/**************************************************************************** * * Copyright (c) 2012-2017 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. * ****************************************************************************/ /** * @file mavlink_messages.cpp * MAVLink 2.0 message formatters implementation. * * @author Lorenz Meier * @author Anton Babushkin */ #include "mavlink_main.h" #include "mavlink_messages.h" #include "mavlink_command_sender.h" #include "mavlink_simple_analyzer.h" #include "mavlink_high_latency2.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include using matrix::Vector3f; using matrix::wrap_2pi; static uint16_t cm_uint16_from_m_float(float m) { if (m < 0.0f) { return 0; } else if (m > 655.35f) { return 65535; } return (uint16_t)(m * 100.0f); } void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, uint8_t *mavlink_base_mode, union px4_custom_mode *custom_mode) { custom_mode->data = 0; *mavlink_base_mode = 0; /* HIL */ if (status->hil_state == vehicle_status_s::HIL_STATE_ON) { *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; } /* arming state */ if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } /* main state */ *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; const uint8_t auto_mode_flags = MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; switch (status->nav_state) { case vehicle_status_s::NAVIGATION_STATE_MANUAL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; case vehicle_status_s::NAVIGATION_STATE_ACRO: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; break; case vehicle_status_s::NAVIGATION_STATE_RATTITUDE: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_RATTITUDE; break; case vehicle_status_s::NAVIGATION_STATE_STAB: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED; break; case vehicle_status_s::NAVIGATION_STATE_ALTCTL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; break; case vehicle_status_s::NAVIGATION_STATE_POSCTL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; // TODO: is POSCTL GUIDED? custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; break; case vehicle_status_s::NAVIGATION_STATE_ORBIT: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: *mavlink_base_mode |= auto_mode_flags; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: *mavlink_base_mode |= auto_mode_flags; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: *mavlink_base_mode |= auto_mode_flags; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: *mavlink_base_mode |= auto_mode_flags; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND: *mavlink_base_mode |= auto_mode_flags; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: *mavlink_base_mode |= auto_mode_flags; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL: case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL: /* fallthrough */ case vehicle_status_s::NAVIGATION_STATE_DESCEND: *mavlink_base_mode |= auto_mode_flags; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; break; case vehicle_status_s::NAVIGATION_STATE_TERMINATION: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: *mavlink_base_mode |= auto_mode_flags; custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD; break; case vehicle_status_s::NAVIGATION_STATE_MAX: /* this is an unused case, ignore */ break; } } static void get_mavlink_mode_state(const struct vehicle_status_s *const status, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) { *mavlink_state = 0; *mavlink_base_mode = 0; *mavlink_custom_mode = 0; union px4_custom_mode custom_mode; get_mavlink_navigation_mode(status, mavlink_base_mode, &custom_mode); *mavlink_custom_mode = custom_mode.data; /* set system state */ if (status->arming_state == vehicle_status_s::ARMING_STATE_INIT || status->arming_state == vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE || status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { // TODO review *mavlink_state = MAV_STATE_UNINIT; } else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { *mavlink_state = MAV_STATE_ACTIVE; } else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) { *mavlink_state = MAV_STATE_STANDBY; } else if (status->arming_state == vehicle_status_s::ARMING_STATE_SHUTDOWN) { *mavlink_state = MAV_STATE_POWEROFF; } else { *mavlink_state = MAV_STATE_CRITICAL; } } class MavlinkStreamHeartbeat : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamHeartbeat::get_name_static(); } static constexpr const char *get_name_static() { return "HEARTBEAT"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HEARTBEAT; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHeartbeat(mavlink); } unsigned get_size() override { return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } bool const_rate() override { return true; } private: uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; /* do not allow top copying this class */ MavlinkStreamHeartbeat(MavlinkStreamHeartbeat &) = delete; MavlinkStreamHeartbeat &operator = (const MavlinkStreamHeartbeat &) = delete; protected: explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { // always send the heartbeat, independent of the update status of the topics vehicle_status_s status{}; _status_sub.copy(&status); uint8_t base_mode = 0; uint32_t custom_mode = 0; uint8_t system_status = 0; get_mavlink_mode_state(&status, &system_status, &base_mode, &custom_mode); mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4, base_mode, custom_mode, system_status); return true; } }; class MavlinkStreamStatustext : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamStatustext::get_name_static(); } static constexpr const char *get_name_static() { return "STATUSTEXT"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_STATUSTEXT; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamStatustext(mavlink); } unsigned get_size() override { return _mavlink->get_logbuffer()->empty() ? 0 : (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES); } private: /* do not allow top copying this class */ MavlinkStreamStatustext(MavlinkStreamStatustext &) = delete; MavlinkStreamStatustext &operator = (const MavlinkStreamStatustext &) = delete; protected: int _id{0}; explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { if (!_mavlink->get_logbuffer()->empty() && _mavlink->is_connected()) { mavlink_log_s mavlink_log{}; if (_mavlink->get_logbuffer()->get(&mavlink_log)) { mavlink_statustext_t msg{}; const char *text = mavlink_log.text; constexpr unsigned max_chunk_size = sizeof(msg.text); msg.severity = mavlink_log.severity; msg.chunk_seq = 0; msg.id = _id++; unsigned text_size; while ((text_size = strlen(text)) > 0) { unsigned chunk_size = math::min(text_size, max_chunk_size); if (chunk_size < max_chunk_size) { memcpy(&msg.text[0], &text[0], chunk_size); // pad with zeros memset(&msg.text[0] + chunk_size, 0, max_chunk_size - chunk_size); } else { memcpy(&msg.text[0], &text[0], chunk_size); } mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg); if (text_size <= max_chunk_size) { break; } else { text += max_chunk_size; } msg.chunk_seq += 1; } return true; } } return false; } }; class MavlinkStreamCommandLong : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamCommandLong::get_name_static(); } static constexpr const char *get_name_static() { return "COMMAND_LONG"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COMMAND_LONG; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCommandLong(mavlink); } unsigned get_size() override { return 0; // commands stream is not regular and not predictable } private: uORB::Subscription _cmd_sub{ORB_ID(vehicle_command)}; /* do not allow top copying this class */ MavlinkStreamCommandLong(MavlinkStreamCommandLong &) = delete; MavlinkStreamCommandLong &operator = (const MavlinkStreamCommandLong &) = delete; protected: explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { struct vehicle_command_s cmd; bool sent = false; if (_cmd_sub.update(&cmd)) { if (!cmd.from_external) { PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel()); sent = true; } else { PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component); } } MavlinkCommandSender::instance().check_timeout(_mavlink->get_channel()); return sent; } }; class MavlinkStreamSysStatus : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamSysStatus::get_name_static(); } static constexpr const char *get_name_static() { return "SYS_STATUS"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SYS_STATUS; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSysStatus(mavlink); } unsigned get_size() override { return MAVLINK_MSG_ID_SYS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; uORB::Subscription _cpuload_sub{ORB_ID(cpuload)}; uORB::Subscription _battery_status_sub[ORB_MULTI_MAX_INSTANCES] { {ORB_ID(battery_status), 0}, {ORB_ID(battery_status), 1}, {ORB_ID(battery_status), 2}, {ORB_ID(battery_status), 3} }; /* do not allow top copying this class */ MavlinkStreamSysStatus(MavlinkStreamSysStatus &) = delete; MavlinkStreamSysStatus &operator = (const MavlinkStreamSysStatus &) = delete; protected: explicit MavlinkStreamSysStatus(Mavlink *mavlink) : MavlinkStream(mavlink) { } bool send(const hrt_abstime t) override { bool updated_battery = false; for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { if (_battery_status_sub[i].updated()) { updated_battery = true; } } if (_status_sub.updated() || _cpuload_sub.updated() || updated_battery) { vehicle_status_s status{}; _status_sub.copy(&status); cpuload_s cpuload{}; _cpuload_sub.copy(&cpuload); battery_status_s battery_status[ORB_MULTI_MAX_INSTANCES] {}; for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { _battery_status_sub[i].copy(&battery_status[i]); } int lowest_battery_index = 0; for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { if (battery_status[i].connected && (battery_status[i].remaining < battery_status[lowest_battery_index].remaining)) { lowest_battery_index = i; } } mavlink_sys_status_t msg{}; msg.onboard_control_sensors_present = status.onboard_control_sensors_present; msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled; msg.onboard_control_sensors_health = status.onboard_control_sensors_health; msg.load = cpuload.load * 1000.0f; // TODO: Determine what data should be put here when there are multiple batteries. // Right now, it uses the lowest battery. This is a safety decision, because if a client is only checking // one battery using this message, it should be the lowest. // In the future, this should somehow determine the "main" battery, or use the "type" field of BATTERY_STATUS // to determine which battery is more important at a given time. const battery_status_s &lowest_battery = battery_status[lowest_battery_index]; if (lowest_battery.connected) { msg.voltage_battery = lowest_battery.voltage_filtered_v * 1000.0f; msg.current_battery = lowest_battery.current_filtered_a * 100.0f; msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f); } else { msg.voltage_battery = UINT16_MAX; msg.current_battery = -1; msg.battery_remaining = -1; } mavlink_msg_sys_status_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamBatteryStatus : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamBatteryStatus::get_name_static(); } static constexpr const char *get_name_static() { return "BATTERY_STATUS"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_STATUS; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryStatus(mavlink); } unsigned get_size() override { unsigned total_size = 0; for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { if (_battery_status_sub[i].advertised()) { total_size += MAVLINK_MSG_ID_BATTERY_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } } return total_size; } private: uORB::Subscription _battery_status_sub[ORB_MULTI_MAX_INSTANCES] { {ORB_ID(battery_status), 0}, {ORB_ID(battery_status), 1}, {ORB_ID(battery_status), 2}, {ORB_ID(battery_status), 3} }; /* do not allow top copying this class */ MavlinkStreamBatteryStatus(MavlinkStreamSysStatus &) = delete; MavlinkStreamBatteryStatus &operator = (const MavlinkStreamSysStatus &) = delete; protected: explicit MavlinkStreamBatteryStatus(Mavlink *mavlink) : MavlinkStream(mavlink) { } bool send(const hrt_abstime t) override { bool updated = false; for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { battery_status_s battery_status; if (_battery_status_sub[i].update(&battery_status)) { /* battery status message with higher resolution */ mavlink_battery_status_t bat_msg{}; // TODO: Determine how to better map between battery ID within the firmware and in MAVLink bat_msg.id = battery_status.id - 1; bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL; bat_msg.type = MAV_BATTERY_TYPE_LIPO; bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1; bat_msg.energy_consumed = -1; bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1; bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.0f) : -1; bat_msg.time_remaining = (battery_status.connected) ? battery_status.run_time_to_empty * 60 : 0; switch (battery_status.warning) { case (battery_status_s::BATTERY_WARNING_NONE): bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_OK; break; case (battery_status_s::BATTERY_WARNING_LOW): bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_LOW; break; case (battery_status_s::BATTERY_WARNING_CRITICAL): bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_CRITICAL; break; case (battery_status_s::BATTERY_WARNING_EMERGENCY): bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_EMERGENCY; break; case (battery_status_s::BATTERY_WARNING_FAILED): bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_FAILED; break; default: bat_msg.charge_state = MAV_BATTERY_CHARGE_STATE_UNDEFINED; break; } // check if temperature valid if (battery_status.connected && PX4_ISFINITE(battery_status.temperature)) { bat_msg.temperature = battery_status.temperature * 100.0f; } else { bat_msg.temperature = INT16_MAX; } static constexpr int mavlink_cells_max = (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); static constexpr int uorb_cells_max = (sizeof(battery_status.voltage_cell_v) / sizeof(battery_status.voltage_cell_v[0])); for (int cell = 0; cell < mavlink_cells_max; cell++) { if (battery_status.connected && (cell < battery_status.cell_count) && (cell < uorb_cells_max)) { bat_msg.voltages[cell] = battery_status.voltage_cell_v[cell] * 1000.0f; } else { bat_msg.voltages[cell] = UINT16_MAX; } } mavlink_msg_battery_status_send_struct(_mavlink->get_channel(), &bat_msg); updated = true; } } return updated; } }; class MavlinkStreamHighresIMU : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamHighresIMU::get_name_static(); } static constexpr const char *get_name_static() { return "HIGHRES_IMU"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIGHRES_IMU; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHighresIMU(mavlink); } unsigned get_size() override { return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: uORB::Subscription _sensor_sub{ORB_ID(sensor_combined)}; uORB::Subscription _bias_sub{ORB_ID(estimator_sensor_bias)}; uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)}; uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)}; uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; /* do not allow top copying this class */ MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &) = delete; MavlinkStreamHighresIMU &operator = (const MavlinkStreamHighresIMU &) = delete; protected: explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { sensor_combined_s sensor; if (_sensor_sub.update(&sensor)) { uint16_t fields_updated = 0; fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); // accel fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); // gyro vehicle_magnetometer_s magnetometer{}; if (_magnetometer_sub.update(&magnetometer)) { /* mark third group dimensions as changed */ fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); } else { _magnetometer_sub.copy(&magnetometer); } vehicle_air_data_s air_data{}; if (_air_data_sub.update(&air_data)) { /* mark fourth group (baro fields) dimensions as changed */ fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); } else { _air_data_sub.copy(&air_data); } differential_pressure_s differential_pressure{}; if (_differential_pressure_sub.update(&differential_pressure)) { /* mark fourth group (dpres field) dimensions as changed */ fields_updated |= (1 << 10); } else { _differential_pressure_sub.copy(&differential_pressure); } estimator_sensor_bias_s bias{}; _bias_sub.copy(&bias); mavlink_highres_imu_t msg{}; msg.time_usec = sensor.timestamp; msg.xacc = sensor.accelerometer_m_s2[0] - bias.accel_bias[0]; msg.yacc = sensor.accelerometer_m_s2[1] - bias.accel_bias[1]; msg.zacc = sensor.accelerometer_m_s2[2] - bias.accel_bias[2]; msg.xgyro = sensor.gyro_rad[0] - bias.gyro_bias[0]; msg.ygyro = sensor.gyro_rad[1] - bias.gyro_bias[1]; msg.zgyro = sensor.gyro_rad[2] - bias.gyro_bias[2]; msg.xmag = magnetometer.magnetometer_ga[0] - bias.mag_bias[0]; msg.ymag = magnetometer.magnetometer_ga[1] - bias.mag_bias[1]; msg.zmag = magnetometer.magnetometer_ga[2] - bias.mag_bias[2]; msg.abs_pressure = air_data.baro_pressure_pa; msg.diff_pressure = differential_pressure.differential_pressure_raw_pa; msg.pressure_alt = air_data.baro_alt_meter; msg.temperature = air_data.baro_temp_celcius; msg.fields_updated = fields_updated; mavlink_msg_highres_imu_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; template class MavlinkStreamScaledPressureBase : public MavlinkStream { public: const char *get_name() const override { return Derived::get_name_static(); } uint16_t get_id() override { return Derived::get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new Derived(mavlink); } private: uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)}; uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), N}; /* do not allow top copying this class */ MavlinkStreamScaledPressureBase(MavlinkStreamScaledPressureBase &) = delete; MavlinkStreamScaledPressureBase &operator = (const MavlinkStreamScaledPressureBase &) = delete; protected: explicit MavlinkStreamScaledPressureBase(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) { sensor_baro_s sensor_baro{}; differential_pressure_s differential_pressure{}; _sensor_baro_sub.copy(&sensor_baro); _differential_pressure_sub.copy(&differential_pressure); typename Derived::mav_msg_type msg{}; msg.time_boot_ms = sensor_baro.timestamp / 1000; msg.press_abs = sensor_baro.pressure; msg.press_diff = differential_pressure.differential_pressure_raw_pa; msg.temperature = sensor_baro.temperature; Derived::send(_mavlink->get_channel(), &msg); return true; } return false; } }; template class MavlinkStreamScaledPressure {}; template <> class MavlinkStreamScaledPressure<0> : public MavlinkStreamScaledPressureBase<0, MavlinkStreamScaledPressure<0> > { public: typedef MavlinkStreamScaledPressureBase<0, MavlinkStreamScaledPressure<0> > Base; typedef mavlink_scaled_pressure_t mav_msg_type; explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {} static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<0>::mav_msg_type *msg) { mavlink_msg_scaled_pressure_send_struct(channel, msg); } static const char *get_name_static() { return "SCALED_PRESSURE"; } static uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE; } unsigned get_size() override { return MAVLINK_MSG_ID_SCALED_PRESSURE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } }; template <> class MavlinkStreamScaledPressure<1> : public MavlinkStreamScaledPressureBase<1, MavlinkStreamScaledPressure<1> > { public: typedef MavlinkStreamScaledPressureBase<1, MavlinkStreamScaledPressure<1> > Base; typedef mavlink_scaled_pressure2_t mav_msg_type; explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {} static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<1>::mav_msg_type *msg) { mavlink_msg_scaled_pressure2_send_struct(channel, msg); } static const char *get_name_static() { return "SCALED_PRESSURE2"; } static uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE2; } unsigned get_size() override { return MAVLINK_MSG_ID_SCALED_PRESSURE2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } }; template <> class MavlinkStreamScaledPressure<2> : public MavlinkStreamScaledPressureBase<2, MavlinkStreamScaledPressure<2> > { public: typedef MavlinkStreamScaledPressureBase<2, MavlinkStreamScaledPressure<2> > Base; typedef mavlink_scaled_pressure3_t mav_msg_type; explicit MavlinkStreamScaledPressure(Mavlink *mavlink) : Base(mavlink) {} static void send(mavlink_channel_t channel, const MavlinkStreamScaledPressure<2>::mav_msg_type *msg) { mavlink_msg_scaled_pressure3_send_struct(channel, msg); } static const char *get_name_static() { return "SCALED_PRESSURE3"; } static uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE3; } unsigned get_size() override { return MAVLINK_MSG_ID_SCALED_PRESSURE3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } }; class MavlinkStreamScaledIMU : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamScaledIMU::get_name_static(); } static const char *get_name_static() { return "SCALED_IMU"; } static uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU(mavlink); } unsigned get_size() override { return _raw_accel_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _raw_accel_sub{ORB_ID(sensor_accel_integrated), 0}; uORB::Subscription _raw_gyro_sub{ORB_ID(sensor_gyro_integrated), 0}; uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 0}; // do not allow top copy this class MavlinkStreamScaledIMU(MavlinkStreamScaledIMU &) = delete; MavlinkStreamScaledIMU &operator = (const MavlinkStreamScaledIMU &) = delete; protected: explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { if (_raw_accel_sub.updated() || _raw_gyro_sub.updated() || _raw_mag_sub.updated()) { sensor_accel_integrated_s sensor_accel{}; _raw_accel_sub.copy(&sensor_accel); sensor_gyro_integrated_s sensor_gyro{}; _raw_gyro_sub.copy(&sensor_gyro); sensor_mag_s sensor_mag{}; _raw_mag_sub.copy(&sensor_mag); mavlink_scaled_imu_t msg{}; msg.time_boot_ms = sensor_accel.timestamp / 1000; // Accelerometer in mG const float accel_dt_inv = 1.e6f / (float)sensor_accel.dt; const Vector3f accel = Vector3f{sensor_accel.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G; // Gyroscope in mrad/s const float gyro_dt_inv = 1.e6f / (float)sensor_gyro.dt; const Vector3f gyro = Vector3f{sensor_gyro.delta_angle} * gyro_dt_inv * 1000.0f; msg.xacc = (int16_t)accel(0); msg.yacc = (int16_t)accel(1); msg.zacc = (int16_t)accel(2); msg.xgyro = gyro(0); msg.ygyro = gyro(1); msg.zgyro = gyro(2); msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss mavlink_msg_scaled_imu_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamScaledIMU2 : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamScaledIMU2::get_name_static(); } static constexpr const char *get_name_static() { return "SCALED_IMU2"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU2; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU2(mavlink); } unsigned get_size() override { return _raw_accel_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _raw_accel_sub{ORB_ID(sensor_accel_integrated), 1}; uORB::Subscription _raw_gyro_sub{ORB_ID(sensor_gyro_integrated), 1}; uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 1}; // do not allow top copy this class MavlinkStreamScaledIMU2(MavlinkStreamScaledIMU2 &) = delete; MavlinkStreamScaledIMU2 &operator = (const MavlinkStreamScaledIMU2 &) = delete; protected: explicit MavlinkStreamScaledIMU2(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { if (_raw_accel_sub.updated() || _raw_gyro_sub.updated() || _raw_mag_sub.updated()) { sensor_accel_integrated_s sensor_accel{}; _raw_accel_sub.copy(&sensor_accel); sensor_gyro_integrated_s sensor_gyro{}; _raw_gyro_sub.copy(&sensor_gyro); sensor_mag_s sensor_mag{}; _raw_mag_sub.copy(&sensor_mag); mavlink_scaled_imu2_t msg{}; msg.time_boot_ms = sensor_accel.timestamp / 1000; // Accelerometer in mG const float accel_dt_inv = 1.e6f / (float)sensor_accel.dt; const Vector3f accel = Vector3f{sensor_accel.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G; // Gyroscope in mrad/s const float gyro_dt_inv = 1.e6f / (float)sensor_gyro.dt; const Vector3f gyro = Vector3f{sensor_gyro.delta_angle} * gyro_dt_inv * 1000.0f; msg.xacc = (int16_t)accel(0); msg.yacc = (int16_t)accel(1); msg.zacc = (int16_t)accel(2); msg.xgyro = gyro(0); msg.ygyro = gyro(1); msg.zgyro = gyro(2); msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss mavlink_msg_scaled_imu2_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamScaledIMU3 : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamScaledIMU3::get_name_static(); } static constexpr const char *get_name_static() { return "SCALED_IMU3"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_IMU3; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledIMU3(mavlink); } unsigned get_size() override { return _raw_accel_sub.advertised() ? (MAVLINK_MSG_ID_SCALED_IMU3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _raw_accel_sub{ORB_ID(sensor_accel_integrated), 2}; uORB::Subscription _raw_gyro_sub{ORB_ID(sensor_gyro_integrated), 2}; uORB::Subscription _raw_mag_sub{ORB_ID(sensor_mag), 2}; // do not allow top copy this class MavlinkStreamScaledIMU3(MavlinkStreamScaledIMU3 &) = delete; MavlinkStreamScaledIMU3 &operator = (const MavlinkStreamScaledIMU3 &) = delete; protected: explicit MavlinkStreamScaledIMU3(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { if (_raw_accel_sub.updated() || _raw_gyro_sub.updated() || _raw_mag_sub.updated()) { sensor_accel_integrated_s sensor_accel{}; _raw_accel_sub.copy(&sensor_accel); sensor_gyro_integrated_s sensor_gyro{}; _raw_gyro_sub.copy(&sensor_gyro); sensor_mag_s sensor_mag{}; _raw_mag_sub.copy(&sensor_mag); mavlink_scaled_imu3_t msg{}; msg.time_boot_ms = sensor_accel.timestamp / 1000; // Accelerometer in mG const float accel_dt_inv = 1.e6f / (float)sensor_accel.dt; const Vector3f accel = Vector3f{sensor_accel.delta_velocity} * accel_dt_inv * 1000.0f / CONSTANTS_ONE_G; // Gyroscope in mrad/s const float gyro_dt_inv = 1.e6f / (float)sensor_gyro.dt; const Vector3f gyro = Vector3f{sensor_gyro.delta_angle} * gyro_dt_inv * 1000.0f; msg.xacc = (int16_t)accel(0); msg.yacc = (int16_t)accel(1); msg.zacc = (int16_t)accel(2); msg.xgyro = gyro(0); msg.ygyro = gyro(1); msg.zgyro = gyro(2); msg.xmag = sensor_mag.x * 1000.0f; // Gauss -> MilliGauss msg.ymag = sensor_mag.y * 1000.0f; // Gauss -> MilliGauss msg.zmag = sensor_mag.z * 1000.0f; // Gauss -> MilliGauss mavlink_msg_scaled_imu3_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamAttitude : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamAttitude::get_name_static(); } static constexpr const char *get_name_static() { return "ATTITUDE"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitude(mavlink); } unsigned get_size() override { return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; /* do not allow top copying this class */ MavlinkStreamAttitude(MavlinkStreamAttitude &) = delete; MavlinkStreamAttitude &operator = (const MavlinkStreamAttitude &) = delete; protected: explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_attitude_s att; if (_att_sub.update(&att)) { vehicle_angular_velocity_s angular_velocity{}; _angular_velocity_sub.copy(&angular_velocity); mavlink_attitude_t msg{}; const matrix::Eulerf euler = matrix::Quatf(att.q); msg.time_boot_ms = att.timestamp / 1000; msg.roll = euler.phi(); msg.pitch = euler.theta(); msg.yaw = euler.psi(); msg.rollspeed = angular_velocity.xyz[0]; msg.pitchspeed = angular_velocity.xyz[1]; msg.yawspeed = angular_velocity.xyz[2]; mavlink_msg_attitude_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamAttitudeQuaternion : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamAttitudeQuaternion::get_name_static(); } static constexpr const char *get_name_static() { return "ATTITUDE_QUATERNION"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE_QUATERNION; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitudeQuaternion(mavlink); } unsigned get_size() override { return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; /* do not allow top copying this class */ MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &) = delete; MavlinkStreamAttitudeQuaternion &operator = (const MavlinkStreamAttitudeQuaternion &) = delete; protected: explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_attitude_s att; if (_att_sub.update(&att)) { vehicle_angular_velocity_s angular_velocity{}; _angular_velocity_sub.copy(&angular_velocity); vehicle_status_s status{}; _status_sub.copy(&status); mavlink_attitude_quaternion_t msg{}; msg.time_boot_ms = att.timestamp / 1000; msg.q1 = att.q[0]; msg.q2 = att.q[1]; msg.q3 = att.q[2]; msg.q4 = att.q[3]; msg.rollspeed = angular_velocity.xyz[0]; msg.pitchspeed = angular_velocity.xyz[1]; msg.yawspeed = angular_velocity.xyz[2]; if (status.is_vtol && status.is_vtol_tailsitter && (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) { // This is a tailsitter VTOL flying in fixed wing mode: // indicate that reported attitude should be rotated by // 90 degrees upward pitch for user display get_rot_quaternion(ROTATION_PITCH_90).copyTo(msg.repr_offset_q); } else { // Normal case // zero rotation should be [1 0 0 0]: // `get_rot_quaternion(ROTATION_NONE).copyTo(msg.repr_offset_q);` // but to save bandwidth, we instead send [0, 0, 0, 0]. msg.repr_offset_q[0] = 0.0f; msg.repr_offset_q[1] = 0.0f; msg.repr_offset_q[2] = 0.0f; msg.repr_offset_q[3] = 0.0f; } mavlink_msg_attitude_quaternion_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamVFRHUD : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamVFRHUD::get_name_static(); } static constexpr const char *get_name_static() { return "VFR_HUD"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_VFR_HUD; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamVFRHUD(mavlink); } unsigned get_size() override { if (_lpos_sub.advertised() || _airspeed_validated_sub.advertised()) { return MAVLINK_MSG_ID_VFR_HUD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } return 0; } private: uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; uORB::Subscription _armed_sub{ORB_ID(actuator_armed)}; uORB::Subscription _act0_sub{ORB_ID(actuator_controls_0)}; uORB::Subscription _act1_sub{ORB_ID(actuator_controls_1)}; uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; /* do not allow top copying this class */ MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &) = delete; MavlinkStreamVFRHUD &operator = (const MavlinkStreamVFRHUD &) = delete; protected: explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { if (_lpos_sub.updated() || _airspeed_validated_sub.updated()) { vehicle_local_position_s lpos{}; _lpos_sub.copy(&lpos); actuator_armed_s armed{}; _armed_sub.copy(&armed); airspeed_validated_s airspeed_validated{}; _airspeed_validated_sub.copy(&airspeed_validated); mavlink_vfr_hud_t msg{}; msg.airspeed = airspeed_validated.indicated_airspeed_m_s; msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy); msg.heading = math::degrees(wrap_2pi(lpos.yaw)); if (armed.armed) { actuator_controls_s act0{}; actuator_controls_s act1{}; _act0_sub.copy(&act0); _act1_sub.copy(&act1); // VFR_HUD throttle should only be used for operator feedback. // VTOLs switch between actuator_controls_0 and actuator_controls_1. During transition there isn't a // a single throttle value, but this should still be a useful heuristic for operator awareness. // // Use ACTUATOR_CONTROL_TARGET if accurate states are needed. msg.throttle = 100 * math::max( act0.control[actuator_controls_s::INDEX_THROTTLE], act1.control[actuator_controls_s::INDEX_THROTTLE]); } else { msg.throttle = 0.0f; } if (lpos.z_valid && lpos.z_global) { /* use local position estimate */ msg.alt = -lpos.z + lpos.ref_alt; } else { vehicle_air_data_s air_data{}; _air_data_sub.copy(&air_data); /* fall back to baro altitude */ if (air_data.timestamp > 0) { msg.alt = air_data.baro_alt_meter; } } if (lpos.v_z_valid) { msg.climb = -lpos.vz; } mavlink_msg_vfr_hud_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamGPSRawInt : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamGPSRawInt::get_name_static(); } static constexpr const char *get_name_static() { return "GPS_RAW_INT"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_RAW_INT; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSRawInt(mavlink); } unsigned get_size() override { return _gps_sub.advertised() ? MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _gps_sub{ORB_ID(vehicle_gps_position)}; /* do not allow top copying this class */ MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &) = delete; MavlinkStreamGPSRawInt &operator = (const MavlinkStreamGPSRawInt &) = delete; protected: explicit MavlinkStreamGPSRawInt(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_gps_position_s gps; if (_gps_sub.update(&gps)) { mavlink_gps_raw_int_t msg{}; msg.time_usec = gps.timestamp; msg.fix_type = gps.fix_type; msg.lat = gps.lat; msg.lon = gps.lon; msg.alt = gps.alt; msg.alt_ellipsoid = gps.alt_ellipsoid; msg.eph = gps.hdop * 100; msg.epv = gps.vdop * 100; msg.h_acc = gps.eph * 1e3f; msg.v_acc = gps.epv * 1e3f; msg.vel_acc = gps.s_variance_m_s * 1e3f; msg.hdg_acc = gps.c_variance_rad * 1e5f / M_DEG_TO_RAD_F; msg.vel = cm_uint16_from_m_float(gps.vel_m_s); msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f; msg.satellites_visible = gps.satellites_used; mavlink_msg_gps_raw_int_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamGPS2Raw : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamGPS2Raw::get_name_static(); } static constexpr const char *get_name_static() { return "GPS2_RAW"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS2_RAW; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPS2Raw(mavlink); } unsigned get_size() override { return _gps2_sub.advertised() ? (MAVLINK_MSG_ID_GPS2_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _gps2_sub{ORB_ID(vehicle_gps_position), 1}; /* do not allow top copying this class */ MavlinkStreamGPS2Raw(MavlinkStreamGPS2Raw &) = delete; MavlinkStreamGPS2Raw &operator = (const MavlinkStreamGPS2Raw &) = delete; protected: explicit MavlinkStreamGPS2Raw(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_gps_position_s gps; if (_gps2_sub.update(&gps)) { mavlink_gps2_raw_t msg = {}; msg.time_usec = gps.timestamp; msg.fix_type = gps.fix_type; msg.lat = gps.lat; msg.lon = gps.lon; msg.alt = gps.alt; msg.eph = gps.eph * 1e3f; msg.epv = gps.epv * 1e3f; msg.vel = cm_uint16_from_m_float(gps.vel_m_s); msg.cog = math::degrees(wrap_2pi(gps.cog_rad)) * 1e2f; msg.satellites_visible = gps.satellites_used; //msg.dgps_numch = // Number of DGPS