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mavlink: move GPS2_RAW to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent e2f7427679
commit 67a204206a
2 changed files with 118 additions and 87 deletions
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src/modules/mavlink/mavlink_messages.cpp
+12 -87
View File
@@ -151,6 +151,7 @@ using matrix::wrap_2pi;
# include "streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp"
# include "streams/GIMBAL_MANAGER_INFORMATION.hpp"
# include "streams/GIMBAL_MANAGER_STATUS.hpp"
# include "streams/GPS2_RAW.hpp"
# include "streams/LINK_NODE_STATUS.hpp"
# include "streams/NAMED_VALUE_FLOAT.hpp"
# include "streams/ODOMETRY.hpp"
@@ -244,18 +245,6 @@ static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast<MAV_SENSOR_OR
static_assert(41 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync");
static uint16_t cm_uint16_from_m_float(float m)
{
if (m < 0.0f) {
return 0;
} else if (m > 655.35f) {
return 65535;
}
return (uint16_t)(m * 100.0f);
}
void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, uint8_t *mavlink_base_mode,
union px4_custom_mode *custom_mode)
{
@@ -1402,8 +1391,15 @@ protected:
msg.h_acc = gps.eph * 1e3f;
msg.v_acc = gps.epv * 1e3f;
msg.vel_acc = gps.s_variance_m_s * 1e3f;
msg.hdg_acc = gps.c_variance_rad * 1e5f / M_DEG_TO_RAD_F;
msg.vel = cm_uint16_from_m_float(gps.vel_m_s);
msg.hdg_acc = math::degrees(gps.c_variance_rad) * 1e5f; // degE5
if (PX4_ISFINITE(gps.vel_m_s) && (fabsf(gps.vel_m_s) >= 0.f)) {
msg.vel = gps.vel_m_s * 100.f; // cm/s
} else {
msg.vel = UINT16_MAX; // If unknown, set to: UINT16_MAX
}
msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f;
msg.satellites_visible = gps.satellites_used;
@@ -1416,79 +1412,6 @@ protected:
}
};
class MavlinkStreamGPS2Raw : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamGPS2Raw::get_name_static();
}
static constexpr const char *get_name_static()
{
return "GPS2_RAW";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_GPS2_RAW;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamGPS2Raw(mavlink);
}
unsigned get_size() override
{
return _gps2_sub.advertised() ? (MAVLINK_MSG_ID_GPS2_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _gps2_sub{ORB_ID(sensor_gps), 1};
/* do not allow top copying this class */
MavlinkStreamGPS2Raw(MavlinkStreamGPS2Raw &) = delete;
MavlinkStreamGPS2Raw &operator = (const MavlinkStreamGPS2Raw &) = delete;
protected:
explicit MavlinkStreamGPS2Raw(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
sensor_gps_s gps;
if (_gps2_sub.update(&gps)) {
mavlink_gps2_raw_t msg = {};
msg.time_usec = gps.timestamp;
msg.fix_type = gps.fix_type;
msg.lat = gps.lat;
msg.lon = gps.lon;
msg.alt = gps.alt;
msg.eph = gps.eph * 1e3f;
msg.epv = gps.epv * 1e3f;
msg.vel = cm_uint16_from_m_float(gps.vel_m_s);
msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f;
msg.satellites_visible = gps.satellites_used;
//msg.dgps_numch = // Number of DGPS satellites
//msg.dgps_age = // Age of DGPS info
mavlink_msg_gps2_raw_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -1702,7 +1625,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamGpsGlobalOrigin>(),
#endif // GPS_GLOBAL_ORIGIN_HPP
create_stream_list_item<MavlinkStreamGPSRawInt>(),
#if defined(GPS2_RAW_HPP)
create_stream_list_item<MavlinkStreamGPS2Raw>(),
#endif // GPS2_RAW_HPP
#if defined(SYSTEM_TIME_HPP)
create_stream_list_item<MavlinkStreamSystemTime>(),
#endif // SYSTEM_TIME_HPP
src/modules/mavlink/streams/GPS2_RAW.hpp
+106
View File
@@ -0,0 +1,106 @@
/****************************************************************************
*
* 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 GPS2_RAW_HPP
#define GPS2_RAW_HPP
#include <uORB/topics/sensor_gps.h>
class MavlinkStreamGPS2Raw : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPS2Raw(mavlink); }
static constexpr const char *get_name_static() { return "GPS2_RAW"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS2_RAW; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _sensor_gps_sub.advertised() ? (MAVLINK_MSG_ID_GPS2_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamGPS2Raw(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps), 1};
bool send() override
{
sensor_gps_s gps;
if (_sensor_gps_sub.update(&gps)) {
mavlink_gps2_raw_t msg{};
msg.time_usec = gps.timestamp;
msg.fix_type = gps.fix_type;
msg.lat = gps.lat;
msg.lon = gps.lon;
msg.alt = gps.alt;
msg.eph = gps.hdop * 100; // GPS HDOP horizontal dilution of position (unitless)
msg.epv = gps.vdop * 100; // GPS VDOP vertical dilution of position (unitless)
if (PX4_ISFINITE(gps.vel_m_s) && (fabsf(gps.vel_m_s) >= 0.f)) {
msg.vel = gps.vel_m_s * 100.f; // cm/s
} else {
msg.vel = UINT16_MAX; // If unknown, set to: UINT16_MAX
}
msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f;
msg.satellites_visible = gps.satellites_used;
//msg.dgps_numch = // Number of DGPS satellites
//msg.dgps_age = // Age of DGPS info
if (PX4_ISFINITE(gps.heading)) {
if (fabsf(gps.heading) < FLT_EPSILON) {
msg.yaw = 36000; // Use 36000 for north.
} else {
msg.yaw = math::degrees(gps.heading) * 100.f; // centidegrees
}
}
mavlink_msg_gps2_raw_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // GPS2_RAW_HPP