mavlink: move GIMBAL_DEVICE_ATTITUDE_STATUS to separate stream header

src/modules/mavlink/mavlink_messages.cpp

@@ -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

src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp

@@ -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