mavlink: move RC_CHANNELS to separate streams header

2026-10-22 00:13:34 +08:00 · 2020-12-28 11:09:46 +01:00
parent 48be6962d1
commit 6b1d02feb7
2 changed files with 101 additions and 85 deletions
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 RC_CHANNELS_HPP
+#define RC_CHANNELS_HPP
+
+#include <uORB/topics/input_rc.h>
+
+class MavlinkStreamRCChannels : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamRCChannels(mavlink); }
+
+	static constexpr const char *get_name_static() { return "RC_CHANNELS"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_RC_CHANNELS; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _input_rc_sub.advertised() ? (MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	}
+
+private:
+	explicit MavlinkStreamRCChannels(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _input_rc_sub{ORB_ID(input_rc)};
+
+	bool send() override
+	{
+		input_rc_s rc;
+
+		if (_input_rc_sub.update(&rc)) {
+			// send RC channel data and RSSI
+			mavlink_rc_channels_t msg{};
+
+			msg.time_boot_ms = rc.timestamp / 1000;
+			msg.chancount = rc.channel_count;
+			msg.chan1_raw  = (rc.channel_count > 0)  ? rc.values[0]  : UINT16_MAX;
+			msg.chan2_raw  = (rc.channel_count > 1)  ? rc.values[1]  : UINT16_MAX;
+			msg.chan3_raw  = (rc.channel_count > 2)  ? rc.values[2]  : UINT16_MAX;
+			msg.chan4_raw  = (rc.channel_count > 3)  ? rc.values[3]  : UINT16_MAX;
+			msg.chan5_raw  = (rc.channel_count > 4)  ? rc.values[4]  : UINT16_MAX;
+			msg.chan6_raw  = (rc.channel_count > 5)  ? rc.values[5]  : UINT16_MAX;
+			msg.chan7_raw  = (rc.channel_count > 6)  ? rc.values[6]  : UINT16_MAX;
+			msg.chan8_raw  = (rc.channel_count > 7)  ? rc.values[7]  : UINT16_MAX;
+			msg.chan9_raw  = (rc.channel_count > 8)  ? rc.values[8]  : UINT16_MAX;
+			msg.chan10_raw = (rc.channel_count > 9)  ? rc.values[9]  : UINT16_MAX;
+			msg.chan11_raw = (rc.channel_count > 10) ? rc.values[10] : UINT16_MAX;
+			msg.chan12_raw = (rc.channel_count > 11) ? rc.values[11] : UINT16_MAX;
+			msg.chan13_raw = (rc.channel_count > 12) ? rc.values[12] : UINT16_MAX;
+			msg.chan14_raw = (rc.channel_count > 13) ? rc.values[13] : UINT16_MAX;
+			msg.chan15_raw = (rc.channel_count > 14) ? rc.values[14] : UINT16_MAX;
+			msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
+			msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
+			msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
+			msg.rssi = (rc.channel_count > 0) ? rc.rssi : 0;
+
+			mavlink_msg_rc_channels_send_struct(_mavlink->get_channel(), &msg);
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // RC_CHANNELS_HPP