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MAVLink Streams: added collision stream

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This commit is contained in:
Andreas Antener
2016-11-19 14:46:20 +01:00
committed by Lorenz Meier
parent 8a2399eee1
commit dd8d178168
6 changed files with 112 additions and 0 deletions
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src/modules/mavlink/mavlink_messages.cpp
+69
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@@ -90,6 +90,7 @@
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/mount_status.h>
#include <uORB/topics/collision_report.h>
#include <uORB/uORB.h>
@@ -1292,6 +1293,73 @@ protected:
}
};
class MavlinkStreamCollision : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamCollision::get_name_static();
}
static const char *get_name_static()
{
return "COLLISION";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_COLLISION;
}
uint16_t get_id()
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamCollision(mavlink);
}
unsigned get_size()
{
return (_collision_time > 0) ? MAVLINK_MSG_ID_COLLISION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
MavlinkOrbSubscription *_collision_sub;
uint64_t _collision_time;
/* do not allow top copying this class */
MavlinkStreamCollision(MavlinkStreamCollision &);
MavlinkStreamCollision &operator = (const MavlinkStreamCollision &);
protected:
explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink),
_collision_sub(_mavlink->add_orb_subscription(ORB_ID(collision_report))),
_collision_time(0)
{}
void send(const hrt_abstime t)
{
struct collision_report_s report;
if (_collision_sub->update(&_collision_time, &report)) {
mavlink_collision_t msg = {};
msg.src = report.src;
msg.id = report.id;
msg.action = report.action;
msg.threat_level = report.threat_level;
msg.time_to_minimum_delta = report.time_to_minimum_delta;
msg.altitude_minimum_delta = report.altitude_minimum_delta;
msg.horizontal_minimum_delta = report.horizontal_minimum_delta;
mavlink_msg_collision_send_struct(_mavlink->get_channel(), &msg);
}
}
};
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -3567,6 +3635,7 @@ const StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamExtendedSysState::new_instance, &MavlinkStreamExtendedSysState::get_name_static, &MavlinkStreamExtendedSysState::get_id_static),
new StreamListItem(&MavlinkStreamAltitude::new_instance, &MavlinkStreamAltitude::get_name_static, &MavlinkStreamAltitude::get_id_static),
new StreamListItem(&MavlinkStreamADSBVehicle::new_instance, &MavlinkStreamADSBVehicle::get_name_static, &MavlinkStreamADSBVehicle::get_id_static),
new StreamListItem(&MavlinkStreamCollision::new_instance, &MavlinkStreamCollision::get_name_static, &MavlinkStreamCollision::get_id_static),
new StreamListItem(&MavlinkStreamWind::new_instance, &MavlinkStreamWind::get_name_static, &MavlinkStreamWind::get_id_static),
new StreamListItem(&MavlinkStreamMountStatus::new_instance, &MavlinkStreamMountStatus::get_name_static, &MavlinkStreamMountStatus::get_id_static),
nullptr