From cb4d974977b3fbe6b443536b789caa4da8c00aab Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 10 Oct 2020 13:59:01 -0400 Subject: [PATCH] mavlink: move GROUND_TRUTH stream to separate file --- src/modules/mavlink/mavlink_messages.cpp | 100 +--------------- src/modules/mavlink/streams/GROUND_TRUTH.hpp | 114 +++++++++++++++++++ 2 files changed, 117 insertions(+), 97 deletions(-) create mode 100644 src/modules/mavlink/streams/GROUND_TRUTH.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 19db577b90..919ee90a6b 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -118,6 +118,7 @@ using matrix::wrap_2pi; #include "streams/ESC_STATUS.hpp" #include "streams/EXTENDED_SYS_STATE.hpp" #include "streams/FLIGHT_INFORMATION.hpp" +#include "streams/GROUND_TRUTH.hpp" #include "streams/HIGH_LATENCY2.hpp" #include "streams/OBSTACLE_DISTANCE.hpp" #include "streams/ORBIT_EXECUTION_STATUS.hpp" @@ -4932,103 +4933,6 @@ protected: } }; -class MavlinkStreamGroundTruth : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamGroundTruth::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "GROUND_TRUTH"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_HIL_STATE_QUATERNION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamGroundTruth(mavlink); - } - - unsigned get_size() override - { - return (_att_sub.advertised() - || _gpos_sub.advertised()) ? MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)}; - uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)}; - uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position_groundtruth)}; - uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position_groundtruth)}; - - /* do not allow top copying this class */ - MavlinkStreamGroundTruth(MavlinkStreamGroundTruth &) = delete; - MavlinkStreamGroundTruth &operator = (const MavlinkStreamGroundTruth &) = delete; - -protected: - explicit MavlinkStreamGroundTruth(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_angular_velocity_sub.updated() || _att_sub.updated() || _gpos_sub.updated() || _lpos_sub.updated()) { - vehicle_attitude_s att{}; - _att_sub.copy(&att); - - vehicle_global_position_s gpos{}; - _gpos_sub.copy(&gpos); - - vehicle_local_position_s lpos{}; - _lpos_sub.copy(&lpos); - - vehicle_angular_velocity_s angular_velocity{}; - _angular_velocity_sub.copy(&angular_velocity); - - mavlink_hil_state_quaternion_t msg{}; - - // vehicle_attitude -> hil_state_quaternion - msg.attitude_quaternion[0] = att.q[0]; - msg.attitude_quaternion[1] = att.q[1]; - msg.attitude_quaternion[2] = att.q[2]; - msg.attitude_quaternion[3] = att.q[3]; - msg.rollspeed = angular_velocity.xyz[0]; - msg.pitchspeed = angular_velocity.xyz[1]; - msg.yawspeed = angular_velocity.xyz[2]; - - // vehicle_global_position -> hil_state_quaternion - // same units as defined in mavlink/common.xml - msg.lat = gpos.lat * 1e7; - msg.lon = gpos.lon * 1e7; - msg.alt = gpos.alt * 1e3f; - msg.vx = lpos.vx * 1e2f; - msg.vy = lpos.vy * 1e2f; - msg.vz = lpos.vz * 1e2f; - msg.ind_airspeed = 0; - msg.true_airspeed = 0; - msg.xacc = lpos.ax; - msg.yacc = lpos.ay; - msg.zacc = lpos.az; - - mavlink_msg_hil_state_quaternion_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), @@ -5090,7 +4994,9 @@ static const StreamListItem streams_list[] = { #if defined(HIGH_LATENCY2_HPP) create_stream_list_item(), #endif // HIGH_LATENCY2_HPP +#if defined(GROUND_TRUTH_HPP) create_stream_list_item(), +#endif // GROUND_TRUTH_HPP #if defined(PING_HPP) create_stream_list_item(), #endif // PING_HPP diff --git a/src/modules/mavlink/streams/GROUND_TRUTH.hpp b/src/modules/mavlink/streams/GROUND_TRUTH.hpp new file mode 100644 index 0000000000..78d6362f1b --- /dev/null +++ b/src/modules/mavlink/streams/GROUND_TRUTH.hpp @@ -0,0 +1,114 @@ +/**************************************************************************** + * + * Copyright (c) 2020 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. + * + ****************************************************************************/ + +#ifndef GROUND_TRUTH_HPP +#define GROUND_TRUTH_HPP + +class MavlinkStreamGroundTruth : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGroundTruth(mavlink); } + + static constexpr const char *get_name_static() { return "GROUND_TRUTH"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_STATE_QUATERNION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_att_sub.advertised() || _gpos_sub.advertised()) { + return MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamGroundTruth(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)}; + uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)}; + uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position_groundtruth)}; + uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position_groundtruth)}; + + bool send() override + { + if (_angular_velocity_sub.updated() || _att_sub.updated() || _gpos_sub.updated() || _lpos_sub.updated()) { + vehicle_attitude_s att{}; + _att_sub.copy(&att); + + vehicle_global_position_s gpos{}; + _gpos_sub.copy(&gpos); + + vehicle_local_position_s lpos{}; + _lpos_sub.copy(&lpos); + + vehicle_angular_velocity_s angular_velocity{}; + _angular_velocity_sub.copy(&angular_velocity); + + mavlink_hil_state_quaternion_t msg{}; + + // vehicle_attitude -> hil_state_quaternion + msg.attitude_quaternion[0] = att.q[0]; + msg.attitude_quaternion[1] = att.q[1]; + msg.attitude_quaternion[2] = att.q[2]; + msg.attitude_quaternion[3] = att.q[3]; + msg.rollspeed = angular_velocity.xyz[0]; + msg.pitchspeed = angular_velocity.xyz[1]; + msg.yawspeed = angular_velocity.xyz[2]; + + // vehicle_global_position -> hil_state_quaternion + // same units as defined in mavlink/common.xml + msg.lat = gpos.lat * 1e7; + msg.lon = gpos.lon * 1e7; + msg.alt = gpos.alt * 1e3f; + msg.vx = lpos.vx * 1e2f; + msg.vy = lpos.vy * 1e2f; + msg.vz = lpos.vz * 1e2f; + msg.ind_airspeed = 0; + msg.true_airspeed = 0; + msg.xacc = lpos.ax; + msg.yacc = lpos.ay; + msg.zacc = lpos.az; + + mavlink_msg_hil_state_quaternion_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GROUND_TRUTH_HPP