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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1391 lines
35 KiB
C++
1391 lines
35 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2014 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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/**
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* @file mavlink_messages.cpp
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* MAVLink 1.0 message formatters implementation.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include <stdio.h>
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#include <commander/px4_custom_mode.h>
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#include <lib/geo/geo.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/offboard_control_setpoint.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_vicon_position.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/optical_flow.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_controls_effective.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/telemetry_status.h>
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#include <uORB/topics/debug_key_value.h>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/navigation_capabilities.h>
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#include <drivers/drv_rc_input.h>
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#include <drivers/drv_pwm_output.h>
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#include <drivers/drv_range_finder.h>
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#include "mavlink_messages.h"
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static uint16_t cm_uint16_from_m_float(float m);
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static void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet,
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uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
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uint16_t
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cm_uint16_from_m_float(float m)
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{
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if (m < 0.0f) {
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return 0;
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} else if (m > 655.35f) {
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return 65535;
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}
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return (uint16_t)(m * 100.0f);
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}
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void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet,
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uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode)
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{
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*mavlink_state = 0;
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*mavlink_base_mode = 0;
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*mavlink_custom_mode = 0;
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/* HIL */
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if (status->hil_state == HIL_STATE_ON) {
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*mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
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}
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/* arming state */
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if (status->arming_state == ARMING_STATE_ARMED
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|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
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*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
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}
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/* main state */
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*mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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union px4_custom_mode custom_mode;
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custom_mode.data = 0;
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if (pos_sp_triplet->nav_state == NAV_STATE_NONE) {
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/* use main state when navigator is not active */
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if (status->main_state == MAIN_STATE_MANUAL) {
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*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
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custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
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} else if (status->main_state == MAIN_STATE_SEATBELT) {
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*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
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custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
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} else if (status->main_state == MAIN_STATE_EASY) {
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*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
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custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
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} else if (status->main_state == MAIN_STATE_AUTO) {
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*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
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custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
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custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
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}
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} else {
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/* use navigation state when navigator is active */
