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mavlink: move ESTIMATOR_STATUS to separate stream header

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This commit is contained in:
Daniel Agar
2021-02-20 12:44:32 -05:00
parent a1a557cfe3
commit 5f7d577e04
2 changed files with 101 additions and 81 deletions
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84
src/modules/mavlink/mavlink_messages.cpp
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@@ -112,6 +112,7 @@ using matrix::wrap_2pi;
#include "streams/DISTANCE_SENSOR.hpp"
#include "streams/ESC_INFO.hpp"
#include "streams/ESC_STATUS.hpp"
#include "streams/ESTIMATOR_STATUS.hpp"
#include "streams/EXTENDED_SYS_STATE.hpp"
#include "streams/FLIGHT_INFORMATION.hpp"
#include "streams/GPS_GLOBAL_ORIGIN.hpp"
@@ -2787,87 +2788,6 @@ protected:
}
};
class MavlinkStreamEstimatorStatus : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamEstimatorStatus::get_name_static();
}
static constexpr const char *get_name_static()
{
return "ESTIMATOR_STATUS";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ESTIMATOR_STATUS;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamEstimatorStatus(mavlink);
}
unsigned get_size() override
{
return _estimator_status_sub.advertised() ? MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
/* do not allow top copying this class */
MavlinkStreamEstimatorStatus(MavlinkStreamEstimatorStatus &) = delete;
MavlinkStreamEstimatorStatus &operator = (const MavlinkStreamEstimatorStatus &) = delete;
protected:
explicit MavlinkStreamEstimatorStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
// use primary estimator_status
if (_estimator_selector_status_sub.updated()) {
estimator_selector_status_s estimator_selector_status;
if (_estimator_selector_status_sub.copy(&estimator_selector_status)) {
if (estimator_selector_status.primary_instance != _estimator_status_sub.get_instance()) {
_estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance);
}
}
}
estimator_status_s est;
if (_estimator_status_sub.update(&est)) {
mavlink_estimator_status_t est_msg{};
est_msg.time_usec = est.timestamp;
est_msg.vel_ratio = est.vel_test_ratio;
est_msg.pos_horiz_ratio = est.pos_test_ratio;
est_msg.pos_vert_ratio = est.hgt_test_ratio;
est_msg.mag_ratio = est.mag_test_ratio;
est_msg.hagl_ratio = est.hagl_test_ratio;
est_msg.tas_ratio = est.tas_test_ratio;
est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy;
est_msg.pos_vert_accuracy = est.pos_vert_accuracy;
est_msg.flags = est.solution_status_flags;
mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg);
return true;
}
return false;
}
};
class MavlinkStreamCameraCapture : public MavlinkStream
{
public:
@@ -2977,7 +2897,9 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
create_stream_list_item<MavlinkStreamLocalPositionNED>(),
create_stream_list_item<MavlinkStreamOdometry>(),
#if defined(ESTIMATOR_STATUS_HPP)
create_stream_list_item<MavlinkStreamEstimatorStatus>(),
#endif // ESTIMATOR_STATUS_HPP
#if defined(VIBRATION_HPP)
create_stream_list_item<MavlinkStreamVibration>(),
#endif // VIBRATION_HPP

98
src/modules/mavlink/streams/ESTIMATOR_STATUS.hpp Normal file
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@@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef ESTIMATOR_STATUS_HPP
#define ESTIMATOR_STATUS_HPP
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_status.h>
class MavlinkStreamEstimatorStatus : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamEstimatorStatus(mavlink); }
static constexpr const char *get_name_static() { return "ESTIMATOR_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ESTIMATOR_STATUS; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _estimator_status_sub.advertised() ? MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamEstimatorStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
bool send() override
{
// use primary estimator_status
if (_estimator_selector_status_sub.updated()) {
estimator_selector_status_s estimator_selector_status;
if (_estimator_selector_status_sub.copy(&estimator_selector_status)) {
if (estimator_selector_status.primary_instance != _estimator_status_sub.get_instance()) {
_estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance);
}
}
}
estimator_status_s est;
if (_estimator_status_sub.update(&est)) {
mavlink_estimator_status_t est_msg{};
est_msg.time_usec = est.timestamp;
est_msg.vel_ratio = est.vel_test_ratio;
est_msg.pos_horiz_ratio = est.pos_test_ratio;
est_msg.pos_vert_ratio = est.hgt_test_ratio;
est_msg.mag_ratio = est.mag_test_ratio;
est_msg.hagl_ratio = est.hagl_test_ratio;
est_msg.tas_ratio = est.tas_test_ratio;
est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy;
est_msg.pos_vert_accuracy = est.pos_vert_accuracy;
est_msg.flags = est.solution_status_flags;
mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg);
return true;
}
return false;
}
};
#endif // ESTIMATOR_STATUS_HPP