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mavlink: move VIBRATION to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent 239ed19827
commit a1a557cfe3
2 changed files with 133 additions and 121 deletions
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src/modules/mavlink/mavlink_messages.cpp
+4 -121
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@@ -90,7 +90,6 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_imu.h>
#include <uORB/topics/vehicle_imu_status.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
@@ -117,10 +116,10 @@ using matrix::wrap_2pi;
#include "streams/FLIGHT_INFORMATION.hpp"
#include "streams/GPS_GLOBAL_ORIGIN.hpp"
#include "streams/GPS_STATUS.hpp"
#include "streams/HOME_POSITION.hpp"
#include "streams/HIGH_LATENCY2.hpp"
#include "streams/HIL_ACTUATOR_CONTROLS.hpp"
#include "streams/HIL_STATE_QUATERNION.hpp"
#include "streams/HOME_POSITION.hpp"
#include "streams/MANUAL_CONTROL.hpp"
#include "streams/MOUNT_ORIENTATION.hpp"
#include "streams/NAV_CONTROLLER_OUTPUT.hpp"
@@ -138,6 +137,7 @@ using matrix::wrap_2pi;
#include "streams/STATUSTEXT.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
#include "streams/VIBRATION.hpp"
#include "streams/WIND_COV.hpp"
#if !defined(CONSTRAINED_FLASH)
@@ -2868,125 +2868,6 @@ protected:
}
};
class MavlinkStreamVibration : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamVibration::get_name_static();
}
static constexpr const char *get_name_static()
{
return "VIBRATION";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_VIBRATION;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamVibration(mavlink);
}
unsigned get_size() override
{
const unsigned size = MAVLINK_MSG_ID_VIBRATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (_sensor_selection_sub.advertised()) {
return size;
}
if (_vehicle_imu_status_subs.advertised()) {
return size;
}
return 0;
}
private:
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
uORB::SubscriptionMultiArray<vehicle_imu_status_s, 3> _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status};
/* do not allow top copying this class */
MavlinkStreamVibration(MavlinkStreamVibration &) = delete;
MavlinkStreamVibration &operator = (const MavlinkStreamVibration &) = delete;
protected:
explicit MavlinkStreamVibration(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (_sensor_selection_sub.updated() || _vehicle_imu_status_subs.updated()) {
mavlink_vibration_t msg{};
msg.time_usec = hrt_absolute_time();
// VIBRATION usage not to mavlink spec, this is our current usage.
// vibration_x : Primary gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
// vibration_y : Primary gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
// vibration_z : Primary accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
sensor_selection_s sensor_selection{};
_sensor_selection_sub.copy(&sensor_selection);
// primary accel high frequency vibration metric
if (sensor_selection.accel_device_id != 0) {
for (auto &x : _vehicle_imu_status_subs) {
vehicle_imu_status_s status;
if (x.copy(&status)) {
if (status.accel_device_id == sensor_selection.accel_device_id) {
msg.vibration_x = status.gyro_coning_vibration;
msg.vibration_y = status.gyro_vibration_metric;
msg.vibration_z = status.accel_vibration_metric;
break;
}
}
}
}
// accel 0, 1, 2 cumulative clipping
for (int i = 0; i < math::min(static_cast<uint8_t>(3), _vehicle_imu_status_subs.size()); i++) {
vehicle_imu_status_s status;
if (_vehicle_imu_status_subs[i].copy(&status)) {
const uint32_t clipping = status.accel_clipping[0] + status.accel_clipping[1] + status.accel_clipping[2];
switch (i) {
case 0:
msg.clipping_0 = clipping;
break;
case 1:
msg.clipping_1 = clipping;
break;
case 2:
msg.clipping_2 = clipping;
break;
}
}
}
mavlink_msg_vibration_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -3097,7 +2978,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamLocalPositionNED>(),
create_stream_list_item<MavlinkStreamOdometry>(),
create_stream_list_item<MavlinkStreamEstimatorStatus>(),
#if defined(VIBRATION_HPP)
create_stream_list_item<MavlinkStreamVibration>(),
#endif // VIBRATION_HPP
#if defined(ATT_POS_MOCAP_HPP)
create_stream_list_item<MavlinkStreamAttPosMocap>(),
#endif // ATT_POS_MOCAP_HPP