diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 69ffce1208..c5be46060b 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -117,6 +117,7 @@ using matrix::wrap_2pi; #include "streams/FLIGHT_INFORMATION.hpp" #include "streams/GPS_GLOBAL_ORIGIN.hpp" #include "streams/GPS_STATUS.hpp" +#include "streams/HOME_POSITION.hpp" #include "streams/HIGH_LATENCY2.hpp" #include "streams/HIL_ACTUATOR_CONTROLS.hpp" #include "streams/HIL_STATE_QUATERNION.hpp" @@ -3054,91 +3055,6 @@ protected: } }; - -class MavlinkStreamHomePosition : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamHomePosition::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "HOME_POSITION"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_HOME_POSITION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamHomePosition(mavlink); - } - - unsigned get_size() override - { - return _home_sub.advertised() ? (MAVLINK_MSG_ID_HOME_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; - } - -private: - uORB::Subscription _home_sub{ORB_ID(home_position)}; - - /* do not allow top copying this class */ - MavlinkStreamHomePosition(MavlinkStreamHomePosition &) = delete; - MavlinkStreamHomePosition &operator = (const MavlinkStreamHomePosition &) = delete; - -protected: - explicit MavlinkStreamHomePosition(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - /* we're sending the GPS home periodically to ensure the - * the GCS does pick it up at one point */ - home_position_s home; - - if (_home_sub.advertised() && _home_sub.copy(&home)) { - if (home.valid_hpos) { - mavlink_home_position_t msg{}; - - msg.latitude = home.lat * 1e7; - msg.longitude = home.lon * 1e7; - msg.altitude = home.alt * 1e3f; - - msg.x = home.x; - msg.y = home.y; - msg.z = home.z; - - matrix::Quatf q(matrix::Eulerf(0.0f, 0.0f, home.yaw)); - msg.q[0] = q(0); - msg.q[1] = q(1); - msg.q[2] = q(2); - msg.q[3] = q(3); - - msg.approach_x = 0.0f; - msg.approach_y = 0.0f; - msg.approach_z = 0.0f; - - msg.time_usec = home.timestamp; - - mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -3258,7 +3174,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), #endif +#if defined(HOME_POSITION_HPP) create_stream_list_item(), +#endif // HOME_POSITION_HPP #if defined(SERVO_OUTPUT_RAW_HPP) create_stream_list_item >(), create_stream_list_item >(), diff --git a/src/modules/mavlink/streams/HOME_POSITION.hpp b/src/modules/mavlink/streams/HOME_POSITION.hpp new file mode 100644 index 0000000000..bb67d14d2d --- /dev/null +++ b/src/modules/mavlink/streams/HOME_POSITION.hpp @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * 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 HOME_POSITION_HPP +#define HOME_POSITION_HPP + +#include + +class MavlinkStreamHomePosition : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHomePosition(mavlink); } + + static constexpr const char *get_name_static() { return "HOME_POSITION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HOME_POSITION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _home_sub.advertised() ? (MAVLINK_MSG_ID_HOME_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; + } + +private: + explicit MavlinkStreamHomePosition(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _home_sub{ORB_ID(home_position)}; + + bool send() override + { + // we're sending the GPS home periodically to ensure the + // the GCS does pick it up at one point + home_position_s home; + + if (_home_sub.advertised() && _home_sub.copy(&home)) { + if (home.valid_hpos) { + mavlink_home_position_t msg{}; + + msg.latitude = home.lat * 1e7; + msg.longitude = home.lon * 1e7; + msg.altitude = home.alt * 1e3f; + + msg.x = home.x; + msg.y = home.y; + msg.z = home.z; + + matrix::Quatf q(matrix::Eulerf(0.f, 0.f, home.yaw)); + q.copyTo(msg.q); + + msg.approach_x = 0.f; + msg.approach_y = 0.f; + msg.approach_z = 0.f; + + msg.time_usec = home.timestamp; + + mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + } + + return false; + } +}; + +#endif // HOME_POSITION_HPP