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*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
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custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
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if (pos_sp_triplet->nav_state == NAV_STATE_READY) {
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custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
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} else if (pos_sp_triplet->nav_state == NAV_STATE_LOITER) {
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custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
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} else if (pos_sp_triplet->nav_state == NAV_STATE_MISSION) {
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custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
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} else if (pos_sp_triplet->nav_state == NAV_STATE_RTL) {
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custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
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} else if (pos_sp_triplet->nav_state == NAV_STATE_LAND) {
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custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
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}
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}
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*mavlink_custom_mode = custom_mode.data;
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/* set system state */
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if (status->arming_state == ARMING_STATE_INIT
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|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE
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|| status->arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review
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*mavlink_state = MAV_STATE_UNINIT;
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} else if (status->arming_state == ARMING_STATE_ARMED) {
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*mavlink_state = MAV_STATE_ACTIVE;
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} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
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*mavlink_state = MAV_STATE_CRITICAL;
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} else if (status->arming_state == ARMING_STATE_STANDBY) {
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*mavlink_state = MAV_STATE_STANDBY;
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} else if (status->arming_state == ARMING_STATE_REBOOT) {
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*mavlink_state = MAV_STATE_POWEROFF;
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} else {
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*mavlink_state = MAV_STATE_CRITICAL;
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}
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}
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class MavlinkStreamHeartbeat : public MavlinkStream
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{
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public:
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const char *get_name()
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{
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return "HEARTBEAT";
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}
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MavlinkStream *new_instance()
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{
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return new MavlinkStreamHeartbeat();
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}
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private:
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MavlinkOrbSubscription *status_sub;
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struct vehicle_status_s *status;
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MavlinkOrbSubscription *pos_sp_triplet_sub;
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struct position_setpoint_triplet_s *pos_sp_triplet;
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protected:
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void subscribe(Mavlink *mavlink)
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{
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status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
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status = (struct vehicle_status_s *)status_sub->get_data();
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pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
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pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
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}
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void send(const hrt_abstime t)
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{
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(void)status_sub->update(t);
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(void)pos_sp_triplet_sub->update(t);
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uint8_t mavlink_state = 0;
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uint8_t mavlink_base_mode = 0;
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uint32_t mavlink_custom_mode = 0;
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get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
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mavlink_msg_heartbeat_send(_channel,
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mavlink_system.type,
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MAV_AUTOPILOT_PX4,
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mavlink_base_mode,
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mavlink_custom_mode,
