinkStreamScaledIMU : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamScaledIMU::get_name_static();
}
static const char *get_name_static()
{
return "SCALED_IMU";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_SCALED_IMU;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamScaledIMU(mavlink);
}
unsigned get_size() override
{
return _raw_imu_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _raw_imu_sub{ORB_ID(vehicle_imu), 0};
uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 0};
// do not allow top copy this class
MavlinkStreamScaledIMU(MavlinkStreamScaledIMU &) = delete;
MavlinkStreamScaledIMU &operator = (const MavlinkStreamScaledIMU &) = delete;
protected:
explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) {
vehicle_imu_s imu{};
_raw_imu_sub.copy(&imu);
sensor_mag_s sensor_mag{};
_raw_mag_sub.copy(&sensor_mag);
mavlink_scaled_imu_t msg{};
msg.time_boot_ms = imu.timestamp / 1000;
// Accelerometer in mG
const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
// Gyroscope in mrad/s
const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt;
const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
msg.xacc = (int16_t)accel(0);
msg.yacc = (int16_t)accel(1);
msg.zacc = (int16_t)accel(2);
msg.xgyro = gyro(0);
msg.ygyro = gyro(1);
msg.zgyro = gyro(2);
msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
mavlink_msg_scaled_imu_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamScaledIMU2 : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamScaledIMU2::get_name_static();
}
static constexpr const char *get_name_static()
{
return "SCALED_IMU2";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_SCALED_IMU2;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamScaledIMU2(mavlink);
}
unsigned get_size() override
{
return _raw_imu_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _raw_imu_sub{ORB_ID(vehicle_imu), 1};
uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 1};
// do not allow top copy this class
MavlinkStreamScaledIMU2(MavlinkStreamScaledIMU2 &) = delete;
MavlinkStreamScaledIMU2 &operator = (const MavlinkStreamScaledIMU2 &) = delete;
protected:
explicit MavlinkStreamScaledIMU2(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) {
vehicle_imu_s imu{};
_raw_imu_sub.copy(&imu);
sensor_mag_s sensor_mag{};
_raw_mag_sub.copy(&sensor_mag);
mavlink_scaled_imu2_t msg{};
msg.time_boot_ms = imu.timestamp / 1000;
// Accelerometer in mG
const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
// Gyroscope in mrad/s
const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt;
const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
msg.xacc = (int16_t)accel(0);
msg.yacc = (int16_t)accel(1);
msg.zacc = (int16_t)accel(2);
msg.xgyro = gyro(0);
msg.ygyro = gyro(1);
msg.zgyro = gyro(2);
msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
mavlink_msg_scaled_imu2_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamScaledIMU3 : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamScaledIMU3::get_name_static();
}
static constexpr const char *get_name_static()
{
return "SCALED_IMU3";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_SCALED_IMU3;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamScaledIMU3(mavlink);
}
unsigned get_size() override
{
return _raw_imu_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _raw_imu_sub{ORB_ID(vehicle_imu), 2};
uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 2};
// do not allow top copy this class
MavlinkStreamScaledIMU3(MavlinkStreamScaledIMU3 &) = delete;
MavlinkStreamScaledIMU3 &operator = (const MavlinkStreamScaledIMU3 &) = delete;
protected:
explicit MavlinkStreamScaledIMU3(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) {
vehicle_imu_s imu{};
_raw_imu_sub.copy(&imu);
sensor_mag_s sensor_mag{};
_raw_mag_sub.copy(&sensor_mag);
mavlink_scaled_imu3_t msg{};
msg.time_boot_ms = imu.timestamp / 1000;
// Accelerometer in mG
const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
// Gyroscope in mrad/s
const float gyro_dt_inv = 1.e6f / (float)imu.delta_angle_dt;
const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
msg.xacc = (int16_t)accel(0);
msg.yacc = (int16_t)accel(1);
msg.zacc = (int16_t)accel(2);
msg.xgyro = gyro(0);
msg.ygyro = gyro(1);
msg.zgyro = gyro(2);
msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
mavlink_msg_scaled_imu3_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamVFRHUD : public MavlinkStream
{
public:
@@ -3254,9 +2998,11 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamBatteryStatus>(),
create_stream_list_item<MavlinkStreamSmartBatteryInfo>(),
create_stream_list_item<MavlinkStreamHighresIMU>(),
create_stream_list_item<MavlinkStreamScaledIMU>(),
create_stream_list_item<MavlinkStreamScaledIMU2>(),
create_stream_list_item<MavlinkStreamScaledIMU3>(),
#if defined(SCALED_IMU_HPP)
create_stream_list_item<MavlinkStreamScaledIMU<0> >(),
create_stream_list_item<MavlinkStreamScaledIMU<1> >(),
create_stream_list_item<MavlinkStreamScaledIMU<2> >(),
#endif // SCALED_IMU_HPP
create_stream_list_item<MavlinkStreamScaledPressure<0> >(),
// create_stream_list_item<MavlinkStreamScaledPressure<1> >(),
// create_stream_list_item<MavlinkStreamScaledPressure<2> >(),