From ecfbd79a90f0ed00a6fc691d875f7beb7ec8fd5f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 20 Feb 2021 13:37:13 -0500 Subject: [PATCH] mavlink: move UTM_GLOBAL_POSITION to separate stream header --- src/modules/mavlink/mavlink_messages.cpp | 179 +--------------- .../mavlink/streams/UTM_GLOBAL_POSITION.hpp | 194 ++++++++++++++++++ 2 files changed, 197 insertions(+), 176 deletions(-) create mode 100644 src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 0967b1d036..4934b15313 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -151,6 +151,7 @@ using matrix::wrap_2pi; # include "streams/LINK_NODE_STATUS.hpp" # include "streams/NAMED_VALUE_FLOAT.hpp" # include "streams/ODOMETRY.hpp" +# include "streams/UTM_GLOBAL_POSITION.hpp" #endif // !CONSTRAINED_FLASH // ensure PX4 rotation enum and MAV_SENSOR_ROTATION align @@ -1804,182 +1805,6 @@ protected: } }; -class MavlinkStreamUTMGlobalPosition : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamUTMGlobalPosition::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "UTM_GLOBAL_POSITION"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_UTM_GLOBAL_POSITION; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamUTMGlobalPosition(mavlink); - } - - bool const_rate() override - { - return true; - } - - unsigned get_size() override - { - return _global_pos_sub.advertised() ? MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; - } - -private: - uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; - uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; - uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)}; - uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; - uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)}; - - /* do not allow top copying this class */ - MavlinkStreamUTMGlobalPosition(MavlinkStreamUTMGlobalPosition &) = delete; - MavlinkStreamUTMGlobalPosition &operator = (const MavlinkStreamUTMGlobalPosition &) = delete; - -protected: - explicit MavlinkStreamUTMGlobalPosition(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - vehicle_global_position_s global_pos; - - if (_global_pos_sub.update(&global_pos)) { - mavlink_utm_global_position_t msg{}; - - // Compute Unix epoch and set time field - timespec tv; - px4_clock_gettime(CLOCK_REALTIME, &tv); - uint64_t unix_epoch = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; - - // If the time is before 2001-01-01, it's probably the default 2000 - if (unix_epoch > 978307200000000) { - msg.time = unix_epoch; - msg.flags |= UTM_DATA_AVAIL_FLAGS_TIME_VALID; - } - -#ifndef BOARD_HAS_NO_UUID - px4_guid_t px4_guid; - board_get_px4_guid(px4_guid); - static_assert(sizeof(px4_guid_t) == sizeof(msg.uas_id), "GUID byte length mismatch"); - memcpy(&msg.uas_id, &px4_guid, sizeof(msg.uas_id)); - msg.flags |= UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE; -#else - // TODO Fill ID with something reasonable - memset(&msg.uas_id[0], 0, sizeof(msg.uas_id)); -#endif /* BOARD_HAS_NO_UUID */ - - // Handle global position - msg.lat = global_pos.lat * 1e7; - msg.lon = global_pos.lon * 1e7; - msg.alt = global_pos.alt_ellipsoid * 1000.0f; - - msg.h_acc = global_pos.eph * 1000.0f; - msg.v_acc = global_pos.epv * 1000.0f; - - msg.flags |= UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE; - msg.flags |= UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE; - - // Handle local position - vehicle_local_position_s local_pos; - - if (_local_pos_sub.copy(&local_pos)) { - float evh = 0.0f; - float evv = 0.0f; - - if (local_pos.v_xy_valid) { - msg.vx = local_pos.vx * 100.0f; - msg.vy = local_pos.vy * 100.0f; - evh = local_pos.evh; - msg.flags |= UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE; - } - - if (local_pos.v_z_valid) { - msg.vz = local_pos.vz * 100.0f; - evv = local_pos.evv; - msg.flags |= UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE; - } - - msg.vel_acc = sqrtf(evh * evh + evv * evv) * 100.0f; - - if (local_pos.dist_bottom_valid) { - msg.relative_alt = local_pos.dist_bottom * 1000.0f; - msg.flags |= UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE; - } - } - - vehicle_status_s vehicle_status{}; - _vehicle_status_sub.copy(&vehicle_status); - - bool vehicle_in_auto_mode = vehicle_status.timestamp > 0 - && (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF - || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL); - - // Handle next waypoint if it is valid - position_setpoint_triplet_s position_setpoint_triplet; - - if (vehicle_in_auto_mode && _position_setpoint_triplet_sub.copy(&position_setpoint_triplet)) { - if (position_setpoint_triplet.current.valid) { - msg.next_lat = position_setpoint_triplet.current.lat * 1e7; - msg.next_lon = position_setpoint_triplet.current.lon * 1e7; - // HACK We assume that the offset between AMSL and WGS84 is constant between the current - // vehicle position and the the target waypoint. - msg.next_alt = (position_setpoint_triplet.current.alt + (global_pos.alt_ellipsoid - global_pos.alt)) * 1000.0f; - msg.flags |= UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE; - } - } - - // Handle flight state - vehicle_land_detected_s land_detected{}; - _land_detected_sub.copy(&land_detected); - - if (vehicle_status.timestamp > 0 && land_detected.timestamp > 0 - && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - if (land_detected.landed) { - msg.flight_state |= UTM_FLIGHT_STATE_GROUND; - - } else { - msg.flight_state |= UTM_FLIGHT_STATE_AIRBORNE; - } - - } else { - msg.flight_state |= UTM_FLIGHT_STATE_UNKNOWN; - } - - msg.update_rate = 0; // Data driven mode - - mavlink_msg_utm_global_position_send_struct(_mavlink->get_channel(), &msg); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraTrigger : public MavlinkStream { public: @@ -2294,7 +2119,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), #endif // ALTITUDE_HPP create_stream_list_item(), +#if defined(UTM_GLOBAL_POSITION_HPP) create_stream_list_item(), +#endif // UTM_GLOBAL_POSITION_HPP #if defined(COLLISION_HPP) create_stream_list_item(), #endif // COLLISION_HPP diff --git a/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp b/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp new file mode 100644 index 0000000000..f441bd6f69 --- /dev/null +++ b/src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp @@ -0,0 +1,194 @@ +/**************************************************************************** + * + * 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 UTM_GLOBAL_POSITION_HPP +#define UTM_GLOBAL_POSITION_HPP + +#include +#include +#include +#include +#include + +class MavlinkStreamUTMGlobalPosition : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamUTMGlobalPosition(mavlink); } + + static constexpr const char *get_name_static() { return "UTM_GLOBAL_POSITION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_UTM_GLOBAL_POSITION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + bool const_rate() override { return true; } + + unsigned get_size() override + { + return _global_pos_sub.advertised() ? MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + } + +private: + explicit MavlinkStreamUTMGlobalPosition(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; + uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; + uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)}; + + bool send() override + { + vehicle_global_position_s global_pos; + + if (_global_pos_sub.update(&global_pos)) { + mavlink_utm_global_position_t msg{}; + + // Compute Unix epoch and set time field + timespec tv; + px4_clock_gettime(CLOCK_REALTIME, &tv); + uint64_t unix_epoch = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; + + // If the time is before 2001-01-01, it's probably the default 2000 + if (unix_epoch > 978307200000000) { + msg.time = unix_epoch; + msg.flags |= UTM_DATA_AVAIL_FLAGS_TIME_VALID; + } + +#ifndef BOARD_HAS_NO_UUID + px4_guid_t px4_guid; + board_get_px4_guid(px4_guid); + static_assert(sizeof(px4_guid_t) == sizeof(msg.uas_id), "GUID byte length mismatch"); + memcpy(&msg.uas_id, &px4_guid, sizeof(msg.uas_id)); + msg.flags |= UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE; +#else + // TODO Fill ID with something reasonable + memset(&msg.uas_id[0], 0, sizeof(msg.uas_id)); +#endif /* BOARD_HAS_NO_UUID */ + + // Handle global position + msg.lat = global_pos.lat * 1e7; + msg.lon = global_pos.lon * 1e7; + msg.alt = global_pos.alt_ellipsoid * 1000.f; + + msg.h_acc = global_pos.eph * 1000.f; + msg.v_acc = global_pos.epv * 1000.f; + + msg.flags |= UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE; + msg.flags |= UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE; + + // Handle local position + vehicle_local_position_s local_pos; + + if (_local_pos_sub.copy(&local_pos)) { + float evh = 0.f; + float evv = 0.f; + + if (local_pos.v_xy_valid) { + msg.vx = local_pos.vx * 100.f; + msg.vy = local_pos.vy * 100.f; + evh = local_pos.evh; + msg.flags |= UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE; + } + + if (local_pos.v_z_valid) { + msg.vz = local_pos.vz * 100.f; + evv = local_pos.evv; + msg.flags |= UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE; + } + + msg.vel_acc = sqrtf(evh * evh + evv * evv) * 100.f; + + if (local_pos.dist_bottom_valid) { + msg.relative_alt = local_pos.dist_bottom * 1000.f; + msg.flags |= UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE; + } + } + + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); + + bool vehicle_in_auto_mode = (vehicle_status.timestamp > 0) + && (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF + || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL); + + // Handle next waypoint if it is valid + position_setpoint_triplet_s position_setpoint_triplet; + + if (vehicle_in_auto_mode && _position_setpoint_triplet_sub.copy(&position_setpoint_triplet)) { + if (position_setpoint_triplet.current.valid) { + msg.next_lat = position_setpoint_triplet.current.lat * 1e7; + msg.next_lon = position_setpoint_triplet.current.lon * 1e7; + // HACK We assume that the offset between AMSL and WGS84 is constant between the current + // vehicle position and the the target waypoint. + msg.next_alt = (position_setpoint_triplet.current.alt + (global_pos.alt_ellipsoid - global_pos.alt)) * 1000.f; + msg.flags |= UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE; + } + } + + // Handle flight state + vehicle_land_detected_s land_detected{}; + _land_detected_sub.copy(&land_detected); + + if (vehicle_status.timestamp > 0 && land_detected.timestamp > 0 + && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + + if (land_detected.landed) { + msg.flight_state |= UTM_FLIGHT_STATE_GROUND; + + } else { + msg.flight_state |= UTM_FLIGHT_STATE_AIRBORNE; + } + + } else { + msg.flight_state |= UTM_FLIGHT_STATE_UNKNOWN; + } + + msg.update_rate = 0; // Data driven mode + + mavlink_msg_utm_global_position_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // UTM_GLOBAL_POSITION_HPP