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mavlink_state);
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}
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};
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class MavlinkStreamSysStatus : public MavlinkStream
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{
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public:
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const char *get_name()
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{
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return "SYS_STATUS";
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}
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MavlinkStream *new_instance()
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{
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return new MavlinkStreamSysStatus();
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}
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private:
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MavlinkOrbSubscription *status_sub;
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struct vehicle_status_s *status;
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protected:
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void subscribe(Mavlink *mavlink)
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{
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status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
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status = (struct vehicle_status_s *)status_sub->get_data();
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}
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void send(const hrt_abstime t)
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{
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status_sub->update(t);
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mavlink_msg_sys_status_send(_channel,
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status->onboard_control_sensors_present,
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status->onboard_control_sensors_enabled,
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status->onboard_control_sensors_health,
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status->load * 1000.0f,
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status->battery_voltage * 1000.0f,
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status->battery_current * 1000.0f,
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status->battery_remaining,
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status->drop_rate_comm,
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status->errors_comm,
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status->errors_count1,
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status->errors_count2,
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status->errors_count3,
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status->errors_count4);
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}
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};
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class MavlinkStreamHighresIMU : public MavlinkStream
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{
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public:
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MavlinkStreamHighresIMU() : MavlinkStream(), accel_timestamp(0), gyro_timestamp(0), mag_timestamp(0), baro_timestamp(0)
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{
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}
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const char *get_name()
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{
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return "HIGHRES_IMU";
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}
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MavlinkStream *new_instance()
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{
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return new MavlinkStreamHighresIMU();
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}
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private:
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MavlinkOrbSubscription *sensor_sub;
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struct sensor_combined_s *sensor;
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uint64_t accel_timestamp;
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uint64_t gyro_timestamp;
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uint64_t mag_timestamp;
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uint64_t baro_timestamp;
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protected:
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void subscribe(Mavlink *mavlink)
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{
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sensor_sub = mavlink->add_orb_subscription(ORB_ID(sensor_combined));
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sensor = (struct sensor_combined_s *)sensor_sub->get_data();
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}
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void send(const hrt_abstime t)
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{
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if (sensor_sub->update(t)) {
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uint16_t fields_updated = 0;
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if (accel_timestamp != sensor->accelerometer_timestamp) {
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/* mark first three dimensions as changed */
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fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
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accel_timestamp = sensor->accelerometer_timestamp;
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}
