mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 22:57:35 +08:00
mavlink: move AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to separate stream header
This commit is contained in:
Daniel Agar
@@ -143,6 +143,7 @@ using matrix::wrap_2pi;
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#if !defined(CONSTRAINED_FLASH)
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# include "streams/ADSB_VEHICLE.hpp"
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# include "streams/ATT_POS_MOCAP.hpp"
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# include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp"
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# include "streams/DEBUG.hpp"
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# include "streams/DEBUG_FLOAT_ARRAY.hpp"
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# include "streams/DEBUG_VECT.hpp"
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@@ -1488,112 +1489,6 @@ protected:
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}
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};
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#if !defined(CONSTRAINED_FLASH)
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class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamAutopilotStateForGimbalDevice::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "AUTOPILOT_STATE_FOR_GIMBAL_DEVICE";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamAutopilotStateForGimbalDevice(mavlink);
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}
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unsigned get_size() override
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{
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return _att_sub.advertised() ? MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
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uORB::Subscription _est_sub{ORB_ID(estimator_status)};
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uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)};
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/* do not allow top copying this class */
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MavlinkStreamAutopilotStateForGimbalDevice(MavlinkStreamAutopilotStateForGimbalDevice &) = delete;
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MavlinkStreamAutopilotStateForGimbalDevice &operator = (const MavlinkStreamAutopilotStateForGimbalDevice &) = delete;
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protected:
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explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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if (_att_sub.advertised()) {
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mavlink_autopilot_state_for_gimbal_device_t msg{};
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{
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vehicle_attitude_s att{};
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_att_sub.copy(&att);
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msg.time_boot_us = att.timestamp;
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msg.q[0] = att.q[0];
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msg.q[1] = att.q[1];
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msg.q[2] = att.q[2];
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msg.q[3] = att.q[3];
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msg.q_estimated_delay_us = 0; // I don't know.
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}
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{
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vehicle_local_position_s lpos{};
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_lpos_sub.copy(&lpos);
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msg.vx = lpos.vx;
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msg.vy = lpos.vy;
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msg.vz = lpos.vz;
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msg.v_estimated_delay_us = 0; // I don't know.
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}
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{
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vehicle_attitude_setpoint_s att_sp{};
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_att_sp_sub.copy(&att_sp);
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msg.feed_forward_angular_velocity_z = att_sp.yaw_sp_move_rate;
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}
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{
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estimator_status_s est{};
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_est_sub.copy(&est);
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msg.estimator_status = est.solution_status_flags;
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}
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{
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vehicle_land_detected_s land_detected{};
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_landed_sub.copy(&land_detected);
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// Ignore take-off and landing states for now.
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msg.landed_state = land_detected.landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR;
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}
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mavlink_msg_autopilot_state_for_gimbal_device_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif
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class MavlinkStreamCameraTrigger : public MavlinkStream
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{
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public:
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@@ -1832,11 +1727,11 @@ static const StreamListItem streams_list[] = {
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#if defined(ATT_POS_MOCAP_HPP)
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create_stream_list_item<MavlinkStreamAttPosMocap>(),
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#endif // ATT_POS_MOCAP_HPP
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#if !defined(CONSTRAINED_FLASH)
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create_stream_list_item<MavlinkStreamGimbalDeviceAttitudeStatus>(),
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#endif
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#if defined(GIMBAL_DEVICE_ATTITUDE_STATUS_HPP)
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#if defined(AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP)
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create_stream_list_item<MavlinkStreamAutopilotStateForGimbalDevice>(),
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#endif // AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP
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#if defined(GIMBAL_DEVICE_ATTITUDE_STATUS_HPP)
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create_stream_list_item<MavlinkStreamGimbalDeviceAttitudeStatus>(),
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#endif // GIMBAL_DEVICE_ATTITUDE_STATUS_HPP
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#if defined(GIMBAL_MANAGER_INFORMATION_HPP)
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create_stream_list_item<MavlinkStreamGimbalManagerInformation>(),
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@@ -0,0 +1,143 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP
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#define AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP
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#include <uORB/topics/estimator_selector_status.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/vehicle_local_position.h>
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class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAutopilotStateForGimbalDevice(mavlink); }
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static constexpr const char *get_name_static() { return "AUTOPILOT_STATE_FOR_GIMBAL_DEVICE"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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if (_att_sub.advertised()) {
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return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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return 0;
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}
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private:
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explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
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uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
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uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
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uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)};
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bool send() override
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{
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vehicle_attitude_s att;
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if (_att_sub.update(&att)) {
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mavlink_autopilot_state_for_gimbal_device_t msg{};
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//msg.target_system = 0; // TODO
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//msg.target_component = 0; // TODO
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msg.time_boot_us = att.timestamp;
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msg.q[0] = att.q[0];
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msg.q[1] = att.q[1];
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msg.q[2] = att.q[2];
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msg.q[3] = att.q[3];
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msg.q_estimated_delay_us = 0; // I don't know.
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{
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vehicle_local_position_s lpos;
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if (_lpos_sub.copy(&lpos)) {
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msg.vx = lpos.vx;
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msg.vy = lpos.vy;
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msg.vz = lpos.vz;
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msg.v_estimated_delay_us = 0; // I don't know.
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}
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}
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{
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vehicle_attitude_setpoint_s att_sp;
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if (_att_sp_sub.copy(&att_sp)) {
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msg.feed_forward_angular_velocity_z = att_sp.yaw_sp_move_rate;
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}
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}
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{
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estimator_selector_status_s estimator_selector_status;
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if (_estimator_selector_status_sub.update(&estimator_selector_status)) {
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_estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance);
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}
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estimator_status_s est;
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if (_estimator_status_sub.copy(&est)) {
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msg.estimator_status = est.solution_status_flags;
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}
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}
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{
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vehicle_land_detected_s land_detected;
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if (_landed_sub.copy(&land_detected)) {
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// Ignore take-off and landing states for now.
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msg.landed_state = land_detected.landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR;
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}
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}
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mavlink_msg_autopilot_state_for_gimbal_device_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP
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