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mavlink: move GLOBAL_POSITION_INT to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent ede01e8f1a
commit 50bd757037
2 changed files with 127 additions and 105 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -105
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@@ -115,6 +115,7 @@ using matrix::wrap_2pi;
#include "streams/ESTIMATOR_STATUS.hpp"
#include "streams/EXTENDED_SYS_STATE.hpp"
#include "streams/FLIGHT_INFORMATION.hpp"
#include "streams/GLOBAL_POSITION_INT.hpp"
#include "streams/GPS_GLOBAL_ORIGIN.hpp"
#include "streams/GPS_STATUS.hpp"
#include "streams/HIGH_LATENCY2.hpp"
@@ -2461,111 +2462,6 @@ protected:
}
};
class MavlinkStreamGlobalPositionInt : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamGlobalPositionInt::get_name_static();
}
static constexpr const char *get_name_static()
{
return "GLOBAL_POSITION_INT";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamGlobalPositionInt(mavlink);
}
unsigned get_size() override
{
return _gpos_sub.advertised() ? MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _home_sub{ORB_ID(home_position)};
uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
/* do not allow top copying this class */
MavlinkStreamGlobalPositionInt(MavlinkStreamGlobalPositionInt &) = delete;
MavlinkStreamGlobalPositionInt &operator = (const MavlinkStreamGlobalPositionInt &) = delete;
protected:
explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_global_position_s gpos;
vehicle_local_position_s lpos;
if (_gpos_sub.update(&gpos) && _lpos_sub.update(&lpos)) {
mavlink_global_position_int_t msg{};
if (lpos.z_valid && lpos.z_global) {
msg.alt = (-lpos.z + lpos.ref_alt) * 1000.0f;
} else {
// fall back to baro altitude
vehicle_air_data_s air_data{};
_air_data_sub.copy(&air_data);
if (air_data.timestamp > 0) {
msg.alt = air_data.baro_alt_meter * 1000.0f;
}
}
home_position_s home{};
_home_sub.copy(&home);
if ((home.timestamp > 0) && home.valid_alt) {
if (lpos.z_valid) {
msg.relative_alt = -(lpos.z - home.z) * 1000.0f;
} else {
msg.relative_alt = msg.alt - (home.alt * 1000.0f);
}
} else {
if (lpos.z_valid) {
msg.relative_alt = -lpos.z * 1000.0f;
}
}
msg.time_boot_ms = gpos.timestamp / 1000;
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;
msg.vx = lpos.vx * 100.0f;
msg.vy = lpos.vy * 100.0f;
msg.vz = lpos.vz * 100.0f;
msg.hdg = math::degrees(wrap_2pi(lpos.heading)) * 100.0f;
mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -2672,7 +2568,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamGPS2Raw>(),
create_stream_list_item<MavlinkStreamSystemTime>(),
create_stream_list_item<MavlinkStreamTimesync>(),
#if defined(GLOBAL_POSITION_INT_HPP)
create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
#endif // GLOBAL_POSITION_INT_HPP
#if defined(LOCAL_POSITION_NED_HPP)
create_stream_list_item<MavlinkStreamLocalPositionNED>(),
#endif // LOCAL_POSITION_NED_HPP