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if (gyro_timestamp != sensor->timestamp) {
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/* mark second group dimensions as changed */
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fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
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gyro_timestamp = sensor->timestamp;
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}
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if (mag_timestamp != sensor->magnetometer_timestamp) {
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/* mark third group dimensions as changed */
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fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
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mag_timestamp = sensor->magnetometer_timestamp;
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}
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if (baro_timestamp != sensor->baro_timestamp) {
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/* mark last group dimensions as changed */
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fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
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baro_timestamp = sensor->baro_timestamp;
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}
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mavlink_msg_highres_imu_send(_channel,
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sensor->timestamp,
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sensor->accelerometer_m_s2[0], sensor->accelerometer_m_s2[1], sensor->accelerometer_m_s2[2],
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sensor->gyro_rad_s[0], sensor->gyro_rad_s[1], sensor->gyro_rad_s[2],
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sensor->magnetometer_ga[0], sensor->magnetometer_ga[1], sensor->magnetometer_ga[2],
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sensor->baro_pres_mbar, sensor->differential_pressure_pa,
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sensor->baro_alt_meter, sensor->baro_temp_celcius,
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fields_updated);
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}
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}
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};
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class MavlinkStreamAttitude : public MavlinkStream
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{
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public:
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const char *get_name()
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{
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return "ATTITUDE";
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}
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MavlinkStream *new_instance()
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{
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return new MavlinkStreamAttitude();
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}
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private:
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MavlinkOrbSubscription *att_sub;
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struct vehicle_attitude_s *att;
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protected:
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void subscribe(Mavlink *mavlink)
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{
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att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude));
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att = (struct vehicle_attitude_s *)att_sub->get_data();
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}
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void send(const hrt_abstime t)
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{
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if (att_sub->update(t)) {
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mavlink_msg_attitude_send(_channel,
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att->timestamp / 1000,
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att->roll, att->pitch, att->yaw,
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att->rollspeed, att->pitchspeed, att->yawspeed);
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}
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}
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};
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class MavlinkStreamAttitudeQuaternion : public MavlinkStream
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{
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public:
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const char *get_name()
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{
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return "ATTITUDE_QUATERNION";
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}
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MavlinkStream *new_instance()
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{
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return new MavlinkStreamAttitudeQuaternion();
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}
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private:
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MavlinkOrbSubscription *att_sub;
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struct vehicle_attitude_s *att;
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protected:
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void subscribe(Mavlink *mavlink)
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{
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att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude));
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att = (struct vehicle_attitude_s *)att_sub->get_data();
