mavlink: streams fix SCALED_IMU size reporting

src/modules/mavlink/mavlink_messages.cpp

@@ -98,6 +98,8 @@
 #include "streams/RAW_RPM.hpp"
 #include "streams/RC_CHANNELS.hpp"
 #include "streams/SCALED_IMU.hpp"
+#include "streams/SCALED_IMU2.hpp"
+#include "streams/SCALED_IMU3.hpp"
 #include "streams/SCALED_PRESSURE.hpp"
 #include "streams/SERVO_OUTPUT_RAW.hpp"
 #include "streams/STATUSTEXT.hpp"
@@ -333,10 +335,14 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHighresIMU>(),
 #endif // HIGHRES_IMU_HPP
 #if defined(SCALED_IMU_HPP)
-	create_stream_list_item<MavlinkStreamScaledIMU<0> >(),
+	create_stream_list_item<MavlinkStreamScaledIMU>(),
-	create_stream_list_item<MavlinkStreamScaledIMU<1> >(),
-	create_stream_list_item<MavlinkStreamScaledIMU<2> >(),
 #endif // SCALED_IMU_HPP
+#if defined(SCALED_IMU2_HPP)
+	create_stream_list_item<MavlinkStreamScaledIMU2>(),
+#endif // SCALED_IMU2_HPP
+#if defined(SCALED_IMU3_HPP)
+	create_stream_list_item<MavlinkStreamScaledIMU3>(),
+#endif // SCALED_IMU3_HPP
 #if defined(SCALED_PRESSURE)
 	create_stream_list_item<MavlinkStreamScaledPressure>(),
 #endif // SCALED_PRESSURE

src/modules/mavlink/streams/SCALED_IMU.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   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
@@ -37,163 +37,78 @@
 #include <lib/ecl/geo/geo.h>
 #include <lib/matrix/matrix/math.hpp>
 
-#include <uORB/topics/vehicle_imu.h>
 #include <uORB/topics/sensor_mag.h>
+#include <uORB/topics/vehicle_imu.h>
 
-using matrix::Vector3f;
+class MavlinkStreamScaledIMU : public MavlinkStream
-
-static constexpr const char *MSG_NAMES_SCALED_IMU[] = {
-	"SCALED_IMU",
-	"SCALED_IMU2",
-	"SCALED_IMU3"
-};
-
-class MavlinkStreamScaledIMUBase : public MavlinkStream
 {
-protected:
+public:
-	explicit MavlinkStreamScaledIMUBase(Mavlink *mavlink, int N) : MavlinkStream(mavlink),
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU(mavlink); }
-		_raw_imu_sub(ORB_ID(vehicle_imu), N),
-		_raw_mag_sub(ORB_ID(sensor_mag), N)
-	{}
 
+	static constexpr const char *get_name_static() { return "SCALED_IMU"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		if (_vehicle_imu_sub.advertised() || _sensor_mag_sub.advertised()) {
+			return MAVLINK_MSG_ID_SCALED_IMU_LEN  + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		}
+
+		return 0;
+	}
+
+private:
+	explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 0};
+	uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 0};
 
 	bool send() override
 	{
-		if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) {
+		if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) {
+			mavlink_scaled_imu_t msg{};
 
-			vehicle_imu_s imu{};
+			vehicle_imu_s imu;
-			_raw_imu_sub.copy(&imu);
 
-			sensor_mag_s sensor_mag{};
+			if (_vehicle_imu_sub.copy(&imu)) {
-			_raw_mag_sub.copy(&sensor_mag);
+				msg.time_boot_ms = imu.timestamp / 1000;
 
-			// Accelerometer in mG
+				// Accelerometer in mG
-			const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
-			const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
+				const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
+				msg.xacc = (int16_t)accel(0);
+				msg.yacc = (int16_t)accel(1);
+				msg.zacc = (int16_t)accel(2);
 
-			const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				// Gyroscope in mrad/s
-			const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
+				const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
+				msg.xgyro = gyro(0);
+				msg.ygyro = gyro(1);
+				msg.zgyro = gyro(2);
+			}
 
