yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: move ESTIMATOR_STATUS to separate stream header

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

84
src/modules/mavlink/mavlink_messages.cpp
View File

@@ -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