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}
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void send(const hrt_abstime t)
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{
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if (att_sub->update(t)) {
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mavlink_msg_attitude_quaternion_send(_channel,
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att->timestamp / 1000,
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att->q[0],
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att->q[1],
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att->q[2],
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att->q[3],
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att->rollspeed,
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att->pitchspeed,
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att->yawspeed);
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}
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}
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};
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class MavlinkStreamVFRHUD : public MavlinkStream
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{
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public:
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const char *get_name()
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{
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return "VFR_HUD";
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}
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MavlinkStream *new_instance()
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{
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return new MavlinkStreamVFRHUD();
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}
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private:
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MavlinkOrbSubscription *att_sub;
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struct vehicle_attitude_s *att;
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MavlinkOrbSubscription *pos_sub;
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struct vehicle_global_position_s *pos;
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MavlinkOrbSubscription *armed_sub;
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struct actuator_armed_s *armed;
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MavlinkOrbSubscription *act_sub;
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struct actuator_controls_s *act;
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MavlinkOrbSubscription *airspeed_sub;
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struct airspeed_s *airspeed;
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protected:
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void subscribe(Mavlink *mavlink)
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{
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att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude));
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att = (struct vehicle_attitude_s *)att_sub->get_data();
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pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position));
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pos = (struct vehicle_global_position_s *)pos_sub->get_data();
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armed_sub = mavlink->add_orb_subscription(ORB_ID(actuator_armed));
|
|
armed = (struct actuator_armed_s *)armed_sub->get_data();
|
|
|
|
act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_controls_0));
|
|
act = (struct actuator_controls_s *)act_sub->get_data();
|
|
|
|
airspeed_sub = mavlink->add_orb_subscription(ORB_ID(airspeed));
|
|
airspeed = (struct airspeed_s *)airspeed_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
bool updated = att_sub->update(t);
|
|
updated |= pos_sub->update(t);
|
|
updated |= armed_sub->update(t);
|
|
updated |= act_sub->update(t);
|
|
updated |= airspeed_sub->update(t);
|
|
|
|
if (updated) {
|
|
float groundspeed = sqrtf(pos->vel_n * pos->vel_n + pos->vel_e * pos->vel_e);
|
|
uint16_t heading = _wrap_2pi(att->yaw) * M_RAD_TO_DEG_F;
|
|
float throttle = armed->armed ? act->control[3] * 100.0f : 0.0f;
|
|
|
|
mavlink_msg_vfr_hud_send(_channel,
|
|
airspeed->true_airspeed_m_s,
|
|
groundspeed,
|
|
heading,
|
|
throttle,
|
|
pos->alt,
|
|
-pos->vel_d);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamGPSRawInt : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "GPS_RAW_INT";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamGPSRawInt();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *gps_sub;
|
|
struct vehicle_gps_position_s *gps;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
gps_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position));
|
|
gps = (struct vehicle_gps_position_s *)gps_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (gps_sub->update(t)) {
|
|
mavlink_msg_gps_raw_int_send(_channel,
|
|
gps->timestamp_position,
|
|
gps->fix_type,
|
|
gps->lat,
|
|
gps->lon,
|
|
gps->alt,
|
|
cm_uint16_from_m_float(gps->eph_m),
|
|
cm_uint16_from_m_float(gps->epv_m),
|
|
gps->vel_m_s * 100.0f,
|
|
_wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f,
|
|
gps->satellites_visible);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamGlobalPositionInt : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "GLOBAL_POSITION_INT";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamGlobalPositionInt();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *pos_sub;
|
|
struct vehicle_global_position_s *pos;
|
|
|
|
MavlinkOrbSubscription *home_sub;
|
|
struct home_position_s *home;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position));
|
|
pos = (struct vehicle_global_position_s *)pos_sub->get_data();
|
|
|
|
home_sub = mavlink->add_orb_subscription(ORB_ID(home_position));
|
|
