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mavlink: move ADSB_VEHICLE to separate stream header

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This commit is contained in:
Daniel Agar
2021-02-20 13:41:45 -05:00
parent ecfbd79a90
commit af06adecd3
2 changed files with 113 additions and 97 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -97
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@@ -75,7 +75,6 @@
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/transponder_report.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -140,6 +139,7 @@ using matrix::wrap_2pi;
#include "streams/WIND_COV.hpp"
#if !defined(CONSTRAINED_FLASH)
# include "streams/ADSB_VEHICLE.hpp"
# include "streams/ATT_POS_MOCAP.hpp"
# include "streams/DEBUG.hpp"
# include "streams/DEBUG_FLOAT_ARRAY.hpp"
@@ -1709,102 +1709,6 @@ protected:
}
};
class MavlinkStreamADSBVehicle : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamADSBVehicle::get_name_static();
}
static constexpr const char *get_name_static()
{
return "ADSB_VEHICLE";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ADSB_VEHICLE;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamADSBVehicle(mavlink);
}
bool const_rate() override
{
return true;
}
unsigned get_size() override
{
return _pos_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _pos_sub{ORB_ID(transponder_report)};
/* do not allow top copying this class */
MavlinkStreamADSBVehicle(MavlinkStreamADSBVehicle &) = delete;
MavlinkStreamADSBVehicle &operator = (const MavlinkStreamADSBVehicle &) = delete;
protected:
explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
transponder_report_s pos;
bool sent = false;
while ((_mavlink->get_free_tx_buf() >= get_size()) && _pos_sub.update(&pos)) {
if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) {
continue;
}
mavlink_adsb_vehicle_t msg{};
msg.ICAO_address = pos.icao_address;
msg.lat = pos.lat * 1e7;
msg.lon = pos.lon * 1e7;
msg.altitude_type = pos.altitude_type;
msg.altitude = pos.altitude * 1e3f;
msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f;
msg.hor_velocity = pos.hor_velocity * 100.0f;
msg.ver_velocity = pos.ver_velocity * 100.0f;
memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign));
msg.emitter_type = pos.emitter_type;
msg.tslc = pos.tslc;
msg.squawk = pos.squawk;
msg.flags = 0;
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; }
if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; }
mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg);
sent = true;
}
return sent;
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -2118,7 +2022,9 @@ static const StreamListItem streams_list[] = {
#if defined(ALTITUDE_HPP)
create_stream_list_item<MavlinkStreamAltitude>(),
#endif // ALTITUDE_HPP
#if defined(ADSB_VEHICLE_HPP)
create_stream_list_item<MavlinkStreamADSBVehicle>(),
#endif // ADSB_VEHICLE_HPP
#if defined(UTM_GLOBAL_POSITION_HPP)
create_stream_list_item<MavlinkStreamUTMGlobalPosition>(),
#endif // UTM_GLOBAL_POSITION_HPP