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Mavlink implement GPS2_RAW for 2nd GPS

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This commit is contained in:
Daniel Agar
2018-08-19 16:49:44 +02:00
committed by Lorenz Meier
parent 3a22ee48db
commit 485c5db21e
2 changed files with 80 additions and 0 deletions
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src/modules/mavlink/mavlink_main.cpp
+3
View File
@@ -1716,6 +1716,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
configure_stream_local("GPS_RAW_INT", 1.0f);
configure_stream_local("GPS2_RAW", 1.0f);
configure_stream_local("HIGHRES_IMU", 1.5f);
configure_stream_local("HOME_POSITION", 0.5f);
configure_stream_local("LOCAL_POSITION_NED", 1.0f);
@@ -1752,6 +1753,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("EXTENDED_SYS_STATE", 5.0f);
configure_stream_local("GLOBAL_POSITION_INT", 50.0f);
configure_stream_local("GPS_RAW_INT", unlimited_rate);
configure_stream_local("GPS2_RAW", unlimited_rate);
configure_stream_local("HIGHRES_IMU", 50.0f);
configure_stream_local("HOME_POSITION", 0.5f);
configure_stream_local("LOCAL_POSITION_NED", 30.0f);
@@ -1812,6 +1814,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("DEBUG_VECT", 50.0f);
configure_stream_local("DISTANCE_SENSOR", 10.0f);
configure_stream_local("GPS_RAW_INT", unlimited_rate);
configure_stream_local("GPS2_RAW", unlimited_rate);
configure_stream_local("ESTIMATOR_STATUS", 5.0f);
configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
src/modules/mavlink/mavlink_messages.cpp
+77
View File
@@ -1388,6 +1388,82 @@ protected:
}
};
class MavlinkStreamGPS2Raw : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamGPS2Raw::get_name_static();
}
static const char *get_name_static()
{
return "GPS2_RAW";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_GPS2_RAW;
}
uint16_t get_id()
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamGPS2Raw(mavlink);
}
unsigned get_size()
{
return (_gps_time > 0) ? (MAVLINK_MSG_ID_GPS2_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
MavlinkOrbSubscription *_gps_sub;
uint64_t _gps_time;
/* do not allow top copying this class */
MavlinkStreamGPS2Raw(MavlinkStreamGPS2Raw &) = delete;
MavlinkStreamGPS2Raw &operator = (const MavlinkStreamGPS2Raw &) = delete;
protected:
explicit MavlinkStreamGPS2Raw(Mavlink *mavlink) : MavlinkStream(mavlink),
_gps_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position), 1)),
_gps_time(0)
{}
bool send(const hrt_abstime t)
{
vehicle_gps_position_s gps;
if (_gps_sub->update(&_gps_time, &gps)) {
mavlink_gps2_raw_t msg = {};
msg.time_usec = gps.timestamp;
msg.fix_type = gps.fix_type;
msg.lat = gps.lat;
msg.lon = gps.lon;
msg.alt = gps.alt;
msg.eph = gps.eph * 1e3f;
msg.epv = gps.epv * 1e3f;
msg.vel = cm_uint16_from_m_float(gps.vel_m_s);
msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f;
msg.satellites_visible = gps.satellites_used;
//msg.dgps_numch = // Number of DGPS satellites
//msg.dgps_age = // Age of DGPS info
mavlink_msg_gps2_raw_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamSystemTime : public MavlinkStream
{
public:
@@ -4447,6 +4523,7 @@ static const StreamListItem streams_list[] = {
StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static, &MavlinkStreamAttitudeQuaternion::get_id_static),
StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static, &MavlinkStreamVFRHUD::get_id_static),
StreamListItem(&MavlinkStreamGPSRawInt::new_instance, &MavlinkStreamGPSRawInt::get_name_static, &MavlinkStreamGPSRawInt::get_id_static),
StreamListItem(&MavlinkStreamGPS2Raw::new_instance, &MavlinkStreamGPS2Raw::get_name_static, &MavlinkStreamGPS2Raw::get_id_static),
StreamListItem(&MavlinkStreamSystemTime::new_instance, &MavlinkStreamSystemTime::get_name_static, &MavlinkStreamSystemTime::get_id_static),
StreamListItem(&MavlinkStreamTimesync::new_instance, &MavlinkStreamTimesync::get_name_static, &MavlinkStreamTimesync::get_id_static),
StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static, &MavlinkStreamGlobalPositionInt::get_id_static),