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add translation for aux_global_position

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Marco Hauswirth
2026-02-20 17:43:45 +01:00
committed by Marco Hauswirth
parent 17242bc1a4
commit 9e796daee8
4 changed files with 96 additions and 1 deletions
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msg/translation_node/translations/all_translations.h
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@@ -7,6 +7,7 @@
#include <translation_util.h>
#include "translation_airspeed_validated_v1.h"
#include "translation_aux_global_position_v1.h"
#include "translation_arming_check_reply_v1.h"
#include "translation_arming_check_request_v1.h"
#include "translation_battery_status_v1.h"
msg/translation_node/translations/translation_aux_global_position_v1.h
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@@ -0,0 +1,58 @@
/****************************************************************************
* Copyright (c) 2026 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
#include <cmath>
// Translate aux_global_position: VehicleGlobalPosition v0 <--> AuxGlobalPosition v1
#include <px4_msgs_old/msg/vehicle_global_position_v0.hpp>
#include <px4_msgs/msg/aux_global_position.hpp>
class AuxGlobalPositionV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::VehicleGlobalPositionV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::AuxGlobalPosition;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/in/aux_global_position";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.timestamp_sample = msg_older.timestamp_sample;
msg_newer.id = 1;
msg_newer.source = MessageNewer::SOURCE_VISION;
msg_newer.lat = msg_older.lat;
msg_newer.lon = msg_older.lon;
msg_newer.alt = msg_older.alt_valid ? msg_older.alt : NAN;
msg_newer.eph = msg_older.eph;
msg_newer.epv = msg_older.epv;
msg_newer.lat_lon_reset_counter = msg_older.lat_lon_reset_counter;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.timestamp_sample = msg_newer.timestamp_sample;
msg_older.lat = msg_newer.lat;
msg_older.lon = msg_newer.lon;
msg_older.alt = std::isnan(msg_newer.alt) ? 0.0f : msg_newer.alt;
msg_older.alt_ellipsoid = 0.0f;
msg_older.lat_lon_valid = true;
msg_older.alt_valid = !std::isnan(msg_newer.alt);
msg_older.delta_alt = 0.0f;
msg_older.delta_terrain = 0.0f;
msg_older.lat_lon_reset_counter = msg_newer.lat_lon_reset_counter;
msg_older.alt_reset_counter = 0;
msg_older.terrain_reset_counter = 0;
msg_older.eph = std::isnan(msg_newer.eph) ? 0.0f : msg_newer.eph;
msg_older.epv = std::isnan(msg_newer.epv) ? 0.0f : msg_newer.epv;
msg_older.terrain_alt = 0.0f;
msg_older.terrain_alt_valid = false;
msg_older.dead_reckoning = false;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(AuxGlobalPositionV1Translation);