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mavlink: move AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent 462d67f2b6
commit e2f7427679
2 changed files with 148 additions and 110 deletions
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src/modules/mavlink/mavlink_messages.cpp
+5 -110
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@@ -143,6 +143,7 @@ using matrix::wrap_2pi;
#if !defined(CONSTRAINED_FLASH)
# include "streams/ADSB_VEHICLE.hpp"
# include "streams/ATT_POS_MOCAP.hpp"
# include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp"
# include "streams/DEBUG.hpp"
# include "streams/DEBUG_FLOAT_ARRAY.hpp"
# include "streams/DEBUG_VECT.hpp"
@@ -1488,112 +1489,6 @@ protected:
}
};
#if !defined(CONSTRAINED_FLASH)
class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamAutopilotStateForGimbalDevice::get_name_static();
}
static constexpr const char *get_name_static()
{
return "AUTOPILOT_STATE_FOR_GIMBAL_DEVICE";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamAutopilotStateForGimbalDevice(mavlink);
}
unsigned get_size() override
{
return _att_sub.advertised() ? MAVLINK_MSG_ID_GIMBAL_DEVICE_SET_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _est_sub{ORB_ID(estimator_status)};
uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)};
/* do not allow top copying this class */
MavlinkStreamAutopilotStateForGimbalDevice(MavlinkStreamAutopilotStateForGimbalDevice &) = delete;
MavlinkStreamAutopilotStateForGimbalDevice &operator = (const MavlinkStreamAutopilotStateForGimbalDevice &) = delete;
protected:
explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (_att_sub.advertised()) {
mavlink_autopilot_state_for_gimbal_device_t msg{};
{
vehicle_attitude_s att{};
_att_sub.copy(&att);
msg.time_boot_us = att.timestamp;
msg.q[0] = att.q[0];
msg.q[1] = att.q[1];
msg.q[2] = att.q[2];
msg.q[3] = att.q[3];
msg.q_estimated_delay_us = 0; // I don't know.
}
{
vehicle_local_position_s lpos{};
_lpos_sub.copy(&lpos);
msg.vx = lpos.vx;
msg.vy = lpos.vy;
msg.vz = lpos.vz;
msg.v_estimated_delay_us = 0; // I don't know.
}
{
vehicle_attitude_setpoint_s att_sp{};
_att_sp_sub.copy(&att_sp);
msg.feed_forward_angular_velocity_z = att_sp.yaw_sp_move_rate;
}
{
estimator_status_s est{};
_est_sub.copy(&est);
msg.estimator_status = est.solution_status_flags;
}
{
vehicle_land_detected_s land_detected{};
_landed_sub.copy(&land_detected);
// Ignore take-off and landing states for now.
msg.landed_state = land_detected.landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR;
}
mavlink_msg_autopilot_state_for_gimbal_device_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
@@ -1832,11 +1727,11 @@ static const StreamListItem streams_list[] = {
#if defined(ATT_POS_MOCAP_HPP)
create_stream_list_item<MavlinkStreamAttPosMocap>(),
#endif // ATT_POS_MOCAP_HPP
#if !defined(CONSTRAINED_FLASH)
create_stream_list_item<MavlinkStreamGimbalDeviceAttitudeStatus>(),
#endif
#if defined(GIMBAL_DEVICE_ATTITUDE_STATUS_HPP)
#if defined(AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP)
create_stream_list_item<MavlinkStreamAutopilotStateForGimbalDevice>(),
#endif // AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP
#if defined(GIMBAL_DEVICE_ATTITUDE_STATUS_HPP)
create_stream_list_item<MavlinkStreamGimbalDeviceAttitudeStatus>(),
#endif // GIMBAL_DEVICE_ATTITUDE_STATUS_HPP
#if defined(GIMBAL_MANAGER_INFORMATION_HPP)
create_stream_list_item<MavlinkStreamGimbalManagerInformation>(),