satellites //msg.dgps_age = // Age of DGPS info mavlink_msg_gps2_raw_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamSystemTime : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamSystemTime::get_name_static(); } static constexpr const char *get_name_static() { return "SYSTEM_TIME"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SYSTEM_TIME; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSystemTime(mavlink); } unsigned get_size() override { return MAVLINK_MSG_ID_SYSTEM_TIME_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: /* do not allow top copying this class */ MavlinkStreamSystemTime(MavlinkStreamSystemTime &) = delete; MavlinkStreamSystemTime &operator = (const MavlinkStreamSystemTime &) = delete; protected: explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { timespec tv; px4_clock_gettime(CLOCK_REALTIME, &tv); mavlink_system_time_t msg{}; msg.time_boot_ms = hrt_absolute_time() / 1000; msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; // If the time is before 2001-01-01, it's probably the default 2000 // and we don't need to bother sending it because it's definitely wrong. if (msg.time_unix_usec > 978307200000000) { mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamTimesync : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamTimesync::get_name_static(); } static constexpr const char *get_name_static() { return "TIMESYNC"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_TIMESYNC; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamTimesync(mavlink); } unsigned get_size() override { return MAVLINK_MSG_ID_TIMESYNC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: /* do not allow top copying this class */ MavlinkStreamTimesync(MavlinkStreamTimesync &) = delete; MavlinkStreamTimesync &operator = (const MavlinkStreamTimesync &) = delete; protected: explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { mavlink_timesync_t msg{}; msg.tc1 = 0; msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds mavlink_msg_timesync_send_struct(_mavlink->get_channel(), &msg); return true; } }; class MavlinkStreamADSBVehicle : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamADSBVehicle::get_name_static(); } static constexpr const char *get_name_static() { return "ADSB_VEHICLE"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ADSB_VEHICLE; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamADSBVehicle(mavlink); } bool const_rate() override { return true; } unsigned get_size() override { return _pos_sub.advertised() ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _pos_sub{ORB_ID(transponder_report)}; /* do not allow top copying this class */ MavlinkStreamADSBVehicle(MavlinkStreamADSBVehicle &) = delete; MavlinkStreamADSBVehicle &operator = (const MavlinkStreamADSBVehicle &) = delete; protected: explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { transponder_report_s pos; bool sent = false; while (_pos_sub.update(&pos)) { if (!(pos.flags & transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE)) { continue; } mavlink_adsb_vehicle_t msg{}; msg.ICAO_address = pos.icao_address; msg.lat = pos.lat * 1e7; msg.lon = pos.lon * 1e7; msg.altitude_type = pos.altitude_type; msg.altitude = pos.altitude * 1e3f; msg.heading = (pos.heading + M_PI_F) / M_PI_F * 180.0f * 100.0f; msg.hor_velocity = pos.hor_velocity * 100.0f; msg.ver_velocity = pos.ver_velocity * 100.0f; memcpy(&msg.callsign[0], &pos.callsign[0], sizeof(msg.callsign)); msg.emitter_type = pos.emitter_type; msg.tslc = pos.tslc; msg.squawk = pos.squawk; msg.flags = 0; if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS) { msg.flags |= ADSB_FLAGS_VALID_COORDS; } if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE) { msg.flags |= ADSB_FLAGS_VALID_ALTITUDE; } if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING) { msg.flags |= ADSB_FLAGS_VALID_HEADING; } if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY) { msg.flags |= ADSB_FLAGS_VALID_VELOCITY; } if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) { msg.flags |= ADSB_FLAGS_VALID_CALLSIGN; } if (pos.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK) { msg.flags |= ADSB_FLAGS_VALID_SQUAWK; } mavlink_msg_adsb_vehicle_send_struct(_mavlink->get_channel(), &msg); sent = true; } return sent; } }; class MavlinkStreamUTMGlobalPosition : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamUTMGlobalPosition::get_name_static(); } static constexpr const char *get_name_static() { return "UTM_GLOBAL_POSITION"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_UTM_GLOBAL_POSITION; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamUTMGlobalPosition(mavlink); } bool const_rate() override { return true; } unsigned get_size() override { return _global_pos_sub.advertised() ? MAVLINK_MSG_ID_UTM_GLOBAL_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; uORB::Subscription _position_setpoint_triplet_sub{ORB_ID(position_setpoint_triplet)}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)}; /* do not allow top copying this class */ MavlinkStreamUTMGlobalPosition(MavlinkStreamUTMGlobalPosition &) = delete; MavlinkStreamUTMGlobalPosition &operator = (const MavlinkStreamUTMGlobalPosition &) = delete; protected: explicit MavlinkStreamUTMGlobalPosition(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_global_position_s global_pos; if (_global_pos_sub.update(&global_pos)) { mavlink_utm_global_position_t msg{}; // Compute Unix epoch and set time field timespec tv; px4_clock_gettime(CLOCK_REALTIME, &tv); uint64_t unix_epoch = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000; // If the time is before 2001-01-01, it's probably the default 2000 if (unix_epoch > 978307200000000) { msg.time = unix_epoch; msg.flags |= UTM_DATA_AVAIL_FLAGS_TIME_VALID; } #ifndef BOARD_HAS_NO_UUID px4_guid_t px4_guid; board_get_px4_guid(px4_guid); static_assert(sizeof(px4_guid_t) == sizeof(msg.uas_id), "GUID byte length mismatch"); memcpy(&msg.uas_id, &px4_guid, sizeof(msg.uas_id)); msg.flags |= UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE; #else // TODO Fill ID with something reasonable memset(&msg.uas_id[0], 0, sizeof(msg.uas_id)); #endif /* BOARD_HAS_NO_UUID */ // Handle global position msg.lat = global_pos.lat * 1e7; msg.lon = global_pos.lon * 1e7; msg.alt = global_pos.alt_ellipsoid * 1000.0f; msg.h_acc = global_pos.eph * 1000.0f; msg.v_acc = global_pos.epv * 1000.0f; msg.flags |= UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE; msg.flags |= UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE; // Handle local position vehicle_local_position_s local_pos; if (_local_pos_sub.copy(&local_pos)) { float evh = 0.0f; float evv = 0.0f; if (local_pos.v_xy_valid) { msg.vx = local_pos.vx * 100.0f; msg.vy = local_pos.vy * 100.0f; evh = local_pos.evh; msg.flags |= UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE; } if (local_pos.v_z_valid) { msg.vz = local_pos.vz * 100.0f; evv = local_pos.evv; msg.flags |= UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE; } msg.vel_acc = sqrtf(evh * evh + evv * evv) * 100.0f; if (local_pos.dist_bottom_valid) { msg.relative_alt = local_pos.dist_bottom * 1000.0f; msg.flags |= UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE; } } vehicle_status_s vehicle_status{}; _vehicle_status_sub.copy(&vehicle_status); bool vehicle_in_auto_mode = vehicle_status.timestamp > 0 && (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL); // Handle next waypoint if it is valid position_setpoint_triplet_s position_setpoint_triplet; if (vehicle_in_auto_mode && _position_setpoint_triplet_sub.copy(&position_setpoint_triplet)) { if (position_setpoint_triplet.current.valid) { msg.next_lat = position_setpoint_triplet.current.lat * 1e7; msg.next_lon = position_setpoint_triplet.current.lon * 1e7; // HACK We assume that the offset between AMSL and WGS84 is constant between the current // vehicle position and the the target waypoint. msg.next_alt = (position_setpoint_triplet.current.alt + (global_pos.alt_ellipsoid - global_pos.alt)) * 1000.0f; msg.flags |= UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE; } } // Handle flight state vehicle_land_detected_s land_detected{}; _land_detected_sub.copy(&land_detected); if (vehicle_status.timestamp > 0 && land_detected.timestamp > 0 && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { if (land_detected.landed) { msg.flight_state |= UTM_FLIGHT_STATE_GROUND; } else { msg.flight_state |= UTM_FLIGHT_STATE_AIRBORNE; } } else { msg.flight_state |= UTM_FLIGHT_STATE_UNKNOWN; } msg.update_rate = 0; // Data driven mode mavlink_msg_utm_global_position_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamCollision : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamCollision::get_name_static(); } static constexpr const char *get_name_static() { return "COLLISION"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_COLLISION; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCollision(mavlink); } unsigned get_size() override { return _collision_sub.advertised() ? MAVLINK_MSG_ID_COLLISION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _collision_sub{ORB_ID(collision_report)}; /* do not allow top copying this class */ MavlinkStreamCollision(MavlinkStreamCollision &) = delete; MavlinkStreamCollision &operator = (const MavlinkStreamCollision &) = delete; protected: explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { collision_report_s report; bool sent = false; while (_collision_sub.update(&report)) { mavlink_collision_t msg = {}; msg.src = report.src; msg.id = report.id; msg.action = report.action; msg.threat_level = report.threat_level; msg.time_to_minimum_delta = report.time_to_minimum_delta; msg.altitude_minimum_delta = report.altitude_minimum_delta; msg.horizontal_minimum_delta = report.horizontal_minimum_delta; mavlink_msg_collision_send_struct(_mavlink->get_channel(), &msg); sent = true; } return sent; } }; class MavlinkStreamCameraTrigger : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamCameraTrigger::get_name_static(); } static constexpr const char *get_name_static() { return "CAMERA_TRIGGER"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_TRIGGER; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraTrigger(mavlink); } bool const_rate() override { return true; } unsigned get_size() override { return _trigger_sub.advertised() ? MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _trigger_sub{ORB_ID(camera_trigger)}; /* do not allow top copying this class */ MavlinkStreamCameraTrigger(MavlinkStreamCameraTrigger &) = delete; MavlinkStreamCameraTrigger &operator = (const MavlinkStreamCameraTrigger &) = delete; protected: explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { camera_trigger_s trigger; if (_trigger_sub.update(&trigger)) { mavlink_camera_trigger_t msg{}; msg.time_usec = trigger.timestamp; msg.seq = trigger.seq; /* ensure that only active trigger events are sent */ if (trigger.timestamp > 0) { mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg); vehicle_command_s vcmd{}; vcmd.timestamp = hrt_absolute_time(); vcmd.param1 = 0.0f; // all cameras vcmd.param2 = 0.0f; // duration 0 because only taking one picture vcmd.param3 = 1.0f; // only take one vcmd.param4 = NAN; vcmd.param5 = (double)NAN; vcmd.param6 = (double)NAN; vcmd.param7 = NAN; vcmd.command = MAV_CMD_IMAGE_START_CAPTURE; vcmd.target_system = mavlink_system.sysid; vcmd.target_component = MAV_COMP_ID_CAMERA; MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel()); // TODO: move this camera_trigger and publish as a vehicle_command /* send MAV_CMD_DO_DIGICAM_CONTROL*/ mavlink_command_long_t digicam_ctrl_cmd{}; digicam_ctrl_cmd.target_system = 0; // 0 for broadcast digicam_ctrl_cmd.target_component = MAV_COMP_ID_CAMERA; digicam_ctrl_cmd.command = MAV_CMD_DO_DIGICAM_CONTROL; digicam_ctrl_cmd.confirmation = 0; digicam_ctrl_cmd.param1 = NAN; digicam_ctrl_cmd.param2 = NAN; digicam_ctrl_cmd.param3 = NAN; digicam_ctrl_cmd.param4 = NAN; digicam_ctrl_cmd.param5 = 1; // take 1 picture digicam_ctrl_cmd.param6 = NAN; digicam_ctrl_cmd.param7 = NAN; mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &digicam_ctrl_cmd); return true; } } return false; } }; class MavlinkStreamCameraImageCaptured : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamCameraImageCaptured::get_name_static(); } static constexpr const char *get_name_static() { return "CAMERA_IMAGE_CAPTURED"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED; } uint16_t get_id() override { return get_id_static(); } bool const_rate() override { return true; } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraImageCaptured(mavlink); } unsigned get_size() override { return _capture_sub.advertised() ? MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _capture_sub{ORB_ID(camera_capture)}; /* do not allow top copying this class */ MavlinkStreamCameraImageCaptured(MavlinkStreamCameraImageCaptured &) = delete; MavlinkStreamCameraImageCaptured &operator = (const MavlinkStreamCameraImageCaptured &) = delete; protected: explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { camera_capture_s capture; if (_capture_sub.update(&capture)) { mavlink_camera_image_captured_t msg{}; msg.time_boot_ms = capture.timestamp / 1000; msg.time_utc = capture.timestamp_utc; msg.camera_id = 1; // FIXME : get this from uORB msg.lat = capture.lat * 1e7; msg.lon = capture.lon * 1e7; msg.alt = capture.alt * 1e3f; msg.relative_alt = capture.ground_distance * 1e3f; msg.q[0] = capture.q[0]; msg.q[1] = capture.q[1]; msg.q[2] = capture.q[2]; msg.q[3] = capture.q[3]; msg.image_index = capture.seq; msg.capture_result = capture.result; msg.file_url[0] = '\0'; mavlink_msg_camera_image_captured_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamGlobalPositionInt : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamGlobalPositionInt::get_name_static(); } static constexpr const char *get_name_static() { return "GLOBAL_POSITION_INT"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GLOBAL_POSITION_INT; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGlobalPositionInt(mavlink); } unsigned get_size() override { return _gpos_sub.advertised() ? MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)}; uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; uORB::Subscription _home_sub{ORB_ID(home_position)}; uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; /* do not allow top copying this class */ MavlinkStreamGlobalPositionInt(MavlinkStreamGlobalPositionInt &) = delete; MavlinkStreamGlobalPositionInt &operator = (const MavlinkStreamGlobalPositionInt &) = delete; protected: explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_global_position_s gpos; vehicle_local_position_s lpos; if (_gpos_sub.update(&gpos) && _lpos_sub.update(&lpos)) { mavlink_global_position_int_t msg{}; if (lpos.z_valid && lpos.z_global) { msg.alt = (-lpos.z + lpos.ref_alt) * 1000.0f; } else { // fall back to baro altitude vehicle_air_data_s air_data{}; _air_data_sub.copy(&air_data); if (air_data.timestamp > 0) { msg.alt = air_data.baro_alt_meter * 1000.0f; } } home_position_s home{}; _home_sub.copy(&home); if ((home.timestamp > 0) && home.valid_alt) { if (lpos.z_valid) { msg.relative_alt = -(lpos.z - home.z) * 1000.0f; } else { msg.relative_alt = msg.alt - (home.alt * 1000.0f); } } else { if (lpos.z_valid) { msg.relative_alt = -lpos.z * 1000.0f; } } msg.time_boot_ms = gpos.timestamp / 1000; msg.lat = gpos.lat * 1e7; msg.lon = gpos.lon * 1e7; msg.vx = lpos.vx * 100.0f; msg.vy = lpos.vy * 100.0f; msg.vz = lpos.vz * 100.0f; msg.hdg = math::degrees(wrap_2pi(lpos.yaw)) * 100.0f; mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamOdometry : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamOdometry::get_name_static(); } static constexpr const char *get_name_static() { return "ODOMETRY"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ODOMETRY; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOdometry(mavlink); } unsigned get_size() override { if (_mavlink->odometry_loopback_enabled()) { return _vodom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } else { return _odom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } } private: uORB::Subscription _odom_sub{ORB_ID(vehicle_odometry)}; uORB::Subscription _vodom_sub{ORB_ID(vehicle_visual_odometry)}; /* do not allow top copying this class */ MavlinkStreamOdometry(MavlinkStreamOdometry &) = delete; MavlinkStreamOdometry &operator = (const MavlinkStreamOdometry &) = delete; protected: explicit MavlinkStreamOdometry(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_odometry_s odom; // check if it is to send visual odometry loopback or not bool odom_updated = false; mavlink_odometry_t msg{}; if (_mavlink->odometry_loopback_enabled()) { odom_updated = _vodom_sub.update(&odom); // frame matches the external vision system msg.frame_id = MAV_FRAME_VISION_NED; } else { odom_updated = _odom_sub.update(&odom); // frame matches the PX4 local NED frame msg.frame_id = MAV_FRAME_ESTIM_NED; } if (odom_updated) { msg.time_usec = odom.timestamp_sample; msg.child_frame_id = MAV_FRAME_BODY_FRD; // Current position msg.x = odom.x; msg.y = odom.y; msg.z = odom.z; // Current orientation msg.q[0] = odom.q[0]; msg.q[1] = odom.q[1]; msg.q[2] = odom.q[2]; msg.q[3] = odom.q[3]; // Body-FRD frame to local NED frame Dcm matrix matrix::Dcmf R_body_to_local(matrix::Quatf(odom.q)); // Rotate