mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-08 18:40:35 +08:00
Daniel Agar
100 lines
3.9 KiB
C++
100 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef MANUAL_CONTROL_HPP
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#define MANUAL_CONTROL_HPP
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/manual_control_switches.h>
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class MavlinkStreamManualControl : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamManualControl(mavlink); }
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static constexpr const char *get_name_static() { return "MANUAL_CONTROL"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MANUAL_CONTROL; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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return _manual_control_setpoint_sub.advertised() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) :
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0;
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}
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private:
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explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
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bool send() override
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{
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manual_control_setpoint_s manual_control_setpoint;
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if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
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mavlink_manual_control_t msg{};
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msg.target = mavlink_system.sysid;
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msg.x = manual_control_setpoint.x * 1000;
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msg.y = manual_control_setpoint.y * 1000;
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msg.z = manual_control_setpoint.z * 1000;
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msg.r = manual_control_setpoint.r * 1000;
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manual_control_switches_s manual_control_switches{};
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if (_manual_control_switches_sub.copy(&manual_control_switches)) {
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unsigned shift = 2;
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msg.buttons = 0;
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msg.buttons |= (manual_control_switches.mode_switch << (shift * 0));
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msg.buttons |= (manual_control_switches.return_switch << (shift * 1));
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msg.buttons |= (manual_control_switches.posctl_switch << (shift * 2));
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msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3));
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msg.buttons |= (manual_control_switches.acro_switch << (shift * 4));
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msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5));
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msg.buttons |= (manual_control_switches.kill_switch << (shift * 6));
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}
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mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // MANUAL_CONTROL
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