mavlink: move GPS2_RAW to separate stream header

2026-10-25 12:33:35 +08:00 · 2021-03-11 11:46:14 -05:00
parent e2f7427679
commit 67a204206a
2 changed files with 118 additions and 87 deletions
@@ -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