mavlink: move HOME_POSITION to separate stream header

2026-10-21 19:53:34 +08:00 · 2021-03-11 11:46:14 -05:00
parent f7ee6b3c5e
commit 3964cfb3a7
2 changed files with 100 additions and 85 deletions
@@ -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 <uORB/topics/home_position.h>
+
+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