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Merge pull request #2361 from TSC21/mocap_support_restruct

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MOCAP support on firmware [new PR]
This commit is contained in:
Lorenz Meier
2015-07-01 14:52:32 +02:00
parent c7e94baa5b 75ec0267c9
commit bc5cf50f1a
13 changed files with 245 additions and 96 deletions
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src/modules/mavlink/mavlink_messages.cpp
+27 -26
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@@ -55,7 +55,7 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
@@ -1199,64 +1199,65 @@ protected:
};
class MavlinkStreamViconPositionEstimate : public MavlinkStream
class MavlinkStreamAttPosMocap : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamViconPositionEstimate::get_name_static();
return MavlinkStreamAttPosMocap::get_name_static();
}
static const char *get_name_static()
{
return "VICON_POSITION_ESTIMATE";
return "ATT_POS_MOCAP";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
return MAVLINK_MSG_ID_ATT_POS_MOCAP;
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamViconPositionEstimate(mavlink);
return new MavlinkStreamAttPosMocap(mavlink);
}
unsigned get_size()
{
return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
return MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
MavlinkOrbSubscription *_pos_sub;
uint64_t _pos_time;
MavlinkOrbSubscription *_mocap_sub;
uint64_t _mocap_time;
/* do not allow top copying this class */
MavlinkStreamViconPositionEstimate(MavlinkStreamViconPositionEstimate &);
MavlinkStreamViconPositionEstimate& operator = (const MavlinkStreamViconPositionEstimate &);
MavlinkStreamAttPosMocap(MavlinkStreamAttPosMocap &);
MavlinkStreamAttPosMocap& operator = (const MavlinkStreamAttPosMocap &);
protected:
explicit MavlinkStreamViconPositionEstimate(Mavlink *mavlink) : MavlinkStream(mavlink),
_pos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position))),
_pos_time(0)
explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink),
_mocap_sub(_mavlink->add_orb_subscription(ORB_ID(att_pos_mocap))),
_mocap_time(0)
{}
void send(const hrt_abstime t)
{
struct vehicle_vicon_position_s pos;
struct att_pos_mocap_s mocap;
if (_pos_sub->update(&_pos_time, &pos)) {
mavlink_vicon_position_estimate_t msg;
if (_mocap_sub->update(&_mocap_time, &mocap)) {
mavlink_att_pos_mocap_t msg;
msg.usec = pos.timestamp;
msg.x = pos.x;
msg.y = pos.y;
msg.z = pos.z;
msg.roll = pos.roll;
msg.pitch = pos.pitch;
msg.yaw = pos.yaw;
msg.time_usec = mocap.timestamp_boot;
msg.q[0] = mocap.q[0];
msg.q[1] = mocap.q[1];
msg.q[2] = mocap.q[2];
msg.q[3] = mocap.q[3];
msg.x = mocap.x;
msg.y = mocap.y;
msg.z = mocap.z;
_mavlink->send_message(MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, &msg);
_mavlink->send_message(MAVLINK_MSG_ID_ATT_POS_MOCAP, &msg);
}
}
};
@@ -2293,7 +2294,7 @@ const StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamTimesync::new_instance, &MavlinkStreamTimesync::get_name_static),
new StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static),
new StreamListItem(&MavlinkStreamLocalPositionNED::new_instance, &MavlinkStreamLocalPositionNED::get_name_static),
new StreamListItem(&MavlinkStreamViconPositionEstimate::new_instance, &MavlinkStreamViconPositionEstimate::get_name_static),
new StreamListItem(&MavlinkStreamAttPosMocap::new_instance, &MavlinkStreamAttPosMocap::get_name_static),
new StreamListItem(&MavlinkStreamGPSGlobalOrigin::new_instance, &MavlinkStreamGPSGlobalOrigin::get_name_static),
new StreamListItem(&MavlinkStreamServoOutputRaw<0>::new_instance, &MavlinkStreamServoOutputRaw<0>::get_name_static),
new StreamListItem(&MavlinkStreamServoOutputRaw<1>::new_instance, &MavlinkStreamServoOutputRaw<1>::get_name_static),