mavlink: move MOUNT_ORIENTATION to streams header

2026-10-21 23:13:34 +08:00 · 2020-11-13 10:05:22 -05:00
parent 4a6c90b8ea
commit 4a9f293596
2 changed files with 89 additions and 70 deletions
@@ -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 <uORB/topics/mount_orientation.h>
+#include <uORB/topics/vehicle_local_position.h>
+
+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