mavlink: move GIMBAL_DEVICE_ATTITUDE_STATUS to separate stream header

2026-10-21 21:33:34 +08:00 · 2021-03-11 11:46:14 -05:00
parent c9d44d5741
commit e04252151c
2 changed files with 102 additions and 77 deletions
@@ -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