mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 07:40:34 +08:00
Daniel Agar
87 lines
3.4 KiB
C++
87 lines
3.4 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 MOUNT_ORIENTATION_HPP
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#define MOUNT_ORIENTATION_HPP
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#include <uORB/topics/mount_orientation.h>
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#include <uORB/topics/vehicle_local_position.h>
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class MavlinkStreamMountOrientation : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamMountOrientation(mavlink); }
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static constexpr const char *get_name_static() { return "MOUNT_ORIENTATION"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MOUNT_ORIENTATION; }
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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 _mount_orientation_sub.advertised() ? MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _mount_orientation_sub{ORB_ID(mount_orientation)};
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uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
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bool send() override
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{
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mount_orientation_s mount_orientation;
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if (_mount_orientation_sub.update(&mount_orientation)) {
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mavlink_mount_orientation_t msg{};
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msg.roll = math::degrees(mount_orientation.attitude_euler_angle[0]);
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msg.pitch = math::degrees(mount_orientation.attitude_euler_angle[1]);
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msg.yaw = math::degrees(mount_orientation.attitude_euler_angle[2]);
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vehicle_local_position_s lpos{};
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_lpos_sub.copy(&lpos);
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msg.yaw_absolute = math::degrees(matrix::wrap_2pi(lpos.heading + mount_orientation.attitude_euler_angle[2]));
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mavlink_msg_mount_orientation_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 // MOUNT_ORIENTATION
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