mavlink: move NAV_CONTROLLER_OUTPUT to separate streams header

src/modules/mavlink/streams/NAV_CONTROLLER_OUTPUT.hpp

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   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 NAV_CONTROLLER_OUTPUT_HPP
+#define NAV_CONTROLLER_OUTPUT_HPP
+
+#include <uORB/topics/position_controller_status.h>
+#include <uORB/topics/tecs_status.h>
+
+class MavlinkStreamNavControllerOutput : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNavControllerOutput(mavlink); }
+
+	static constexpr const char *get_name_static() { return "NAV_CONTROLLER_OUTPUT"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _position_controller_status_sub.advertised() ? MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN +
+		       MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamNavControllerOutput(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _position_controller_status_sub{ORB_ID(position_controller_status)};
+	uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
+
+	bool send() override
+	{
+		position_controller_status_s pos_ctrl_status;
+
+		if (_position_controller_status_sub.update(&pos_ctrl_status)) {
+
+			tecs_status_s tecs_status{};
+			_tecs_status_sub.copy(&tecs_status);
+
+			mavlink_nav_controller_output_t msg{};
+
+			msg.nav_roll = math::degrees(pos_ctrl_status.nav_roll);
+			msg.nav_pitch = math::degrees(pos_ctrl_status.nav_pitch);
+			msg.nav_bearing = roundf(math::degrees(pos_ctrl_status.nav_bearing));
+			msg.target_bearing = roundf(math::degrees(pos_ctrl_status.target_bearing));
+			msg.wp_dist = math::constrain(roundf(pos_ctrl_status.wp_dist), 0.f, (float)UINT16_MAX);
+			msg.xtrack_error = pos_ctrl_status.xtrack_error;
+			msg.alt_error = tecs_status.altitude_filtered - tecs_status.altitude_sp;
+			msg.aspd_error = tecs_status.airspeed_filtered - tecs_status.airspeed_sp;
+
+			mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // NAV_CONTROLLER_OUTPUT_HPP