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mavlink: move GIMBAL_DEVICE_ATTITUDE_STATUS to separate stream header

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This commit is contained in:
Daniel Agar 2021-02-20 13:33:00 -05:00
parent c9d44d5741
commit e04252151c
2 changed files with 102 additions and 77 deletions
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81
src/modules/mavlink/mavlink_messages.cpp
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@ -68,7 +68,6 @@
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/gimbal_device_attitude_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_baro.h>
@ -145,6 +144,7 @@ using matrix::wrap_2pi;
# include "streams/DEBUG.hpp"
# include "streams/DEBUG_FLOAT_ARRAY.hpp"
# include "streams/DEBUG_VECT.hpp"
# include "streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp"
# include "streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp"
# include "streams/GIMBAL_MANAGER_INFORMATION.hpp"
# include "streams/GIMBAL_MANAGER_STATUS.hpp"
@ -1980,81 +1980,6 @@ protected:
}
};
#if !defined(CONSTRAINED_FLASH)
class MavlinkStreamGimbalDeviceAttitudeStatus : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamGimbalDeviceAttitudeStatus::get_name_static();
}
static constexpr const char *get_name_static()
{
return "GIMBAL_DEVICE_ATTITUDE_STATUS";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamGimbalDeviceAttitudeStatus(mavlink);
}
unsigned get_size() override
{
return _gimbal_device_attitude_status_sub.advertised() ? MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)};
/* do not allow top copying this class */
MavlinkStreamGimbalDeviceAttitudeStatus(MavlinkStreamGimbalDeviceAttitudeStatus &) = delete;
MavlinkStreamGimbalDeviceAttitudeStatus &operator = (const MavlinkStreamGimbalDeviceAttitudeStatus &) = delete;
protected:
explicit MavlinkStreamGimbalDeviceAttitudeStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
gimbal_device_attitude_status_s gimbal_device_attitude_status{};
if (_gimbal_device_attitude_status_sub.update(&gimbal_device_attitude_status)) {
mavlink_gimbal_device_attitude_status_t msg{};
msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000;
msg.q[0] = gimbal_device_attitude_status.q[0];
msg.q[1] = gimbal_device_attitude_status.q[1];
msg.q[2] = gimbal_device_attitude_status.q[2];
msg.q[3] = gimbal_device_attitude_status.q[3];
msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x;
msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y;
msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z;
msg.failure_flags = gimbal_device_attitude_status.failure_flags;
msg.flags = gimbal_device_attitude_status.device_flags;
mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@ -2291,8 +2216,10 @@ static const StreamListItem streams_list[] = {
#endif // ATT_POS_MOCAP_HPP
#if !defined(CONSTRAINED_FLASH)
create_stream_list_item<MavlinkStreamGimbalDeviceAttitudeStatus>(),
create_stream_list_item<MavlinkStreamAutopilotStateForGimbalDevice>(),
#endif
#if defined(GIMBAL_DEVICE_ATTITUDE_STATUS_HPP)
create_stream_list_item<MavlinkStreamAutopilotStateForGimbalDevice>(),
#endif // GIMBAL_DEVICE_ATTITUDE_STATUS_HPP
#if defined(GIMBAL_MANAGER_INFORMATION_HPP)
create_stream_list_item<MavlinkStreamGimbalManagerInformation>(),
#endif // GIMBAL_MANAGER_INFORMATION_HPP

98
src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp Normal file
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@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (c) 2021 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 GIMBAL_DEVICE_ATTITUDE_STATUS_HPP
#define GIMBAL_DEVICE_ATTITUDE_STATUS_HPP
#include <uORB/topics/gimbal_device_attitude_status.h>
class MavlinkStreamGimbalDeviceAttitudeStatus : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalDeviceAttitudeStatus(mavlink); }
static constexpr const char *get_name_static() { return "GIMBAL_DEVICE_ATTITUDE_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_gimbal_device_attitude_status_sub.advertised()) {
return MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamGimbalDeviceAttitudeStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)};
bool send() override
{
gimbal_device_attitude_status_s gimbal_device_attitude_status{};
if (_gimbal_device_attitude_status_sub.update(&gimbal_device_attitude_status)) {
mavlink_gimbal_device_attitude_status_t msg{};
msg.target_system = gimbal_device_attitude_status.target_system;
msg.target_component = gimbal_device_attitude_status.target_component;
msg.time_boot_ms = gimbal_device_attitude_status.timestamp / 1000;
msg.flags = gimbal_device_attitude_status.device_flags;
msg.q[0] = gimbal_device_attitude_status.q[0];
msg.q[1] = gimbal_device_attitude_status.q[1];
msg.q[2] = gimbal_device_attitude_status.q[2];
msg.q[3] = gimbal_device_attitude_status.q[3];
msg.angular_velocity_x = gimbal_device_attitude_status.angular_velocity_x;
msg.angular_velocity_y = gimbal_device_attitude_status.angular_velocity_y;
msg.angular_velocity_z = gimbal_device_attitude_status.angular_velocity_z;
msg.failure_flags = gimbal_device_attitude_status.failure_flags;
mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // GIMBAL_DEVICE_ATTITUDE_STATUS