-			send_mavlink_message(imu.timestamp / 1000, accel, gyro, sensor_mag);
+			sensor_mag_s sensor_mag;
+
+			if (_sensor_mag_sub.copy(&sensor_mag)) {
+				if (msg.time_boot_ms == 0) {
+					msg.time_boot_ms = sensor_mag.timestamp / 1000;
+				}
+
+				msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
+				msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
+				msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
+				msg.temperature = sensor_mag.temperature;
+			}
+
+			mavlink_msg_scaled_imu_send_struct(_mavlink->get_channel(), &msg);
 			return true;
 		}
 
 		return false;
 	}
-
-	virtual void send_mavlink_message(uint32_t time_boot_ms, const Vector3f &sensor_accel, const Vector3f &gyro,
-					  sensor_mag_s &sensor_mag) = 0;
-
-private:
-	uORB::Subscription _raw_imu_sub;
-	uORB::Subscription _raw_mag_sub;
-
-	// do not allow to copy this class
-	MavlinkStreamScaledIMUBase(MavlinkStreamScaledIMUBase &) = delete;
-	MavlinkStreamScaledIMUBase &operator = (const MavlinkStreamScaledIMUBase &) = delete;
 };
-
-template <int N, typename Derived, uint16_t MSG_ID_SCALED_IMU, unsigned MSG_ID_SCALED_IMU_LEN, typename MavlinkMsg>
-class MavlinkStreamScaledIMUTemplate : public MavlinkStreamScaledIMUBase
-{
-public:
-	const char *get_name() const override
-	{
-		return get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return MSG_NAMES_SCALED_IMU[N];
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MSG_ID_SCALED_IMU;
-	}
-
-	unsigned get_size() override
-	{
-		return MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new Derived(mavlink);
-	}
-
-private:
-	typedef void (*SendMavlinkHandler)(mavlink_channel_t,  const MavlinkMsg *);
-	SendMavlinkHandler _send_mavlink;
-
-protected:
-	explicit MavlinkStreamScaledIMUTemplate(Mavlink *mavlink,
-						SendMavlinkHandler handler) : MavlinkStreamScaledIMUBase(mavlink, N),
-		_send_mavlink(handler)
-	{}
-
-	void send_mavlink_message(uint32_t time_boot_ms, const Vector3f &accel, const Vector3f &gyro,
-				  sensor_mag_s &sensor_mag) override
-	{
-		MavlinkMsg msg{};
-		msg.time_boot_ms = time_boot_ms;
-		msg.xacc = (int16_t)accel(0);
-		msg.yacc = (int16_t)accel(1);
-		msg.zacc = (int16_t)accel(2);
-		msg.xgyro = gyro(0);
-		msg.ygyro = gyro(1);
-		msg.zgyro = gyro(2);
-		msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
-		msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
-		msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
-		msg.temperature = sensor_mag.temperature;
-
-		_send_mavlink(_mavlink->get_channel(), &msg);
-	}
-};
-
-template <int N> struct MavlinkStreamScaledIMU {};
-
-template <>
-class MavlinkStreamScaledIMU<0> : public
-	MavlinkStreamScaledIMUTemplate<0, MavlinkStreamScaledIMU<0>, MAVLINK_MSG_ID_SCALED_IMU, MAVLINK_MSG_ID_SCALED_IMU_LEN, mavlink_scaled_imu_t>
-{
-public:
-	typedef MavlinkStreamScaledIMUTemplate<0, MavlinkStreamScaledIMU<0>, MAVLINK_MSG_ID_SCALED_IMU, MAVLINK_MSG_ID_SCALED_IMU_LEN, mavlink_scaled_imu_t>
-	Base;
-
-	explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu_send_struct)
-	{}
-};
-
-template <>
-class MavlinkStreamScaledIMU<1> : public
-	MavlinkStreamScaledIMUTemplate<1, MavlinkStreamScaledIMU<1>, MAVLINK_MSG_ID_SCALED_IMU2, MAVLINK_MSG_ID_SCALED_IMU2_LEN, mavlink_scaled_imu2_t>
-{
-public:
-	typedef MavlinkStreamScaledIMUTemplate<1, MavlinkStreamScaledIMU<1>, MAVLINK_MSG_ID_SCALED_IMU2, MAVLINK_MSG_ID_SCALED_IMU2_LEN, mavlink_scaled_imu2_t>
-	Base;
-
-	explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu2_send_struct)
-	{}
-};
-
-template <>
-class MavlinkStreamScaledIMU<2> : public
-	MavlinkStreamScaledIMUTemplate<2, MavlinkStreamScaledIMU<2>, MAVLINK_MSG_ID_SCALED_IMU3, MAVLINK_MSG_ID_SCALED_IMU3_LEN, mavlink_scaled_imu3_t>
-{
-public:
-	typedef MavlinkStreamScaledIMUTemplate<2, MavlinkStreamScaledIMU<2>, MAVLINK_MSG_ID_SCALED_IMU3, MAVLINK_MSG_ID_SCALED_IMU3_LEN, mavlink_scaled_imu3_t>
-	Base;
-
-	explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : Base(mavlink, mavlink_msg_scaled_imu3_send_struct)
-	{}
-};
-
-
 #endif /* SCALED_IMU_HPP */

