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95 lines
3.3 KiB
C++
95 lines
3.3 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 WIND_COV_HPP
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#define WIND_COV_HPP
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/wind_estimate.h>
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class MavlinkStreamWindCov : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamWindCov(mavlink); }
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static constexpr const char *get_name_static() { return "WIND_COV"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_WIND_COV; }
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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 _wind_estimate_sub.advertised() ? MAVLINK_MSG_ID_WIND_COV_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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explicit MavlinkStreamWindCov(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _wind_estimate_sub{ORB_ID(wind_estimate)};
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uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
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bool send() override
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{
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wind_estimate_s wind_estimate;
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if (_wind_estimate_sub.update(&wind_estimate)) {
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mavlink_wind_cov_t msg{};
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msg.time_usec = wind_estimate.timestamp;
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msg.wind_x = wind_estimate.windspeed_north;
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msg.wind_y = wind_estimate.windspeed_east;
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msg.wind_z = 0.0f;
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msg.var_horiz = wind_estimate.variance_north + wind_estimate.variance_east;
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msg.var_vert = 0.0f;
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vehicle_local_position_s lpos{};
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_local_pos_sub.copy(&lpos);
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msg.wind_alt = (lpos.z_valid && lpos.z_global) ? (-lpos.z + lpos.ref_alt) : NAN;
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msg.horiz_accuracy = 0.0f;
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msg.vert_accuracy = 0.0f;
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mavlink_msg_wind_cov_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 // WIND_COV
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