mavlink: move MANUAL_CONTROL to separate streams header

2026-10-23 07:23:34 +08:00 · 2020-12-28 11:09:46 +01:00
parent 629d03b684
commit 48be6962d1
2 changed files with 102 additions and 85 deletions
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 MANUAL_CONTROL_HPP
+#define MANUAL_CONTROL_HPP
+
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/manual_control_switches.h>
+
+class MavlinkStreamManualControl : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamManualControl(mavlink); }
+
+	static constexpr const char *get_name_static() { return "MANUAL_CONTROL"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MANUAL_CONTROL; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _manual_control_setpoint_sub.advertised() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) :
+		       0;
+	}
+
+private:
+	explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
+	uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
+
+	bool send() override
+	{
+		manual_control_setpoint_s manual_control_setpoint;
+
+		if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
+			mavlink_manual_control_t msg{};
+
+			msg.target = mavlink_system.sysid;
+			msg.x = manual_control_setpoint.x * 1000;
+			msg.y = manual_control_setpoint.y * 1000;
+			msg.z = manual_control_setpoint.z * 1000;
+			msg.r = manual_control_setpoint.r * 1000;
+
+			manual_control_switches_s manual_control_switches{};
+
+			if (_manual_control_switches_sub.copy(&manual_control_switches)) {
+				unsigned shift = 2;
+				msg.buttons = 0;
+				msg.buttons |= (manual_control_switches.mode_switch << (shift * 0));
+				msg.buttons |= (manual_control_switches.return_switch << (shift * 1));
+				msg.buttons |= (manual_control_switches.posctl_switch << (shift * 2));
+				msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3));
+				msg.buttons |= (manual_control_switches.acro_switch << (shift * 4));
+				msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5));
+				msg.buttons |= (manual_control_switches.kill_switch << (shift * 6));
+			}
+
+			mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // MANUAL_CONTROL