src/modules/mavlink/streams/SCALED_IMU2.hpp

@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   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 SCALED_IMU2_HPP
+#define SCALED_IMU2_HPP
+
+#include <lib/ecl/geo/geo.h>
+#include <lib/matrix/matrix/math.hpp>
+
+#include <uORB/topics/sensor_mag.h>
+#include <uORB/topics/vehicle_imu.h>
+
+class MavlinkStreamScaledIMU2 : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU2(mavlink); }
+
+	static constexpr const char *get_name_static() { return "SCALED_IMU2"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU2; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		if (_vehicle_imu_sub.advertised() || _sensor_mag_sub.advertised()) {
+			return MAVLINK_MSG_ID_SCALED_IMU2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		}
+
+		return 0;
+	}
+
+private:
+	explicit MavlinkStreamScaledIMU2(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 1};
+	uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 1};
+
+	bool send() override
+	{
+		if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) {
+			mavlink_scaled_imu2_t msg{};
+
+			vehicle_imu_s imu;
+
+			if (_vehicle_imu_sub.copy(&imu)) {
+				msg.time_boot_ms = imu.timestamp / 1000;
+
+				// Accelerometer in mG
+				const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
+				msg.xacc = (int16_t)accel(0);
+				msg.yacc = (int16_t)accel(1);
+				msg.zacc = (int16_t)accel(2);
+
+				// Gyroscope in mrad/s
+				const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
+				msg.xgyro = gyro(0);
+				msg.ygyro = gyro(1);
+				msg.zgyro = gyro(2);
+			}
+
+			sensor_mag_s sensor_mag;
+
+			if (_sensor_mag_sub.copy(&sensor_mag)) {
+				if (msg.time_boot_ms == 0) {
+					msg.time_boot_ms = sensor_mag.timestamp / 1000;
+				}
+
+				msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
+				msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
+				msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
+				msg.temperature = sensor_mag.temperature;
+			}
+
+			mavlink_msg_scaled_imu2_send_struct(_mavlink->get_channel(), &msg);
+			return true;
+		}
+
+		return false;
+	}
+};
+#endif /* SCALED_IMU2_HPP */

src/modules/mavlink/streams/SCALED_IMU3.hpp

@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   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 SCALED_IMU3_HPP
+#define SCALED_IMU3_HPP
+
+#include <lib/ecl/geo/geo.h>
+#include <lib/matrix/matrix/math.hpp>
+
+#include <uORB/topics/sensor_mag.h>
+#include <uORB/topics/vehicle_imu.h>
+
+class MavlinkStreamScaledIMU3 : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU3(mavlink); }
+
+	static constexpr const char *get_name_static() { return "SCALED_IMU3"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU3; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		if (_vehicle_imu_sub.advertised() || _sensor_mag_sub.advertised()) {
+			return MAVLINK_MSG_ID_SCALED_IMU3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		}
+
+		return 0;
+	}
+
+private:
+	explicit MavlinkStreamScaledIMU3(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _vehicle_imu_sub{ORB_ID(vehicle_imu), 2};
+	uORB::Subscription _sensor_mag_sub{ORB_ID(sensor_mag), 2};
+
+	bool send() override
+	{
+		if (_vehicle_imu_sub.updated() || _sensor_mag_sub.updated()) {
+			mavlink_scaled_imu3_t msg{};
+
+			vehicle_imu_s imu;
+
+			if (_vehicle_imu_sub.copy(&imu)) {
+				msg.time_boot_ms = imu.timestamp / 1000;
+
+				// Accelerometer in mG
+				const float accel_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const Vector3f accel = Vector3f{imu.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G;
+				msg.xacc = (int16_t)accel(0);
+				msg.yacc = (int16_t)accel(1);
+				msg.zacc = (int16_t)accel(2);
+
+				// Gyroscope in mrad/s
+				const float gyro_dt_inv = 1.e6f / (float)imu.delta_velocity_dt;
+				const Vector3f gyro = Vector3f{imu.delta_angle} * gyro_dt_inv * 1000.0f;
+				msg.xgyro = gyro(0);
+				msg.ygyro = gyro(1);
+				msg.zgyro = gyro(2);
+			}
+
+			sensor_mag_s sensor_mag;
+
+			if (_sensor_mag_sub.copy(&sensor_mag)) {
+				if (msg.time_boot_ms == 0) {
+					msg.time_boot_ms = sensor_mag.timestamp / 1000;
+				}
+
+				msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss
+				msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss
+				msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss
+				msg.temperature = sensor_mag.temperature;
+			}
+
+			mavlink_msg_scaled_imu3_send_struct(_mavlink->get_channel(), &msg);
+			return true;
+		}
+
+		return false;
+	}
+};
+#endif /* SCALED_IMU3_HPP */