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MAVLink app: Publish vision position estimate

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This commit is contained in:
Lorenz Meier
2014-06-05 16:50:09 +02:00
parent cb246a79ca
commit 7a776eacb1
2 changed files with 47 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+44
View File
@@ -103,6 +103,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_flow_pub(-1),
_offboard_control_sp_pub(-1),
_vicon_position_pub(-1),
_vision_position_pub(-1),
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
@@ -138,6 +139,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_vicon_position_estimate(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
case MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST:
handle_message_quad_swarm_roll_pitch_yaw_thrust(msg);
break;
@@ -339,6 +344,45 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
struct vision_position_estimate vision_position;
memset(&vision_position, 0, sizeof(vision_position));
// Use the component ID to identify the vision sensor
vision_position.id = msg->compid;
vision_position.timestamp_boot = hrt_absolute_time();
vision_position.timestamp_computer = pos.usec;
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;
// XXX fis this
vision_position.vx = 0.0f;
vision_position.vy = 0.0f;
vision_position.vz = 0.0f;
math::Quaternion q;
q.from_euler(pos.roll, pos.pitch, pos.yaw);
vision_position.q[0] = q(0);
vision_position.q[1] = q(1);
vision_position.q[2] = q(2);
vision_position.q[3] = q(3);
if (_vision_position_pub < 0) {
_vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position);
} else {
orb_publish(ORB_ID(vision_position_estimate), _vision_position_pub, &vision_position);
}
}
void
MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg)
{
src/modules/mavlink/mavlink_receiver.h
+3
View File
@@ -55,6 +55,7 @@
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
@@ -109,6 +110,7 @@ private:
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
void handle_message_vision_position_estimate(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
@@ -135,6 +137,7 @@ private:
orb_advert_t _flow_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _vision_position_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;