From 5f7d577e0434706e30b12e9c0ad4e9e7f7a9dbb0 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 20 Feb 2021 12:44:32 -0500 Subject: [PATCH] mavlink: move ESTIMATOR_STATUS to separate stream header --- src/modules/mavlink/mavlink_messages.cpp | 84 +--------------- .../mavlink/streams/ESTIMATOR_STATUS.hpp | 98 +++++++++++++++++++ 2 files changed, 101 insertions(+), 81 deletions(-) create mode 100644 src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 2d0c746b60..d462d7c78c 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -112,6 +112,7 @@ using matrix::wrap_2pi; #include "streams/DISTANCE_SENSOR.hpp" #include "streams/ESC_INFO.hpp" #include "streams/ESC_STATUS.hpp" +#include "streams/ESTIMATOR_STATUS.hpp" #include "streams/EXTENDED_SYS_STATE.hpp" #include "streams/FLIGHT_INFORMATION.hpp" #include "streams/GPS_GLOBAL_ORIGIN.hpp" @@ -2787,87 +2788,6 @@ protected: } }; -class MavlinkStreamEstimatorStatus : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamEstimatorStatus::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ESTIMATOR_STATUS"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ESTIMATOR_STATUS; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamEstimatorStatus(mavlink); - } - - unsigned get_size() override - { - return _estimator_status_sub.advertised() ? MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; - uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; - - /* do not allow top copying this class */ - MavlinkStreamEstimatorStatus(MavlinkStreamEstimatorStatus &) = delete; - MavlinkStreamEstimatorStatus &operator = (const MavlinkStreamEstimatorStatus &) = delete; - -protected: - explicit MavlinkStreamEstimatorStatus(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - // use primary estimator_status - if (_estimator_selector_status_sub.updated()) { - estimator_selector_status_s estimator_selector_status; - - if (_estimator_selector_status_sub.copy(&estimator_selector_status)) { - if (estimator_selector_status.primary_instance != _estimator_status_sub.get_instance()) { - _estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance); - } - } - } - - estimator_status_s est; - - if (_estimator_status_sub.update(&est)) { - mavlink_estimator_status_t est_msg{}; - est_msg.time_usec = est.timestamp; - est_msg.vel_ratio = est.vel_test_ratio; - est_msg.pos_horiz_ratio = est.pos_test_ratio; - est_msg.pos_vert_ratio = est.hgt_test_ratio; - est_msg.mag_ratio = est.mag_test_ratio; - est_msg.hagl_ratio = est.hagl_test_ratio; - est_msg.tas_ratio = est.tas_test_ratio; - est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy; - est_msg.pos_vert_accuracy = est.pos_vert_accuracy; - est_msg.flags = est.solution_status_flags; - mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -2977,7 +2897,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), +#if defined(ESTIMATOR_STATUS_HPP) create_stream_list_item(), +#endif // ESTIMATOR_STATUS_HPP #if defined(VIBRATION_HPP) create_stream_list_item(), #endif // VIBRATION_HPP diff --git a/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp b/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp new file mode 100644 index 0000000000..3764940c31 --- /dev/null +++ b/src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp @@ -0,0 +1,98 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 ESTIMATOR_STATUS_HPP +#define ESTIMATOR_STATUS_HPP + +#include +#include + +class MavlinkStreamEstimatorStatus : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamEstimatorStatus(mavlink); } + + static constexpr const char *get_name_static() { return "ESTIMATOR_STATUS"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ESTIMATOR_STATUS; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + return _estimator_status_sub.advertised() ? MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamEstimatorStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)}; + uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; + + bool send() override + { + // use primary estimator_status + if (_estimator_selector_status_sub.updated()) { + estimator_selector_status_s estimator_selector_status; + + if (_estimator_selector_status_sub.copy(&estimator_selector_status)) { + if (estimator_selector_status.primary_instance != _estimator_status_sub.get_instance()) { + _estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance); + } + } + } + + estimator_status_s est; + + if (_estimator_status_sub.update(&est)) { + mavlink_estimator_status_t est_msg{}; + est_msg.time_usec = est.timestamp; + est_msg.vel_ratio = est.vel_test_ratio; + est_msg.pos_horiz_ratio = est.pos_test_ratio; + est_msg.pos_vert_ratio = est.hgt_test_ratio; + est_msg.mag_ratio = est.mag_test_ratio; + est_msg.hagl_ratio = est.hagl_test_ratio; + est_msg.tas_ratio = est.tas_test_ratio; + est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy; + est_msg.pos_vert_accuracy = est.pos_vert_accuracy; + est_msg.flags = est.solution_status_flags; + mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg); + + return true; + } + + return false; + } +}; + +#endif // ESTIMATOR_STATUS_HPP