mavlink: add LAND_TARGET stream

src/modules/mavlink/mavlink_messages.cpp

@@ -85,6 +85,7 @@
 #include "streams/HIL_ACTUATOR_CONTROLS.hpp"
 #include "streams/HIL_STATE_QUATERNION.hpp"
 #include "streams/HOME_POSITION.hpp"
+#include "streams/LANDING_TARGET.hpp"
 #include "streams/LOCAL_POSITION_NED.hpp"
 #include "streams/MANUAL_CONTROL.hpp"
 #include "streams/MOUNT_ORIENTATION.hpp"
@@ -383,6 +384,9 @@ static const StreamListItem streams_list[] = {
 #if defined(GLOBAL_POSITION_INT_HPP)
 	create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
 #endif // GLOBAL_POSITION_INT_HPP
+#if defined(LANDING_TARGET_HPP)
+	create_stream_list_item<MavlinkStreamLandingTarget>(),
+#endif
 #if defined(LOCAL_POSITION_NED_HPP)
 	create_stream_list_item<MavlinkStreamLocalPositionNED>(),
 #endif // LOCAL_POSITION_NED_HPP

src/modules/mavlink/streams/LANDING_TARGET.hpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   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 LANDING_TARGET_HPP
+#define LANDING_TARGET_HPP
+
+#include <uORB/topics/landing_target_pose.h>
+
+class MavlinkStreamLandingTarget : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamLandingTarget(mavlink); }
+
+	static constexpr const char *get_name_static() { return "LANDING_TARGET"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_LANDING_TARGET; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _landing_target_sub.advertised() ? MAVLINK_MSG_ID_LANDING_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamLandingTarget(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _landing_target_sub{ORB_ID(landing_target_pose)};
+
+	bool send() override
+	{
+		landing_target_pose_s target;
+
+		if (_landing_target_sub.update(&target)) {
+
+			mavlink_landing_target_t msg{};
+
+			msg.time_usec = target.timestamp;
+			msg.frame = MAV_FRAME_LOCAL_NED;
+			msg.x = target.x_rel;
+			msg.y = target.y_rel;
+			msg.z = target.z_rel;
+			msg.position_valid = target.rel_pos_valid;
+
+			mavlink_msg_landing_target_send_struct(_mavlink->get_channel(), &msg);
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // LANDING_TARGET_HPP