home = (struct home_position_s *)home_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
bool updated = pos_sub->update(t);
|
|
updated |= home_sub->update(t);
|
|
|
|
if (updated) {
|
|
mavlink_msg_global_position_int_send(_channel,
|
|
pos->timestamp / 1000,
|
|
pos->lat * 1e7,
|
|
pos->lon * 1e7,
|
|
pos->alt * 1000.0f,
|
|
(pos->alt - home->alt) * 1000.0f,
|
|
pos->vel_n * 100.0f,
|
|
pos->vel_e * 100.0f,
|
|
pos->vel_d * 100.0f,
|
|
_wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamLocalPositionNED : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "LOCAL_POSITION_NED";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamLocalPositionNED();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *pos_sub;
|
|
struct vehicle_local_position_s *pos;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_local_position));
|
|
pos = (struct vehicle_local_position_s *)pos_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (pos_sub->update(t)) {
|
|
mavlink_msg_local_position_ned_send(_channel,
|
|
pos->timestamp / 1000,
|
|
pos->x,
|
|
pos->y,
|
|
pos->z,
|
|
pos->vx,
|
|
pos->vy,
|
|
pos->vz);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
|
|
class MavlinkStreamViconPositionEstimate : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "VICON_POSITION_ESTIMATE";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamViconPositionEstimate();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *pos_sub;
|
|
struct vehicle_vicon_position_s *pos;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position));
|
|
pos = (struct vehicle_vicon_position_s *)pos_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (pos_sub->update(t)) {
|
|
mavlink_msg_vicon_position_estimate_send(_channel,
|
|
pos->timestamp / 1000,
|
|
pos->x,
|
|
pos->y,
|
|
pos->z,
|
|
pos->roll,
|
|
pos->pitch,
|
|
pos->yaw);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamGPSGlobalOrigin : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "GPS_GLOBAL_ORIGIN";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamGPSGlobalOrigin();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *home_sub;
|
|
struct home_position_s *home;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
home_sub = mavlink->add_orb_subscription(ORB_ID(home_position));
|
|
home = (struct home_position_s *)home_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
|
|
/* we're sending the GPS home periodically to ensure the
|
|
* the GCS does pick it up at one point */
|
|
if (home_sub->is_published()) {
|
|
home_sub->update(t);
|
|
|
|
mavlink_msg_gps_global_origin_send(_channel,
|
|
(int32_t)(home->lat * 1e7),
|
|
(int32_t)(home->lon * 1e7),
|
|
(int32_t)(home->alt) * 1000.0f);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamServoOutputRaw : public MavlinkStream
|
|
{
|
|
public:
|
|
MavlinkStreamServoOutputRaw(unsigned int n) : MavlinkStream(), _n(n)
|
|
{
|
|
sprintf(_name, "SERVO_OUTPUT_RAW_%d", _n);
|
|
}
|
|
|
|
const char *get_name()
|
|
{
|
|
return _name;
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamServoOutputRaw(_n);
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *act_sub;
|
|
struct actuator_outputs_s *act;
|
|
|
|
char _name[20];
|
|
unsigned int _n;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
orb_id_t act_topics[] = {
|
|
ORB_ID(actuator_outputs_0),
|
|
ORB_ID(actuator_outputs_1),
|
|
ORB_ID(actuator_outputs_2),
|
|
ORB_ID(actuator_outputs_3)
|
|
};
|
|
|
|
act_sub = mavlink->add_orb_subscription(act_topics[_n]);
|
|
act = (struct actuator_outputs_s *)act_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (act_sub->update(t)) {
|
|
mavlink_msg_servo_output_raw_send(_channel,
|
|
act->timestamp / 1000,
|
|
_n,
|
|
act->output[0],
|
|
act->output[1],
|
|
act->output[2],
|
|
act->output[3],
|
|
act->output[4],
|
|
act->output[5],
|
|
act->output[6],
|
|
act->output[7]);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamHILControls : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "HIL_CONTROLS";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamHILControls();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *status_sub;
|
|
struct vehicle_status_s *status;
|
|
|
|
MavlinkOrbSubscription *pos_sp_triplet_sub;
|
|
struct position_setpoint_triplet_s *pos_sp_triplet;
|
|
|
|
MavlinkOrbSubscription *act_sub;
|
|
struct actuator_outputs_s *act;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
|
|
status = (struct vehicle_status_s *)status_sub->get_data();
|
|
|
|
pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
|
|
pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
|
|
|
|
act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0));
|
|
act = (struct actuator_outputs_s *)act_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
bool updated = status_sub->update(t);
|
|
updated |= pos_sp_triplet_sub->update(t);
|
|
updated |= act_sub->update(t);
|
|
|
|
if (updated) {
|
|
/* translate the current syste state to mavlink state and mode */
|
|
uint8_t mavlink_state;
|
|
uint8_t mavlink_base_mode;
|
|
uint32_t mavlink_custom_mode;
|
|
get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
|
|
|
|
if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
|
|
mavlink_system.type == MAV_TYPE_HEXAROTOR ||
|
|
mavlink_system.type == MAV_TYPE_OCTOROTOR) {
|
|
/* set number of valid outputs depending on vehicle type */
|
|
unsigned n;
|
|
|
|
switch (mavlink_system.type) {
|
|
case MAV_TYPE_QUADROTOR:
|
|
n = 4;
|
|
break;
|
|
|
|
case MAV_TYPE_HEXAROTOR:
|
|
n = 6;
|
|
break;
|
|
|
|
default:
|
|
n = 8;
|
|
break;
|
|
}
|
|
|
|
/* scale / assign outputs depending on system type */
|
|
float out[8];
|
|
|
|
for (unsigned i = 0; i < 8; i++) {
|
|
if (i < n) {
|
|
if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
|
|
/* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */
|
|
out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
|
|
|
|
} else {
|
|
/* send 0 when disarmed */
|
|
out[i] = 0.0f;
|
|
}
|
|
|
|
} else {
|
|
out[i] = -1.0f;
|
|
}
|
|
}
|
|
|
|
mavlink_msg_hil_controls_send(_channel,
|
|
hrt_absolute_time(),
|
|
