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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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mavlink: move ATTITUDE_QUATERNION to streams hpp
Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>
This commit is contained in:
Antonio Sanjurjo Cortés
committed by
Daniel Agar
Daniel Agar
parent
8ac2ada0e6
commit
ce28aa089b
@@ -107,6 +107,7 @@ using matrix::wrap_2pi;
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#include "streams/ALTITUDE.hpp"
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#include "streams/ATTITUDE.hpp"
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#include "streams/ATTITUDE_QUATERNION.hpp"
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#include "streams/AUTOPILOT_VERSION.hpp"
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#include "streams/DISTANCE_SENSOR.hpp"
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#include "streams/ESC_INFO.hpp"
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@@ -1433,100 +1434,6 @@ protected:
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}
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};
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class MavlinkStreamAttitudeQuaternion : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamAttitudeQuaternion::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "ATTITUDE_QUATERNION";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamAttitudeQuaternion(mavlink);
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}
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unsigned get_size() override
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{
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return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
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/* do not allow top copying this class */
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MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &) = delete;
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MavlinkStreamAttitudeQuaternion &operator = (const MavlinkStreamAttitudeQuaternion &) = delete;
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protected:
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explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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vehicle_attitude_s att;
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if (_att_sub.update(&att)) {
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vehicle_angular_velocity_s angular_velocity{};
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_angular_velocity_sub.copy(&angular_velocity);
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vehicle_status_s status{};
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_status_sub.copy(&status);
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mavlink_attitude_quaternion_t msg{};
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msg.time_boot_ms = att.timestamp / 1000;
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msg.q1 = att.q[0];
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msg.q2 = att.q[1];
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msg.q3 = att.q[2];
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msg.q4 = att.q[3];
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msg.rollspeed = angular_velocity.xyz[0];
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msg.pitchspeed = angular_velocity.xyz[1];
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msg.yawspeed = angular_velocity.xyz[2];
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if (status.is_vtol && status.is_vtol_tailsitter && (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
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// This is a tailsitter VTOL flying in fixed wing mode:
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// indicate that reported attitude should be rotated by
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// 90 degrees upward pitch for user display
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get_rot_quaternion(ROTATION_PITCH_90).copyTo(msg.repr_offset_q);
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} else {
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// Normal case
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// zero rotation should be [1 0 0 0]:
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// `get_rot_quaternion(ROTATION_NONE).copyTo(msg.repr_offset_q);`
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// but to save bandwidth, we instead send [0, 0, 0, 0].
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msg.repr_offset_q[0] = 0.0f;
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msg.repr_offset_q[1] = 0.0f;
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msg.repr_offset_q[2] = 0.0f;
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msg.repr_offset_q[3] = 0.0f;
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}
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mavlink_msg_attitude_quaternion_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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class MavlinkStreamVFRHUD : public MavlinkStream
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{
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public:
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@@ -4152,7 +4059,9 @@ static const StreamListItem streams_list[] = {
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#if defined(ATTITUDE_HPP)
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create_stream_list_item<MavlinkStreamAttitude>(),
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#endif // ATTITUDE_HPP
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#if defined(ATTITUDE_QUATERNION_HPP)
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create_stream_list_item<MavlinkStreamAttitudeQuaternion>(),
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#endif // ATTITUDE_QUATERNION_HPP
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create_stream_list_item<MavlinkStreamVFRHUD>(),
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#if defined(GPS_GLOBAL_ORIGIN_HPP)
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create_stream_list_item<MavlinkStreamGpsGlobalOrigin>(),
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@@ -0,0 +1,135 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef ATTITUDE_QUATERNION_HPP
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#define ATTITUDE_QUATERNION_HPP
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_status.h>
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class MavlinkStreamAttitudeQuaternion : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamAttitudeQuaternion::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "ATTITUDE_QUATERNION";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamAttitudeQuaternion(mavlink);
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}
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unsigned get_size() override
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{
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return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
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/* do not allow top copying this class */
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MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &) = delete;
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MavlinkStreamAttitudeQuaternion &operator = (const MavlinkStreamAttitudeQuaternion &) = delete;
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protected:
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explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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vehicle_attitude_s att;
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if (_att_sub.update(&att)) {
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vehicle_angular_velocity_s angular_velocity{};
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_angular_velocity_sub.copy(&angular_velocity);
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vehicle_status_s status{};
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_status_sub.copy(&status);
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mavlink_attitude_quaternion_t msg{};
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msg.time_boot_ms = att.timestamp / 1000;
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msg.q1 = att.q[0];
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msg.q2 = att.q[1];
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msg.q3 = att.q[2];
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msg.q4 = att.q[3];
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msg.rollspeed = angular_velocity.xyz[0];
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msg.pitchspeed = angular_velocity.xyz[1];
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msg.yawspeed = angular_velocity.xyz[2];
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if (status.is_vtol && status.is_vtol_tailsitter && (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
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// This is a tailsitter VTOL flying in fixed wing mode:
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// indicate that reported attitude should be rotated by
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// 90 degrees upward pitch for user display
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get_rot_quaternion(ROTATION_PITCH_90).copyTo(msg.repr_offset_q);
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} else {
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// Normal case
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// zero rotation should be [1 0 0 0]:
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// `get_rot_quaternion(ROTATION_NONE).copyTo(msg.repr_offset_q);`
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// but to save bandwidth, we instead send [0, 0, 0, 0].
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msg.repr_offset_q[0] = 0.0f;
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msg.repr_offset_q[1] = 0.0f;
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msg.repr_offset_q[2] = 0.0f;
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msg.repr_offset_q[3] = 0.0f;
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}
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mavlink_msg_attitude_quaternion_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // ATTITUDE_QUATERNION_HPP
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