mavlink: move HEARTBEAT to separate stream header

2026-10-21 16:33:33 +08:00 · 2021-03-11 11:46:14 -05:00
parent 0c138b7e03
commit 3f872ebf20
5 changed files with 215 additions and 202 deletions
@@ -0,0 +1,150 @@
+/****************************************************************************
+ *
+ *   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 HEARTBEAT_HPP
+#define HEARTBEAT_HPP
+
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_status_flags.h>
+
+class MavlinkStreamHeartbeat : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHeartbeat(mavlink); }
+
+	static constexpr const char *get_name_static() { return "HEARTBEAT"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HEARTBEAT; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	bool const_rate() override { return true; }
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+private:
+	explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
+
+	bool send() override
+	{
+		if (_mavlink->get_free_tx_buf() >= get_size()) {
+			// always send the heartbeat, independent of the update status of the topics
+			vehicle_status_s vehicle_status{};
+			_vehicle_status_sub.copy(&vehicle_status);
+
+			vehicle_status_flags_s vehicle_status_flags{};
+			_vehicle_status_flags_sub.copy(&vehicle_status_flags);
+
+			vehicle_control_mode_s vehicle_control_mode{};
+			_vehicle_status_sub.copy(&vehicle_control_mode);
+
+
+			// uint8_t base_mode (MAV_MODE_FLAG) - System mode bitmap.
+			uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
+
+			if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+				base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
+			}
+
+			if (vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON) {
+				base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
+			}
+
+			if (vehicle_control_mode.flag_control_manual_enabled) {
+				base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+			}
+
+			if (vehicle_control_mode.flag_control_attitude_enabled) {
+				base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
+			}
+
+			if (vehicle_control_mode.flag_control_auto_enabled) {
+				base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
+			}
+
+
+			// uint32_t custom_mode - A bitfield for use for autopilot-specific flags
+			union px4_custom_mode custom_mode {get_px4_custom_mode(vehicle_status.nav_state)};
+
+
+			// uint8_t system_status (MAV_STATE) - System status flag.
+			uint8_t system_status = MAV_STATE_UNINIT;
+
+			switch (vehicle_status.arming_state) {
+			case vehicle_status_s::ARMING_STATE_ARMED:
+				system_status = vehicle_status.failsafe ? MAV_STATE_CRITICAL : MAV_STATE_ACTIVE;
+				break;
+
+			case vehicle_status_s::ARMING_STATE_STANDBY:
+				system_status = MAV_STATE_STANDBY;
+				break;
+
+			case vehicle_status_s::ARMING_STATE_SHUTDOWN:
+				system_status = MAV_STATE_POWEROFF;
+				break;
+			}
+
+			// system_status overrides
+			if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
+				system_status = MAV_STATE_FLIGHT_TERMINATION;
+
+			} else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL) {
+				system_status = MAV_STATE_EMERGENCY;
+
+			} else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL) {
+				system_status = MAV_STATE_EMERGENCY;
+
+			} else if (vehicle_status_flags.condition_calibration_enabled) {
+				system_status = MAV_STATE_CALIBRATING;
+			}
+
+
+			mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4,
+						   base_mode, custom_mode.data, system_status);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // HEARTBEAT_HPP
@@ -34,7 +34,6 @@
 #ifndef HIGH_LATENCY2_HPP
 #define HIGH_LATENCY2_HPP

-#include <commander/px4_custom_mode.h>
 #include <lib/ecl/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/matrix/matrix/math.hpp>
@@ -447,9 +446,7 @@ private:
 			}

 			// flight mode
-			union px4_custom_mode custom_mode;
-			uint8_t mavlink_base_mode;
-			get_mavlink_navigation_mode(&status, &mavlink_base_mode, &custom_mode);
+			union px4_custom_mode custom_mode {get_px4_custom_mode(status.nav_state)};
 			msg->custom_mode = custom_mode.custom_mode_hl;

 			return true;