linear and angular velocity from local NED to body-NED frame matrix::Vector3f linvel_body(R_body_to_local.transpose() * matrix::Vector3f(odom.vx, odom.vy, odom.vz)); // Current linear velocity msg.vx = linvel_body(0); msg.vy = linvel_body(1); msg.vz = linvel_body(2); // Current body rates msg.rollspeed = odom.rollspeed; msg.pitchspeed = odom.pitchspeed; msg.yawspeed = odom.yawspeed; // get the covariance matrix size // pose_covariance static constexpr size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]); static_assert(POS_URT_SIZE == (sizeof(msg.pose_covariance) / sizeof(msg.pose_covariance[0])), "Odometry Pose Covariance matrix URT array size mismatch"); // velocity_covariance static constexpr size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]); static_assert(VEL_URT_SIZE == (sizeof(msg.velocity_covariance) / sizeof(msg.velocity_covariance[0])), "Odometry Velocity Covariance matrix URT array size mismatch"); // copy pose covariances for (size_t i = 0; i < POS_URT_SIZE; i++) { msg.pose_covariance[i] = odom.pose_covariance[i]; } // copy velocity covariances //TODO: Apply rotation matrix to transform from body-fixed NED to earth-fixed NED frame for (size_t i = 0; i < VEL_URT_SIZE; i++) { msg.velocity_covariance[i] = odom.velocity_covariance[i]; } mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamLocalPositionNED : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamLocalPositionNED::get_name_static(); } static constexpr const char *get_name_static() { return "LOCAL_POSITION_NED"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_LOCAL_POSITION_NED; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamLocalPositionNED(mavlink); } unsigned get_size() override { return _lpos_sub.advertised() ? MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; /* do not allow top copying this class */ MavlinkStreamLocalPositionNED(MavlinkStreamLocalPositionNED &) = delete; MavlinkStreamLocalPositionNED &operator = (const MavlinkStreamLocalPositionNED &) = delete; protected: explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_local_position_s lpos; if (_lpos_sub.update(&lpos)) { mavlink_local_position_ned_t msg{}; msg.time_boot_ms = lpos.timestamp / 1000; msg.x = lpos.x; msg.y = lpos.y; msg.z = lpos.z; msg.vx = lpos.vx; msg.vy = lpos.vy; msg.vz = lpos.vz; mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; 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 _est_sub.advertised() ? MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _est_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(const hrt_abstime t) override { estimator_status_s est; if (_est_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 MavlinkStreamVibration : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamVibration::get_name_static(); } static constexpr const char *get_name_static() { return "VIBRATION"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_VIBRATION; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamVibration(mavlink); } unsigned get_size() override { const unsigned size = MAVLINK_MSG_ID_VIBRATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; if (_sensor_selection_sub.advertised()) { return size; } for (auto &x : _sensor_accel_status_sub) { if (x.advertised()) { return size; } } for (auto &x : _sensor_gyro_status_sub) { if (x.advertised()) { return size; } } return 0; } private: uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)}; uORB::Subscription _sensor_accel_status_sub[3] { {ORB_ID(sensor_accel_status), 0}, {ORB_ID(sensor_accel_status), 1}, {ORB_ID(sensor_accel_status), 2}, }; uORB::Subscription _sensor_gyro_status_sub[3] { {ORB_ID(sensor_gyro_status), 0}, {ORB_ID(sensor_gyro_status), 1}, {ORB_ID(sensor_gyro_status), 2}, }; /* do not allow top copying this class */ MavlinkStreamVibration(MavlinkStreamVibration &) = delete; MavlinkStreamVibration &operator = (const MavlinkStreamVibration &) = delete; protected: explicit MavlinkStreamVibration(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { bool updated = _sensor_selection_sub.updated(); // check for sensor_accel_status update if (!updated) { for (int i = 0; i < 3; i++) { if (_sensor_accel_status_sub[i].updated() || _sensor_gyro_status_sub[i].updated()) { updated = true; break; } } } if (updated) { mavlink_vibration_t msg{}; msg.time_usec = hrt_absolute_time(); // VIBRATION usage not to mavlink spec, this is our current usage. // vibration_x : Primary gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle) // vibration_y : Primary gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle) // vibration_z : Primary accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity) sensor_selection_s sensor_selection{}; _sensor_selection_sub.copy(&sensor_selection); // primary gyro coning and high frequency vibration metrics if (sensor_selection.gyro_device_id != 0) { for (auto &x : _sensor_gyro_status_sub) { sensor_gyro_status_s status; if (x.copy(&status)) { if (status.device_id == sensor_selection.gyro_device_id) { msg.vibration_x = status.coning_vibration; msg.vibration_y = status.vibration_metric; break; } } } } // primary accel high frequency vibration metric if (sensor_selection.accel_device_id != 0) { for (auto &x : _sensor_accel_status_sub) { sensor_accel_status_s status; if (x.copy(&status)) { if (status.device_id == sensor_selection.accel_device_id) { msg.vibration_z = status.vibration_metric; break; } } } } // accel 0, 1, 2 cumulative clipping for (int i = 0; i < 3; i++) { sensor_accel_status_s acc_status; if (_sensor_accel_status_sub[i].copy(&acc_status)) { const uint32_t clipping = acc_status.clipping[0] + acc_status.clipping[1] + acc_status.clipping[2]; switch (i) { case 0: msg.clipping_0 = clipping; break; case 1: msg.clipping_1 = clipping; break; case 2: msg.clipping_2 = clipping; break; } } } mavlink_msg_vibration_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamAttPosMocap : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamAttPosMocap::get_name_static(); } static constexpr const char *get_name_static() { return "ATT_POS_MOCAP"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATT_POS_MOCAP; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttPosMocap(mavlink); } unsigned get_size() override { return _mocap_sub.advertised() ? MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _mocap_sub{ORB_ID(vehicle_mocap_odometry)}; /* do not allow top copying this class */ MavlinkStreamAttPosMocap(MavlinkStreamAttPosMocap &) = delete; MavlinkStreamAttPosMocap &operator = (const MavlinkStreamAttPosMocap &) = delete; protected: explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_odometry_s mocap; if (_mocap_sub.update(&mocap)) { mavlink_att_pos_mocap_t msg{}; msg.time_usec = mocap.timestamp_sample; msg.q[0] = mocap.q[0]; msg.q[1] = mocap.q[1]; msg.q[2] = mocap.q[2]; msg.q[3] = mocap.q[3]; msg.x = mocap.x; msg.y = mocap.y; msg.z = mocap.z; mavlink_msg_att_pos_mocap_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamHomePosition : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamHomePosition::get_name_static(); } static constexpr const char *get_name_static() { return "HOME_POSITION"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HOME_POSITION; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHomePosition(mavlink); } unsigned get_size() override { return _home_sub.advertised() ? (MAVLINK_MSG_ID_HOME_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _home_sub{ORB_ID(home_position)}; /* do not allow top copying this class */ MavlinkStreamHomePosition(MavlinkStreamHomePosition &) = delete; MavlinkStreamHomePosition &operator = (const MavlinkStreamHomePosition &) = delete; protected: explicit MavlinkStreamHomePosition(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { /* we're sending the GPS home periodically to ensure the * the GCS does pick it up at one point */ home_position_s home; if (_home_sub.advertised() && _home_sub.copy(&home)) { if (home.valid_hpos) { mavlink_home_position_t msg{}; msg.latitude = home.lat * 1e7; msg.longitude = home.lon * 1e7; msg.altitude = home.alt * 1e3f; msg.x = home.x; msg.y = home.y; msg.z = home.z; matrix::Quatf q(matrix::Eulerf(0.0f, 0.0f, home.yaw)); msg.q[0] = q(0); msg.q[1] = q(1); msg.q[2] = q(2); msg.q[3] = q(3); msg.approach_x = 0.0f; msg.approach_y = 0.0f; msg.approach_z = 0.0f; msg.time_usec = home.timestamp; mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg); return true; } } return false; } }; template class MavlinkStreamServoOutputRaw : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamServoOutputRaw::get_name_static(); } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; } uint16_t get_id() override { return