mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 12:37:36 +08:00
Daniel Agar
100 lines
3.7 KiB
C++
100 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021-2022 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 SCALED_PRESSURE3_HPP
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#define SCALED_PRESSURE3_HPP
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/sensor_baro.h>
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class MavlinkStreamScaledPressure3 : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure3(mavlink); }
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static constexpr const char *get_name_static() { return "SCALED_PRESSURE3"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE3; }
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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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if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) {
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return MAVLINK_MSG_ID_SCALED_PRESSURE3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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return 0;
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}
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private:
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explicit MavlinkStreamScaledPressure3(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 2};
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uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 2};
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bool send() override
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{
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if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
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mavlink_scaled_pressure3_t msg{};
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sensor_baro_s sensor_baro;
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if (_sensor_baro_sub.copy(&sensor_baro)) {
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msg.time_boot_ms = sensor_baro.timestamp / 1000;
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msg.press_abs = sensor_baro.pressure * 0.01f; // Pa to hPa
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msg.temperature = roundf(sensor_baro.temperature * 100.f); // cdegC (centidegrees)
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}
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differential_pressure_s differential_pressure;
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if (_differential_pressure_sub.copy(&differential_pressure)) {
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if (msg.time_boot_ms == 0) {
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msg.time_boot_ms = differential_pressure.timestamp / 1000;
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}
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msg.press_diff = differential_pressure.differential_pressure_pa * 0.01f; // Pa to hPa
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msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // cdegC (centidegrees)
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}
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mavlink_msg_scaled_pressure3_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 // SCALED_PRESSURE3_HPP
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