diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 5b9fe678bb..e4371711eb 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -75,7 +75,6 @@ #include #include #include -#include #include #include #include @@ -118,6 +117,7 @@ using matrix::wrap_2pi; #include "streams/GPS_STATUS.hpp" #include "streams/HIGH_LATENCY2.hpp" #include "streams/HIL_STATE_QUATERNION.hpp" +#include "streams/MOUNT_ORIENTATION.hpp" #include "streams/OBSTACLE_DISTANCE.hpp" #include "streams/ORBIT_EXECUTION_STATUS.hpp" #include "streams/PING.hpp" @@ -4659,75 +4659,6 @@ protected: } }; -class MavlinkStreamMountOrientation : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamMountOrientation::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "MOUNT_ORIENTATION"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_MOUNT_ORIENTATION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamMountOrientation(mavlink); - } - - unsigned get_size() override - { - return _mount_orientation_sub.advertised() ? MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _mount_orientation_sub{ORB_ID(mount_orientation)}; - uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; - - /* do not allow top copying this class */ - MavlinkStreamMountOrientation(MavlinkStreamMountOrientation &) = delete; - MavlinkStreamMountOrientation &operator = (const MavlinkStreamMountOrientation &) = delete; - -protected: - explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - mount_orientation_s mount_orientation; - - if (_mount_orientation_sub.update(&mount_orientation)) { - mavlink_mount_orientation_t msg{}; - - msg.roll = math::degrees(mount_orientation.attitude_euler_angle[0]); - msg.pitch = math::degrees(mount_orientation.attitude_euler_angle[1]); - msg.yaw = math::degrees(mount_orientation.attitude_euler_angle[2]); - - vehicle_local_position_s lpos{}; - _lpos_sub.copy(&lpos); - msg.yaw_absolute = math::degrees(matrix::wrap_2pi(lpos.heading + mount_orientation.attitude_euler_angle[2])); - - mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), @@ -4793,7 +4724,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), +#if defined(MOUNT_ORIENTATION_HPP) create_stream_list_item(), +#endif // MOUNT_ORIENTATION_HPP #if defined(HIGH_LATENCY2_HPP) create_stream_list_item(), #endif // HIGH_LATENCY2_HPP diff --git a/src/modules/mavlink/streams/MOUNT_ORIENTATION.hpp b/src/modules/mavlink/streams/MOUNT_ORIENTATION.hpp new file mode 100644 index 0000000000..793766ca24 --- /dev/null +++ b/src/modules/mavlink/streams/MOUNT_ORIENTATION.hpp @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * 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 MOUNT_ORIENTATION_HPP +#define MOUNT_ORIENTATION_HPP + +#include +#include + +class MavlinkStreamMountOrientation : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamMountOrientation(mavlink); } + + static constexpr const char *get_name_static() { return "MOUNT_ORIENTATION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MOUNT_ORIENTATION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _mount_orientation_sub.advertised() ? MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _mount_orientation_sub{ORB_ID(mount_orientation)}; + uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; + + bool send() override + { + mount_orientation_s mount_orientation; + + if (_mount_orientation_sub.update(&mount_orientation)) { + mavlink_mount_orientation_t msg{}; + + msg.roll = math::degrees(mount_orientation.attitude_euler_angle[0]); + msg.pitch = math::degrees(mount_orientation.attitude_euler_angle[1]); + msg.yaw = math::degrees(mount_orientation.attitude_euler_angle[2]); + + vehicle_local_position_s lpos{}; + _lpos_sub.copy(&lpos); + msg.yaw_absolute = math::degrees(matrix::wrap_2pi(lpos.heading + mount_orientation.attitude_euler_angle[2])); + + mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // MOUNT_ORIENTATION