diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 2277988667..7ff70bb449 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -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 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(), #endif // GPS_GLOBAL_ORIGIN_HPP create_stream_list_item(), +#if defined(GPS2_RAW_HPP) create_stream_list_item(), +#endif // GPS2_RAW_HPP #if defined(SYSTEM_TIME_HPP) create_stream_list_item(), #endif // SYSTEM_TIME_HPP diff --git a/src/modules/mavlink/streams/GPS2_RAW.hpp b/src/modules/mavlink/streams/GPS2_RAW.hpp new file mode 100644 index 0000000000..59cb182bd5 --- /dev/null +++ b/src/modules/mavlink/streams/GPS2_RAW.hpp @@ -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 + +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