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precland: support receiving LANDING_TARGET message

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This commit is contained in:
Oleg Kalachev
2018-03-27 20:45:58 -04:00
committed by Kabir Mohammed
parent 5b030535c8
commit 8d6bff08bb
4 changed files with 41 additions and 8 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+28
View File
@@ -132,6 +132,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_land_detector_pub(nullptr),
_time_offset_pub(nullptr),
_follow_target_pub(nullptr),
_landing_target_pose_pub(nullptr),
_transponder_report_pub(nullptr),
_collision_report_pub(nullptr),
_debug_key_value_pub(nullptr),
@@ -294,6 +295,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_follow_target(msg);
break;
case MAVLINK_MSG_ID_LANDING_TARGET:
handle_message_landing_target(msg);
break;
case MAVLINK_MSG_ID_ADSB_VEHICLE:
handle_message_adsb_vehicle(msg);
break;
@@ -2059,6 +2064,29 @@ void MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg)
}
}
void MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg)
{
mavlink_landing_target_t landing_target;
mavlink_msg_landing_target_decode(msg, &landing_target);
if (landing_target.position_valid && landing_target.frame == MAV_FRAME_LOCAL_NED) {
landing_target_pose_s landing_target_pose = {};
landing_target_pose.timestamp = sync_stamp(landing_target.time_usec);
landing_target_pose.abs_pos_valid = true;
landing_target_pose.x_abs = landing_target.x;
landing_target_pose.y_abs = landing_target.y;
landing_target_pose.z_abs = landing_target.z;
if (_landing_target_pose_pub == nullptr) {
_landing_target_pose_pub = orb_advertise(ORB_ID(landing_target_pose), &landing_target_pose);
} else {
orb_publish(ORB_ID(landing_target_pose), _landing_target_pose_pub, &landing_target_pose);
}
}
}
void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
{
mavlink_adsb_vehicle_t adsb;
src/modules/mavlink/mavlink_receiver.h
+3
View File
@@ -74,6 +74,7 @@
#include <uORB/topics/time_offset.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/follow_target.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/transponder_report.h>
#include <uORB/topics/gps_inject_data.h>
#include <uORB/topics/collision_report.h>
@@ -149,6 +150,7 @@ private:
void handle_message_hil_state_quaternion(mavlink_message_t *msg);
void handle_message_distance_sensor(mavlink_message_t *msg);
void handle_message_follow_target(mavlink_message_t *msg);
void handle_message_landing_target(mavlink_message_t *msg);
void handle_message_adsb_vehicle(mavlink_message_t *msg);
void handle_message_collision(mavlink_message_t *msg);
void handle_message_gps_rtcm_data(mavlink_message_t *msg);
@@ -242,6 +244,7 @@ private:
orb_advert_t _land_detector_pub;
orb_advert_t _time_offset_pub;
orb_advert_t _follow_target_pub;
orb_advert_t _landing_target_pose_pub;
orb_advert_t _transponder_report_pub;
orb_advert_t _collision_report_pub;
orb_advert_t _debug_key_value_pub;