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mavlink: GPS_RAW_INT stream added

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Anton Babushkin
2014-07-28 00:07:01 +02:00
parent a2ac45f4e0
commit e1361fdc02
1 changed files with 71 additions and 63 deletions
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src/modules/mavlink/mavlink_messages.cpp
+71 -63
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@@ -839,69 +839,77 @@ protected:
}; };
//class MavlinkStreamGPSRawInt : public MavlinkStream class MavlinkStreamGPSRawInt : public MavlinkStream
//{ {
//public: public:
// const char *get_name() const const char *get_name() const
// { {
// return MavlinkStreamGPSRawInt::get_name_static(); return MavlinkStreamGPSRawInt::get_name_static();
// } }
//
// static const char *get_name_static() static const char *get_name_static()
// { {
// return "GPS_RAW_INT"; return "GPS_RAW_INT";
// } }
//
// uint8_t get_id() uint8_t get_id()
// { {
// return MAVLINK_MSG_ID_GPS_RAW_INT; return MAVLINK_MSG_ID_GPS_RAW_INT;
// } }
//
// static MavlinkStream *new_instance(Mavlink *mavlink) static MavlinkStream *new_instance(Mavlink *mavlink)
// { {
// return new MavlinkStreamGPSRawInt(); return new MavlinkStreamGPSRawInt(mavlink);
// } }
//
//private: unsigned get_size()
// MavlinkOrbSubscription *gps_sub; {
// uint64_t gps_time; return MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
// }
// /* do not allow top copying this class */
// MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &); private:
// MavlinkStreamGPSRawInt& operator = (const MavlinkStreamGPSRawInt &); MavlinkOrbSubscription *_gps_sub;
// uint64_t _gps_time;
//protected:
// explicit MavlinkStreamGPSRawInt() : MavlinkStream(), /* do not allow top copying this class */
// gps_sub(nullptr), MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &);
// gps_time(0) MavlinkStreamGPSRawInt& operator = (const MavlinkStreamGPSRawInt &);
// {}
// protected:
// void subscribe() explicit MavlinkStreamGPSRawInt(Mavlink *mavlink) : MavlinkStream(mavlink),
// { _gps_sub(nullptr),
// gps_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position)); _gps_time(0)
// } {}
//
// void send(const hrt_abstime t) void subscribe()
// { {
// struct vehicle_gps_position_s gps; _gps_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position));
// }
// if (gps_sub->update(&gps_time, &gps)) {
// mavlink_msg_gps_raw_int_send(_channel, void send(const hrt_abstime t)
// gps.timestamp_position, {
// gps.fix_type, struct vehicle_gps_position_s gps;
// gps.lat,
// gps.lon, if (_gps_sub->update(&_gps_time, &gps)) {
// gps.alt, mavlink_gps_raw_int_t msg;
// cm_uint16_from_m_float(gps.eph),
// cm_uint16_from_m_float(gps.epv), msg.time_usec = gps.timestamp_position;
// gps.vel_m_s * 100.0f, msg.fix_type = gps.fix_type;
// _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f, msg.lat = gps.lat;
// gps.satellites_used); msg.lon = gps.lon;
// } msg.alt = gps.alt;
// } msg.eph = cm_uint16_from_m_float(gps.eph);
//}; msg.epv = cm_uint16_from_m_float(gps.epv);
// msg.vel = cm_uint16_from_m_float(gps.vel_m_s),
// msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
msg.satellites_visible = gps.satellites_used;
_mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg);
}
}
};
//class MavlinkStreamGlobalPositionInt : public MavlinkStream //class MavlinkStreamGlobalPositionInt : public MavlinkStream
//{ //{
//public: //public: