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mavlink: move POSITION_TARGET_LOCAL_NED to separate streams header

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- position type_mask
This commit is contained in:
Daniel Agar
2020-12-28 11:09:46 +01:00
committed by Lorenz Meier
parent 6b1d02feb7
commit 672a1c90aa
2 changed files with 144 additions and 76 deletions
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src/modules/mavlink/mavlink_messages.cpp
+4 -76
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@@ -121,6 +121,7 @@ using matrix::wrap_2pi;
#include "streams/OPTICAL_FLOW_RAD.hpp"
#include "streams/ORBIT_EXECUTION_STATUS.hpp"
#include "streams/PING.hpp"
#include "streams/POSITION_TARGET_LOCAL_NED.hpp"
#include "streams/PROTOCOL_VERSION.hpp"
#include "streams/RAW_RPM.hpp"
#include "streams/RC_CHANNELS.hpp"
@@ -3424,81 +3425,6 @@ protected:
}
};
class MavlinkStreamLocalPositionSetpoint : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamLocalPositionSetpoint::get_name_static();
}
static constexpr const char *get_name_static()
{
return "POSITION_TARGET_LOCAL_NED";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamLocalPositionSetpoint(mavlink);
}
unsigned get_size() override
{
return _pos_sp_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
/* do not allow top copying this class */
MavlinkStreamLocalPositionSetpoint(MavlinkStreamLocalPositionSetpoint &) = delete;
MavlinkStreamLocalPositionSetpoint &operator = (const MavlinkStreamLocalPositionSetpoint &) = delete;
protected:
explicit MavlinkStreamLocalPositionSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_local_position_setpoint_s pos_sp;
if (_pos_sp_sub.update(&pos_sp)) {
mavlink_position_target_local_ned_t msg{};
msg.time_boot_ms = pos_sp.timestamp / 1000;
msg.coordinate_frame = MAV_FRAME_LOCAL_NED;
msg.x = pos_sp.x;
msg.y = pos_sp.y;
msg.z = pos_sp.z;
msg.yaw = pos_sp.yaw;
msg.yaw_rate = pos_sp.yawspeed;
msg.vx = pos_sp.vx;
msg.vy = pos_sp.vy;
msg.vz = pos_sp.vz;
msg.afx = pos_sp.acceleration[0];
msg.afy = pos_sp.acceleration[1];
msg.afz = pos_sp.acceleration[2];
mavlink_msg_position_target_local_ned_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -3611,7 +3537,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamServoOutputRaw<1> >(),
create_stream_list_item<MavlinkStreamHILActuatorControls>(),
create_stream_list_item<MavlinkStreamPositionTargetGlobalInt>(),
create_stream_list_item<MavlinkStreamLocalPositionSetpoint>(),
#if defined(POSITION_TARGET_LOCAL_NED_HPP)
create_stream_list_item<MavlinkStreamPositionTargetLocalNed>(),
#endif // POSITION_TARGET_LOCAL_NED_HPP
#if defined(ATTITUDE_TARGET_HPP)
create_stream_list_item<MavlinkStreamAttitudeTarget>(),
#endif // ATTITUDE_TARGET_HPP