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uavcannode: publisher for gnss.quality

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This commit is contained in:
Jacob Dahl 2026-02-09 00:59:00 -09:00
parent 1ee938863a
commit 9dbf46bb3d
2 changed files with 101 additions and 0 deletions
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99
src/drivers/uavcannode/Publishers/GnssQuality.hpp Normal file
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@ -0,0 +1,99 @@
/****************************************************************************
*
* Copyright (c) 2024 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.
*
****************************************************************************/
#pragma once
#include "UavcanPublisherBase.hpp"
#include <uavcan/equipment/gnss/Quality.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/sensor_gps.h>
namespace uavcannode
{
class GnssQuality :
public UavcanPublisherBase,
public uORB::SubscriptionCallbackWorkItem,
private uavcan::Publisher<uavcan::equipment::gnss::Quality>
{
public:
GnssQuality(px4::WorkItem *work_item, uavcan::INode &node) :
UavcanPublisherBase(uavcan::equipment::gnss::Quality::DefaultDataTypeID),
uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_gps)),
uavcan::Publisher<uavcan::equipment::gnss::Quality>(node)
{
this->setPriority(uavcan::TransferPriority::Default);
}
void PrintInfo() override
{
if (uORB::SubscriptionCallbackWorkItem::advertised()) {
printf("\t%s -> %s:%d\n",
uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
uavcan::equipment::gnss::Quality::getDataTypeFullName(),
id());
}
}
void BroadcastAnyUpdates() override
{
using uavcan::equipment::gnss::Quality;
// sensor_gps -> uavcan::equipment::gnss::Quality
sensor_gps_s gps;
if (uORB::SubscriptionCallbackWorkItem::update(&gps)) {
uavcan::equipment::gnss::Quality quality{};
quality.noise = gps.noise_per_ms;
quality.agc = gps.automatic_gain_control;
quality.jamming_state = gps.jamming_state;
quality.jamming_indicator = gps.jamming_indicator;
quality.spoofing_state = gps.spoofing_state;
quality.auth_state = gps.authentication_state;
quality.diff_age = gps.diff_age;
quality.antenna_status = gps.antenna_status;
quality.antenna_power = gps.antenna_power;
quality.fix_quality = gps.fix_quality;
quality.system_errors = gps.system_error;
uavcan::Publisher<uavcan::equipment::gnss::Quality>::broadcast(quality);
// ensure callback is registered
uORB::SubscriptionCallbackWorkItem::registerCallback();
}
}
};
} // namespace uavcannode

2
src/drivers/uavcannode/UavcanNode.cpp
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@ -59,6 +59,7 @@
#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
#include "Publishers/GnssFix2.hpp"
#include "Publishers/GnssAuxiliary.hpp"
#include "Publishers/GnssQuality.hpp"
#endif // CONFIG_UAVCANNODE_GNSS_FIX
#if defined(CONFIG_UAVCANNODE_INDICATED_AIR_SPEED)
@ -385,6 +386,7 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
#if defined(CONFIG_UAVCANNODE_GNSS_FIX)
_publisher_list.add(new GnssFix2(this, _node));
_publisher_list.add(new GnssAuxiliary(this, _node));
_publisher_list.add(new GnssQuality(this, _node));
#endif // CONFIG_UAVCANNODE_GNSS_FIX
#if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)