PX4-Autopilot/src/modules/mavlink/streams/ODOMETRY.hpp

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#ifndef ODOMETRY_HPP
#define ODOMETRY_HPP

#include <uORB/topics/vehicle_odometry.h>

class MavlinkStreamOdometry : public MavlinkStream
{
public:
	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOdometry(mavlink); }

	static constexpr const char *get_name_static() { return "ODOMETRY"; }
	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ODOMETRY; }

	const char *get_name() const override { return get_name_static(); }
	uint16_t get_id() override { return get_id_static(); }

	unsigned get_size() override
	{
		return _vehicle_odometry_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
	}

private:
	explicit MavlinkStreamOdometry(Mavlink *mavlink) : MavlinkStream(mavlink) {}

	uORB::Subscription _vehicle_odometry_sub{ORB_ID(vehicle_odometry)};

	bool send() override
	{
		vehicle_odometry_s odom;

		if (_vehicle_odometry_sub.update(&odom)) {
			mavlink_odometry_t msg{};
			msg.time_usec = odom.timestamp_sample;

			// set the frame_id according to the local frame of the data
			switch (odom.pose_frame) {
			case vehicle_odometry_s::POSE_FRAME_NED:
				msg.frame_id = MAV_FRAME_LOCAL_NED;
				break;

			case vehicle_odometry_s::POSE_FRAME_FRD:
				msg.frame_id = MAV_FRAME_LOCAL_FRD;
				break;
			}

			switch (odom.velocity_frame) {
			case vehicle_odometry_s::VELOCITY_FRAME_NED:
				msg.child_frame_id = MAV_FRAME_LOCAL_NED;
				break;

			case vehicle_odometry_s::VELOCITY_FRAME_FRD:
				msg.child_frame_id = MAV_FRAME_LOCAL_FRD;
				break;

			case vehicle_odometry_s::VELOCITY_FRAME_BODY_FRD:
				msg.child_frame_id = MAV_FRAME_BODY_FRD;
				break;
			}

			msg.x = odom.position[0];
			msg.y = odom.position[1];
			msg.z = odom.position[2];

			msg.q[0] = odom.q[0];
			msg.q[1] = odom.q[1];
			msg.q[2] = odom.q[2];
			msg.q[3] = odom.q[3];

			msg.vx = odom.velocity[0];
			msg.vy = odom.velocity[1];
			msg.vz = odom.velocity[2];

			// Current body rates
			msg.rollspeed  = odom.angular_velocity[0];
			msg.pitchspeed = odom.angular_velocity[1];
			msg.yawspeed   = odom.angular_velocity[2];

			// pose_covariance
			//  Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle
			//  (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.)
			for (auto &pc : msg.pose_covariance) {
				pc = 0.f;
			}

			msg.pose_covariance[0]  = odom.position_variance[0];  // X  row 0, col 0
			msg.pose_covariance[6]  = odom.position_variance[1];  // Y  row 1, col 1
			msg.pose_covariance[11] = odom.position_variance[2];  // Z  row 2, col 2

			msg.pose_covariance[15] = odom.orientation_variance[0];  // R  row 3, col 3
			msg.pose_covariance[18] = odom.orientation_variance[1];  // P  row 4, col 4
			msg.pose_covariance[20] = odom.orientation_variance[2];  // Y  row 5, col 5

			// velocity_covariance
			//  Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle
			//  (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.)
			for (auto &vc : msg.velocity_covariance) {
				vc = 0.f;
			}

			msg.velocity_covariance[0]  = odom.velocity_variance[0];   // X  row 0, col 0
			msg.velocity_covariance[6]  = odom.velocity_variance[1];   // Y  row 1, col 1
			msg.velocity_covariance[11] = odom.velocity_variance[2];   // Z  row 2, col 2

			msg.reset_counter = odom.reset_counter;

			// source: PX4 estimator
			msg.estimator_type = MAV_ESTIMATOR_TYPE_AUTOPILOT;

			msg.quality = odom.quality;

			mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg);

			return true;
		}

		return false;
	}
};

#endif // ODOMETRY_HPP