diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 07e66e587e..9676276c1d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -107,6 +107,7 @@ using matrix::wrap_2pi; #include "streams/ALTITUDE.hpp" #include "streams/ATTITUDE.hpp" +#include "streams/ATTITUDE_QUATERNION.hpp" #include "streams/AUTOPILOT_VERSION.hpp" #include "streams/DISTANCE_SENSOR.hpp" #include "streams/ESC_INFO.hpp" @@ -1433,100 +1434,6 @@ protected: } }; -class MavlinkStreamAttitudeQuaternion : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamAttitudeQuaternion::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "ATTITUDE_QUATERNION"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_ATTITUDE_QUATERNION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamAttitudeQuaternion(mavlink); - } - - unsigned get_size() override - { - return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; - uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; - uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; - - /* do not allow top copying this class */ - MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &) = delete; - MavlinkStreamAttitudeQuaternion &operator = (const MavlinkStreamAttitudeQuaternion &) = delete; - -protected: - explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_attitude_s att; - - if (_att_sub.update(&att)) { - vehicle_angular_velocity_s angular_velocity{}; - _angular_velocity_sub.copy(&angular_velocity); - - vehicle_status_s status{}; - _status_sub.copy(&status); - - mavlink_attitude_quaternion_t msg{}; - - msg.time_boot_ms = att.timestamp / 1000; - msg.q1 = att.q[0]; - msg.q2 = att.q[1]; - msg.q3 = att.q[2]; - msg.q4 = att.q[3]; - msg.rollspeed = angular_velocity.xyz[0]; - msg.pitchspeed = angular_velocity.xyz[1]; - msg.yawspeed = angular_velocity.xyz[2]; - - if (status.is_vtol && status.is_vtol_tailsitter && (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { - // This is a tailsitter VTOL flying in fixed wing mode: - // indicate that reported attitude should be rotated by - // 90 degrees upward pitch for user display - get_rot_quaternion(ROTATION_PITCH_90).copyTo(msg.repr_offset_q); - - } else { - // Normal case - // zero rotation should be [1 0 0 0]: - // `get_rot_quaternion(ROTATION_NONE).copyTo(msg.repr_offset_q);` - // but to save bandwidth, we instead send [0, 0, 0, 0]. - msg.repr_offset_q[0] = 0.0f; - msg.repr_offset_q[1] = 0.0f; - msg.repr_offset_q[2] = 0.0f; - msg.repr_offset_q[3] = 0.0f; - } - - mavlink_msg_attitude_quaternion_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamVFRHUD : public MavlinkStream { public: @@ -4152,7 +4059,9 @@ static const StreamListItem streams_list[] = { #if defined(ATTITUDE_HPP) create_stream_list_item(), #endif // ATTITUDE_HPP +#if defined(ATTITUDE_QUATERNION_HPP) create_stream_list_item(), +#endif // ATTITUDE_QUATERNION_HPP create_stream_list_item(), #if defined(GPS_GLOBAL_ORIGIN_HPP) create_stream_list_item(), diff --git a/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp b/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp new file mode 100644 index 0000000000..f05387c1bc --- /dev/null +++ b/src/modules/mavlink/streams/ATTITUDE_QUATERNION.hpp @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * 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 ATTITUDE_QUATERNION_HPP +#define ATTITUDE_QUATERNION_HPP + +#include +#include +#include + +class MavlinkStreamAttitudeQuaternion : public MavlinkStream +{ +public: + const char *get_name() const override + { + return MavlinkStreamAttitudeQuaternion::get_name_static(); + } + + static constexpr const char *get_name_static() + { + return "ATTITUDE_QUATERNION"; + } + + static constexpr uint16_t get_id_static() + { + return MAVLINK_MSG_ID_ATTITUDE_QUATERNION; + } + + uint16_t get_id() override + { + return get_id_static(); + } + + static MavlinkStream *new_instance(Mavlink *mavlink) + { + return new MavlinkStreamAttitudeQuaternion(mavlink); + } + + unsigned get_size() override + { + return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; + uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; + uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; + + /* do not allow top copying this class */ + MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &) = delete; + MavlinkStreamAttitudeQuaternion &operator = (const MavlinkStreamAttitudeQuaternion &) = delete; + +protected: + explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) + {} + + bool send() override + { + vehicle_attitude_s att; + + if (_att_sub.update(&att)) { + vehicle_angular_velocity_s angular_velocity{}; + _angular_velocity_sub.copy(&angular_velocity); + + vehicle_status_s status{}; + _status_sub.copy(&status); + + mavlink_attitude_quaternion_t msg{}; + + msg.time_boot_ms = att.timestamp / 1000; + msg.q1 = att.q[0]; + msg.q2 = att.q[1]; + msg.q3 = att.q[2]; + msg.q4 = att.q[3]; + msg.rollspeed = angular_velocity.xyz[0]; + msg.pitchspeed = angular_velocity.xyz[1]; + msg.yawspeed = angular_velocity.xyz[2]; + + if (status.is_vtol && status.is_vtol_tailsitter && (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { + // This is a tailsitter VTOL flying in fixed wing mode: + // indicate that reported attitude should be rotated by + // 90 degrees upward pitch for user display + get_rot_quaternion(ROTATION_PITCH_90).copyTo(msg.repr_offset_q); + + } else { + // Normal case + // zero rotation should be [1 0 0 0]: + // `get_rot_quaternion(ROTATION_NONE).copyTo(msg.repr_offset_q);` + // but to save bandwidth, we instead send [0, 0, 0, 0]. + msg.repr_offset_q[0] = 0.0f; + msg.repr_offset_q[1] = 0.0f; + msg.repr_offset_q[2] = 0.0f; + msg.repr_offset_q[3] = 0.0f; + } + + mavlink_msg_attitude_quaternion_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // ATTITUDE_QUATERNION_HPP