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TIME_ESTIMATE_TO_TARGET: Populate TIME_ESTIMATE_TO_TARGET MAVLink message with the estimated time to RTL

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mavlink_messages: Added newly created MAVLink stream
mavlink_main: Enabled stream

Signed-off-by: marcirsch <marcell@auterion.com>
This commit is contained in:
marcirsch 2022-08-04 15:51:13 +02:00 committed by Beat Küng
parent 7f2fea1cca
commit 4bf6ebf4c3
3 changed files with 83 additions and 0 deletions
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1
src/modules/mavlink/mavlink_main.cpp
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@ -1522,6 +1522,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("RC_CHANNELS", 5.0f);
configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
configure_stream_local("SYS_STATUS", 1.0f);
configure_stream_local("TIME_ESTIMATE_TO_TARGET", 1.0f);
configure_stream_local("UTM_GLOBAL_POSITION", 0.5f);
configure_stream_local("VFR_HUD", 4.0f);
configure_stream_local("VIBRATION", 0.1f);

4
src/modules/mavlink/mavlink_messages.cpp
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@ -112,6 +112,7 @@
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/SYS_STATUS.hpp"
#include "streams/SYSTEM_TIME.hpp"
#include "streams/TIME_ESTIMATE_TO_TARGET.hpp"
#include "streams/TIMESYNC.hpp"
#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
#include "streams/VFR_HUD.hpp"
@ -376,6 +377,9 @@ static const StreamListItem streams_list[] = {
#if defined(SYSTEM_TIME_HPP)
create_stream_list_item<MavlinkStreamSystemTime>(),
#endif // SYSTEM_TIME_HPP
#if defined(TIME_ESTIMATE_TO_TARGET_HPP)
create_stream_list_item<MavlinkStreamTimeEstimateToTarget>(),
#endif // TIME_ESTIMATE_TO_TARGET_HPP
#if defined(TIMESYNC_HPP)
create_stream_list_item<MavlinkStreamTimesync>(),
#endif // TIMESYNC_HPP

78
src/modules/mavlink/streams/TIME_ESTIMATE_TO_TARGET.hpp Normal file
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@ -0,0 +1,78 @@
/****************************************************************************
*
* Copyright (c) 2022 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 TIME_ESTIMATE_TO_TARGET_HPP
#define TIME_ESTIMATE_TO_TARGET_HPP
#include <uORB/topics/rtl_time_estimate.h>
class MavlinkStreamTimeEstimateToTarget : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamTimeEstimateToTarget(mavlink); }
static constexpr const char *get_name_static() { return "TIME_ESTIMATE_TO_TARGET"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_TIME_ESTIMATE_TO_TARGET; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return MAVLINK_MSG_ID_TIME_ESTIMATE_TO_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
explicit MavlinkStreamTimeEstimateToTarget(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _rtl_estimate_sub{ORB_ID(rtl_time_estimate)};
bool send() override
{
if (_rtl_estimate_sub.updated()) {
rtl_time_estimate_s rtl_estimate{};
_rtl_estimate_sub.copy(&rtl_estimate);
mavlink_time_estimate_to_target_t msg{};
msg.safe_return = rtl_estimate.safe_time_estimate;
mavlink_msg_time_estimate_to_target_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // TIME_ESTIMATE_TO_TARGET_HPP