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
|
|
mavlink_base_mode,
|
|
0);
|
|
} else {
|
|
|
|
/* fixed wing: scale all channels except throttle -1 .. 1
|
|
* because we know that we set the mixers up this way
|
|
*/
|
|
|
|
float out[8];
|
|
|
|
const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
|
|
|
|
for (unsigned i = 0; i < 8; i++) {
|
|
if (i != 3) {
|
|
/* scale fake PWM out 900..2100 us to -1..+1 for normal channels */
|
|
out[i] = (act->output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
|
|
|
|
} else {
|
|
|
|
/* scale fake PWM out 900..2100 us to 0..1 for throttle */
|
|
out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
|
|
}
|
|
|
|
}
|
|
|
|
mavlink_msg_hil_controls_send(_channel,
|
|
hrt_absolute_time(),
|
|
out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
|
|
mavlink_base_mode,
|
|
0);
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamGlobalPositionSetpointInt : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "GLOBAL_POSITION_SETPOINT_INT";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamGlobalPositionSetpointInt();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *pos_sp_triplet_sub;
|
|
struct position_setpoint_triplet_s *pos_sp_triplet;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
|
|
pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (pos_sp_triplet_sub->update(t)) {
|
|
mavlink_msg_global_position_setpoint_int_send(_channel,
|
|
MAV_FRAME_GLOBAL,
|
|
(int32_t)(pos_sp_triplet->current.lat * 1e7),
|
|
(int32_t)(pos_sp_triplet->current.lon * 1e7),
|
|
(int32_t)(pos_sp_triplet->current.alt * 1000),
|
|
(int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f));
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamLocalPositionSetpoint : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "LOCAL_POSITION_SETPOINT";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamLocalPositionSetpoint();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *pos_sp_sub;
|
|
struct vehicle_local_position_setpoint_s *pos_sp;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
pos_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_local_position_setpoint));
|
|
pos_sp = (struct vehicle_local_position_setpoint_s *)pos_sp_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (pos_sp_sub->update(t)) {
|
|
mavlink_msg_local_position_setpoint_send(_channel,
|
|
MAV_FRAME_LOCAL_NED,
|
|
pos_sp->x,
|
|
pos_sp->y,
|
|
pos_sp->z,
|
|
pos_sp->yaw);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamRollPitchYawThrustSetpoint : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "ROLL_PITCH_YAW_THRUST_SETPOINT";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamRollPitchYawThrustSetpoint();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *att_sp_sub;
|
|
struct vehicle_attitude_setpoint_s *att_sp;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
att_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint));
|
|
att_sp = (struct vehicle_attitude_setpoint_s *)att_sp_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (att_sp_sub->update(t)) {
|
|
mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(_channel,
|
|
att_sp->timestamp / 1000,
|
|
att_sp->roll_body,
|
|
att_sp->pitch_body,
|
|
att_sp->yaw_body,
|
|
att_sp->thrust);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamRollPitchYawRatesThrustSetpoint : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "ROLL_PITCH_YAW_RATES_THRUST_SETPOINT";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamRollPitchYawRatesThrustSetpoint();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *att_rates_sp_sub;
|
|
struct vehicle_rates_setpoint_s *att_rates_sp;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
att_rates_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_rates_setpoint));
|
|
att_rates_sp = (struct vehicle_rates_setpoint_s *)att_rates_sp_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (att_rates_sp_sub->update(t)) {
|
|
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(_channel,
|
|
att_rates_sp->timestamp / 1000,
|
|
att_rates_sp->roll,
|
|
att_rates_sp->pitch,
|
|
att_rates_sp->yaw,
|
|
att_rates_sp->thrust);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamRCChannelsRaw : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "RC_CHANNELS_RAW";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamRCChannelsRaw();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *rc_sub;
|
|
struct rc_input_values *rc;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
rc_sub = mavlink->add_orb_subscription(ORB_ID(input_rc));
|
|
rc = (struct rc_input_values *)rc_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (rc_sub->update(t)) {
|
|
const unsigned port_width = 8;
|
|
|
|
for (unsigned i = 0; (i * port_width) < rc->channel_count; i++) {
|
|
/* Channels are sent in MAVLink main loop at a fixed interval */
|
|
mavlink_msg_rc_channels_raw_send(_channel,
|
|
rc->timestamp_publication / 1000,
|
|
i,
|
|
(rc->channel_count > (i * port_width) + 0) ? rc->values[(i * port_width) + 0] : UINT16_MAX,
|
|
(rc->channel_count > (i * port_width) + 1) ? rc->values[(i * port_width) + 1] : UINT16_MAX,
|
|
(rc->channel_count > (i * port_width) + 2) ? rc->values[(i * port_width) + 2] : UINT16_MAX,
|
|
(rc->channel_count > (i * port_width) + 3) ? rc->values[(i * port_width) + 3] : UINT16_MAX,
|
|
(rc->channel_count > (i * port_width) + 4) ? rc->values[(i * port_width) + 4] : UINT16_MAX,
|
|
(rc->channel_count > (i * port_width) + 5) ? rc->values[(i * port_width) + 5] : UINT16_MAX,
|
|
(rc->channel_count > (i * port_width) + 6) ? rc->values[(i * port_width) + 6] : UINT16_MAX,
|
|
(rc->channel_count > (i * port_width) + 7) ? rc->values[(i * port_width) + 7] : UINT16_MAX,
|
|
rc->rssi);
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamManualControl : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "MANUAL_CONTROL";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamManualControl();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *manual_sub;
|
|
struct manual_control_setpoint_s *manual;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
