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Add support for mavlink message DEBUG

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This commit is contained in:
Julien Lecoeur
2017-08-30 14:45:02 +01:00
committed by Nuno Marques
parent b6c30cf9b2
commit eeb966d375
6 changed files with 100 additions and 0 deletions
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src/modules/mavlink/mavlink_messages.cpp
+65
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@@ -65,6 +65,7 @@
#include <uORB/topics/camera_capture.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/debug_value.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_status.h>
@@ -3171,6 +3172,69 @@ protected:
}
};
class MavlinkStreamDebug : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamDebug::get_name_static();
}
static const char *get_name_static()
{
return "DEBUG";
}
static uint16_t get_id_static()
{
return MAVLINK_MSG_ID_DEBUG;
}
uint16_t get_id()
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamDebug(mavlink);
}
unsigned get_size()
{
return (_debug_time > 0) ? MAVLINK_MSG_ID_DEBUG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
MavlinkOrbSubscription *_debug_sub;
uint64_t _debug_time;
/* do not allow top copying this class */
MavlinkStreamDebug(MavlinkStreamDebug &);
MavlinkStreamDebug &operator = (const MavlinkStreamDebug &);
protected:
explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink),
_debug_sub(_mavlink->add_orb_subscription(ORB_ID(debug_value))),
_debug_time(0)
{}
void send(const hrt_abstime t)
{
struct debug_value_s debug = {};
if (_debug_sub->update(&_debug_time, &debug)) {
mavlink_debug_t msg = {};
msg.time_boot_ms = debug.timestamp_ms;
msg.ind = debug.ind;
msg.value = debug.value;
mavlink_msg_debug_send_struct(_mavlink->get_channel(), &msg);
}
}
};
class MavlinkStreamNavControllerOutput : public MavlinkStream
{
public:
@@ -4168,6 +4232,7 @@ const StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamActuatorControlTarget<2>::new_instance, &MavlinkStreamActuatorControlTarget<2>::get_name_static, &MavlinkStreamActuatorControlTarget<2>::get_id_static),
new StreamListItem(&MavlinkStreamActuatorControlTarget<3>::new_instance, &MavlinkStreamActuatorControlTarget<3>::get_name_static, &MavlinkStreamActuatorControlTarget<3>::get_id_static),
new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static, &MavlinkStreamNamedValueFloat::get_id_static),
new StreamListItem(&MavlinkStreamDebug::new_instance, &MavlinkStreamDebug::get_name_static, &MavlinkStreamDebug::get_id_static),
new StreamListItem(&MavlinkStreamNavControllerOutput::new_instance, &MavlinkStreamNavControllerOutput::get_name_static, &MavlinkStreamNavControllerOutput::get_id_static),
new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static, &MavlinkStreamCameraCapture::get_id_static),
new StreamListItem(&MavlinkStreamCameraTrigger::new_instance, &MavlinkStreamCameraTrigger::get_name_static, &MavlinkStreamCameraTrigger::get_id_static),