Implement the SENSOR_AIRFLOW_ANGLES mavlink stream

src/modules/mavlink/mavlink_messages.cpp

@@ -99,6 +99,7 @@
 #include "streams/RC_CHANNELS.hpp"
 #include "streams/SCALED_IMU.hpp"
 #include "streams/SCALED_PRESSURE.hpp"
+#include "streams/SENSOR_AIRFLOW_ANGLES.hpp"
 #include "streams/SERVO_OUTPUT_RAW.hpp"
 #include "streams/STATUSTEXT.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
@@ -346,6 +347,9 @@ static const StreamListItem streams_list[] = {
 #if defined(SCALED_PRESSURE3)
 	create_stream_list_item<MavlinkStreamScaledPressure3>(),
 #endif // SCALED_PRESSURE3
+#if defined(SENSOR_AIRFLOW_ANGLES_HPP)
+  create_stream_list_item<MavlinkStreamSensorAirflowAngles>(),
+#endif // SENSOR_AIRFLOW_ANGLES
 #if defined(ACTUATOR_OUTPUT_STATUS_HPP)
 	create_stream_list_item<MavlinkStreamActuatorOutputStatus>(),
 #endif // ACTUATOR_OUTPUT_STATUS_HPP

src/modules/mavlink/streams/SENSOR_AIRFLOW_ANGLES.hpp

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 SENSOR_AIRFLOW_ANGLES_HPP
+#define SENSOR_AIRFLOW_ANGLES_HPP
+
+#include <uORB/topics/airflow_aoa.h>
+#include <uORB/topics/airflow_slip.h>
+
+class MavlinkStreamSensorAirflowAngles : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSensorAirflowAngles(mavlink); }
+
+	static constexpr const char *get_name_static() { return "SENSOR_AIRFLOW_ANGLES"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SENSOR_AIRFLOW_ANGLES; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+    if (_airflow_aoa_sub.advertised() || _airflow_slip_sub.advertised()) {
+      return MAVLINK_MSG_ID_SENSOR_AIRFLOW_ANGLES_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+    }
+
+    return 0;
+	}
+
+private:
+	explicit MavlinkStreamSensorAirflowAngles(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _airflow_aoa_sub{ORB_ID(airflow_aoa)};
+	uORB::Subscription _airflow_slip_sub{ORB_ID(airflow_slip)};
+
+	bool send() override
+	{
+		if (_airflow_aoa_sub.updated() || _airflow_slip_sub.updated()) {
+		  mavlink_sensor_airflow_angles_t msg{};
+
+	    struct airflow_aoa_s airflow_aoa;
+      if (_airflow_aoa_sub.copy(&airflow_aoa)) {
+        msg.timestamp = airflow_aoa.timestamp / 1000;
+        msg.angleofattack = math::degrees(airflow_aoa.aoa_rad);
+        msg.angleofattack_valid = airflow_aoa.valid;
+      } else {
+        msg.timestamp = 0;
+        msg.angleofattack = 0.0;
+        msg.angleofattack_valid = false;
+      }
+
+      struct airflow_slip_s airflow_slip;
+      if (_airflow_slip_sub.copy(&airflow_slip)) {
+        const uint64_t timestamp = airflow_slip.timestamp / 1000;
+        if (timestamp > msg.timestamp) {
+          msg.timestamp = timestamp;
+        }
+        msg.sideslip = math::degrees(airflow_slip.slip_rad);
+        msg.sideslip_valid = airflow_slip.valid;
+      } else {
+        msg.timestamp = 0;
+        msg.sideslip = 0.0;
+        msg.sideslip_valid = false;
+      }
+
+      mavlink_msg_sensor_airflow_angles_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // SENSOR_AIRFLOW_ANGLES