manual_sub = mavlink->add_orb_subscription(ORB_ID(manual_control_setpoint));
|
|
manual = (struct manual_control_setpoint_s *)manual_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (manual_sub->update(t)) {
|
|
mavlink_msg_manual_control_send(_channel,
|
|
mavlink_system.sysid,
|
|
manual->roll * 1000,
|
|
manual->pitch * 1000,
|
|
manual->yaw * 1000,
|
|
manual->throttle * 1000,
|
|
0);
|
|
}
|
|
}
|
|
};
|
|
|
|
|
|
class MavlinkStreamOpticalFlow : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "OPTICAL_FLOW";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamOpticalFlow();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *flow_sub;
|
|
struct optical_flow_s *flow;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
flow_sub = mavlink->add_orb_subscription(ORB_ID(optical_flow));
|
|
flow = (struct optical_flow_s *)flow_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (flow_sub->update(t)) {
|
|
mavlink_msg_optical_flow_send(_channel,
|
|
flow->timestamp,
|
|
flow->sensor_id,
|
|
flow->flow_raw_x, flow->flow_raw_y,
|
|
flow->flow_comp_x_m, flow->flow_comp_y_m,
|
|
flow->quality,
|
|
flow->ground_distance_m);
|
|
}
|
|
}
|
|
};
|
|
|
|
class MavlinkStreamAttitudeControls : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "ATTITUDE_CONTROLS";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamAttitudeControls();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *att_ctrl_sub;
|
|
struct actuator_controls_s *att_ctrl;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
att_ctrl_sub = mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
|
|
att_ctrl = (struct actuator_controls_s *)att_ctrl_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (att_ctrl_sub->update(t)) {
|
|
/* send, add spaces so that string buffer is at least 10 chars long */
|
|
mavlink_msg_named_value_float_send(_channel,
|
|
att_ctrl->timestamp / 1000,
|
|
"rll ctrl ",
|
|
att_ctrl->control[0]);
|
|
mavlink_msg_named_value_float_send(_channel,
|
|
att_ctrl->timestamp / 1000,
|
|
"ptch ctrl ",
|
|
att_ctrl->control[1]);
|
|
mavlink_msg_named_value_float_send(_channel,
|
|
att_ctrl->timestamp / 1000,
|
|
"yaw ctrl ",
|
|
att_ctrl->control[2]);
|
|
mavlink_msg_named_value_float_send(_channel,
|
|
att_ctrl->timestamp / 1000,
|
|
"thr ctrl ",
|
|
att_ctrl->control[3]);
|
|
}
|
|
}
|
|
};
|
|
|
|
class MavlinkStreamNamedValueFloat : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "NAMED_VALUE_FLOAT";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamNamedValueFloat();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *debug_sub;
|
|
struct debug_key_value_s *debug;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
debug_sub = mavlink->add_orb_subscription(ORB_ID(debug_key_value));
|
|
debug = (struct debug_key_value_s *)debug_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
if (debug_sub->update(t)) {
|
|
/* enforce null termination */
|
|
debug->key[sizeof(debug->key) - 1] = '\0';
|
|
|
|
mavlink_msg_named_value_float_send(_channel,
|
|
debug->timestamp_ms,
|
|
debug->key,
|
|
debug->value);
|
|
}
|
|
}
|
|
};
|
|
|
|
class MavlinkStreamCameraCapture : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "CAMERA_CAPTURE";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamCameraCapture();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *status_sub;
|
|
struct vehicle_status_s *status;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
|
|
status = (struct vehicle_status_s *)status_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
(void)status_sub->update(t);
|
|
|
|
if (status->arming_state == ARMING_STATE_ARMED
|
|
|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
|
|
|
|
/* send camera capture on */
|
|
mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
|
|
|
|
} else {
|
|
/* send camera capture off */
|
|
mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
};
|
|
|
|
class MavlinkStreamDistanceSensor : public MavlinkStream
|
|
{
|
|
public:
|
|
const char *get_name()
|
|
{
|
|
return "DISTANCE_SENSOR";
|
|
}
|
|
|
|
MavlinkStream *new_instance()
|
|
{
|
|
return new MavlinkStreamDistanceSensor();
|
|
}
|
|
|
|
private:
|
|
MavlinkOrbSubscription *range_sub;
|
|
struct range_finder_report *range;
|
|
|
|
protected:
|
|
void subscribe(Mavlink *mavlink)
|
|
{
|
|
range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder));
|
|
range = (struct range_finder_report *)range_sub->get_data();
|
|
}
|
|
|
|
void send(const hrt_abstime t)
|
|
{
|
|
(void)range_sub->update(t);
|
|
|
|
uint8_t type;
|
|
|
|
switch (range->type) {
|
|
case RANGE_FINDER_TYPE_LASER:
|
|
type = MAV_DISTANCE_SENSOR_LASER;
|
|
break;
|
|
}
|
|
|
|
uint8_t id = 0;
|
|
uint8_t orientation = 0;
|
|
uint8_t covariance = 20;
|
|
|
|
mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
|
|
range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
|
|
}
|
|
};
|
|
|
|
MavlinkStream *streams_list[] = {
|
|
new MavlinkStreamHeartbeat(),
|
|
new MavlinkStreamSysStatus(),
|
|
new MavlinkStreamHighresIMU(),
|
|
new MavlinkStreamAttitude(),
|
|
new MavlinkStreamAttitudeQuaternion(),
|
|
new MavlinkStreamVFRHUD(),
|
|
new MavlinkStreamGPSRawInt(),
|
|
new MavlinkStreamGlobalPositionInt(),
|
|
new MavlinkStreamLocalPositionNED(),
|
|
new MavlinkStreamGPSGlobalOrigin(),
|
|
new MavlinkStreamServoOutputRaw(0),
|
|
new MavlinkStreamServoOutputRaw(1),
|
|
new MavlinkStreamServoOutputRaw(2),
|
|
new MavlinkStreamServoOutputRaw(3),
|
|
new MavlinkStreamHILControls(),
|
|
new MavlinkStreamGlobalPositionSetpointInt(),
|
|
new MavlinkStreamLocalPositionSetpoint(),
|
|
new MavlinkStreamRollPitchYawThrustSetpoint(),
|
|
new MavlinkStreamRollPitchYawRatesThrustSetpoint(),
|
|
new MavlinkStreamRCChannelsRaw(),
|
|
new MavlinkStreamManualControl(),
|
|
new MavlinkStreamOpticalFlow(),
|
|
new MavlinkStreamAttitudeControls(),
|
|
new MavlinkStreamNamedValueFloat(),
|
|
new MavlinkStreamCameraCapture(),
|
|
new MavlinkStreamDistanceSensor(),
|
|
new MavlinkStreamViconPositionEstimate(),
|
|
nullptr
|
|
};
|