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mavlink: move LOCAL_POSITION_NED to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent 5f7d577e04
commit 7daa97f279
2 changed files with 89 additions and 68 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -68
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@@ -121,6 +121,7 @@ using matrix::wrap_2pi;
#include "streams/HIL_ACTUATOR_CONTROLS.hpp"
#include "streams/HIL_STATE_QUATERNION.hpp"
#include "streams/HOME_POSITION.hpp"
#include "streams/LOCAL_POSITION_NED.hpp"
#include "streams/MANUAL_CONTROL.hpp"
#include "streams/MOUNT_ORIENTATION.hpp"
#include "streams/NAV_CONTROLLER_OUTPUT.hpp"
@@ -2720,74 +2721,6 @@ protected:
}
};
class MavlinkStreamLocalPositionNED : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamLocalPositionNED::get_name_static();
}
static constexpr const char *get_name_static()
{
return "LOCAL_POSITION_NED";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_LOCAL_POSITION_NED;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamLocalPositionNED(mavlink);
}
unsigned get_size() override
{
return _lpos_sub.advertised() ? MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
/* do not allow top copying this class */
MavlinkStreamLocalPositionNED(MavlinkStreamLocalPositionNED &) = delete;
MavlinkStreamLocalPositionNED &operator = (const MavlinkStreamLocalPositionNED &) = delete;
protected:
explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
vehicle_local_position_s lpos;
if (_lpos_sub.update(&lpos)) {
mavlink_local_position_ned_t msg{};
msg.time_boot_ms = lpos.timestamp / 1000;
msg.x = lpos.x;
msg.y = lpos.y;
msg.z = lpos.z;
msg.vx = lpos.vx;
msg.vy = lpos.vy;
msg.vz = lpos.vz;
mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -2895,7 +2828,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamSystemTime>(),
create_stream_list_item<MavlinkStreamTimesync>(),
create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
#if defined(LOCAL_POSITION_NED_HPP)
create_stream_list_item<MavlinkStreamLocalPositionNED>(),
#endif // LOCAL_POSITION_NED_HPP
create_stream_list_item<MavlinkStreamOdometry>(),
#if defined(ESTIMATOR_STATUS_HPP)
create_stream_list_item<MavlinkStreamEstimatorStatus>(),