get_id_static(); } static constexpr const char *get_name_static() { switch (N) { case 0: return "SERVO_OUTPUT_RAW_0"; case 1: return "SERVO_OUTPUT_RAW_1"; } } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamServoOutputRaw(mavlink); } unsigned get_size() override { return _act_sub.advertised() ? MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _act_sub{ORB_ID(actuator_outputs), N}; /* do not allow top copying this class */ MavlinkStreamServoOutputRaw(MavlinkStreamServoOutputRaw &) = delete; MavlinkStreamServoOutputRaw &operator = (const MavlinkStreamServoOutputRaw &) = delete; protected: explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { actuator_outputs_s act; if (_act_sub.update(&act)) { mavlink_servo_output_raw_t msg{}; static_assert(sizeof(act.output) / sizeof(act.output[0]) >= 16, "mavlink message requires at least 16 outputs"); msg.time_usec = act.timestamp; msg.port = N; msg.servo1_raw = act.output[0]; msg.servo2_raw = act.output[1]; msg.servo3_raw = act.output[2]; msg.servo4_raw = act.output[3]; msg.servo5_raw = act.output[4]; msg.servo6_raw = act.output[5]; msg.servo7_raw = act.output[6]; msg.servo8_raw = act.output[7]; msg.servo9_raw = act.output[8]; msg.servo10_raw = act.output[9]; msg.servo11_raw = act.output[10]; msg.servo12_raw = act.output[11]; msg.servo13_raw = act.output[12]; msg.servo14_raw = act.output[13]; msg.servo15_raw = act.output[14]; msg.servo16_raw = act.output[15]; mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; template class MavlinkStreamActuatorControlTarget : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamActuatorControlTarget::get_name_static(); } static constexpr const char *get_name_static() { switch (N) { case 0: return "ACTUATOR_CONTROL_TARGET0"; case 1: return "ACTUATOR_CONTROL_TARGET1"; case 2: return "ACTUATOR_CONTROL_TARGET2"; case 3: return "ACTUATOR_CONTROL_TARGET3"; } } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamActuatorControlTarget(mavlink); } unsigned get_size() override { return (_act_ctrl_sub && _act_ctrl_sub->advertised()) ? (MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription *_act_ctrl_sub{nullptr}; /* do not allow top copying this class */ MavlinkStreamActuatorControlTarget(MavlinkStreamActuatorControlTarget &) = delete; MavlinkStreamActuatorControlTarget &operator = (const MavlinkStreamActuatorControlTarget &) = delete; protected: explicit MavlinkStreamActuatorControlTarget(Mavlink *mavlink) : MavlinkStream(mavlink) { // XXX this can be removed once the multiplatform system remaps topics switch (N) { case 0: _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_0)}; break; case 1: _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_1)}; break; case 2: _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_2)}; break; case 3: _act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_3)}; break; } } ~MavlinkStreamActuatorControlTarget() override { delete _act_ctrl_sub; } bool send(const hrt_abstime t) override { actuator_controls_s act_ctrl; if (_act_ctrl_sub && _act_ctrl_sub->update(&act_ctrl)) { mavlink_actuator_control_target_t msg{}; msg.time_usec = act_ctrl.timestamp; msg.group_mlx = N; for (unsigned i = 0; i < sizeof(msg.controls) / sizeof(msg.controls[0]); i++) { msg.controls[i] = act_ctrl.control[i]; } mavlink_msg_actuator_control_target_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamHILActuatorControls : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamHILActuatorControls::get_name_static(); } static constexpr const char *get_name_static() { return "HIL_ACTUATOR_CONTROLS"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHILActuatorControls(mavlink); } unsigned get_size() override { return _act_sub.advertised() ? MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; uORB::Subscription _act_sub{ORB_ID(actuator_outputs)}; /* do not allow top copying this class */ MavlinkStreamHILActuatorControls(MavlinkStreamHILActuatorControls &) = delete; MavlinkStreamHILActuatorControls &operator = (const MavlinkStreamHILActuatorControls &) = delete; protected: explicit MavlinkStreamHILActuatorControls(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { actuator_outputs_s act; if (_act_sub.update(&act)) { vehicle_status_s status{}; _status_sub.copy(&status); if ((status.timestamp > 0) && (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED)) { /* translate the current system state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; uint32_t mavlink_custom_mode; mavlink_hil_actuator_controls_t msg = {}; get_mavlink_mode_state(&status, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); const float pwm_center = (PWM_DEFAULT_MAX + PWM_DEFAULT_MIN) / 2; unsigned system_type = _mavlink->get_system_type(); /* scale outputs depending on system type */ if (system_type == MAV_TYPE_QUADROTOR || system_type == MAV_TYPE_HEXAROTOR || system_type == MAV_TYPE_OCTOROTOR || system_type == MAV_TYPE_VTOL_DUOROTOR || system_type == MAV_TYPE_VTOL_QUADROTOR || system_type == MAV_TYPE_VTOL_RESERVED2) { /* multirotors: set number of rotor outputs depending on type */ unsigned n; switch (system_type) { case MAV_TYPE_QUADROTOR: n = 4; break; case MAV_TYPE_HEXAROTOR: n = 6; break; case MAV_TYPE_VTOL_DUOROTOR: n = 2; break; case MAV_TYPE_VTOL_QUADROTOR: n = 4; break; case MAV_TYPE_VTOL_RESERVED2: n = 8; break; default: n = 8; break; } for (unsigned i = 0; i < 16; i++) { if (act.output[i] > PWM_DEFAULT_MIN / 2) { if (i < n) { /* scale PWM out 900..2100 us to 0..1 for rotors */ msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN); } else { /* scale PWM out 900..2100 us to -1..1 for other channels */ msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); } } else { /* send 0 when disarmed and for disabled channels */ msg.controls[i] = 0.0f; } } } else { /* fixed wing: scale throttle to 0..1 and other channels to -1..1 */ for (unsigned i = 0; i < 16; i++) { if (act.output[i] > PWM_DEFAULT_MIN / 2) { if (i != 3) { /* scale PWM out 900..2100 us to -1..1 for normal channels */ msg.controls[i] = (act.output[i] - pwm_center) / ((PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) / 2); } else { /* scale PWM out 900..2100 us to 0..1 for throttle */ msg.controls[i] = (act.output[i] - PWM_DEFAULT_MIN) / (PWM_DEFAULT_MAX - PWM_DEFAULT_MIN); } } else { /* set 0 for disabled channels */ msg.controls[i] = 0.0f; } } } msg.time_usec = hrt_absolute_time(); msg.mode = mavlink_base_mode; msg.flags = 0; mavlink_msg_hil_actuator_controls_send_struct(_mavlink->get_channel(), &msg); return true; } } return false; } }; class MavlinkStreamPositionTargetGlobalInt : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamPositionTargetGlobalInt::get_name_static(); } static constexpr const char *get_name_static() { return "POSITION_TARGET_GLOBAL_INT"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamPositionTargetGlobalInt(mavlink); } unsigned get_size() override { return _pos_sp_triplet_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; uORB::Subscription _lpos_sp_sub{ORB_ID(vehicle_local_position_setpoint)}; uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; /* do not allow top copying this class */ MavlinkStreamPositionTargetGlobalInt(MavlinkStreamPositionTargetGlobalInt &) = delete; MavlinkStreamPositionTargetGlobalInt &operator = (const MavlinkStreamPositionTargetGlobalInt &) = delete; protected: explicit MavlinkStreamPositionTargetGlobalInt(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_control_mode_s control_mode{}; _control_mode_sub.copy(&control_mode); if (control_mode.flag_control_position_enabled) { position_setpoint_triplet_s pos_sp_triplet{}; _pos_sp_triplet_sub.copy(&pos_sp_triplet); if (pos_sp_triplet.timestamp > 0 && pos_sp_triplet.current.valid && PX4_ISFINITE(pos_sp_triplet.current.lat) && PX4_ISFINITE(pos_sp_triplet.current.lon)) { mavlink_position_target_global_int_t msg{}; msg.time_boot_ms = hrt_absolute_time() / 1000; msg.coordinate_frame = MAV_FRAME_GLOBAL_INT; msg.lat_int = pos_sp_triplet.current.lat * 1e7; msg.lon_int = pos_sp_triplet.current.lon * 1e7; msg.alt = pos_sp_triplet.current.alt; vehicle_local_position_setpoint_s lpos_sp; if (_lpos_sp_sub.copy(&lpos_sp)) { // velocity msg.vx = lpos_sp.vx; msg.vy = lpos_sp.vy; msg.vz = lpos_sp.vz; // acceleration msg.afx = lpos_sp.acceleration[0]; msg.afy = lpos_sp.acceleration[1]; msg.afz = lpos_sp.acceleration[2]; // yaw msg.yaw = lpos_sp.yaw; msg.yaw_rate = lpos_sp.yawspeed; } mavlink_msg_position_target_global_int_send_struct(_mavlink->get_channel(), &msg); return true; } } return false; } }; class MavlinkStreamLocalPositionSetpoint : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamLocalPositionSetpoint::get_name_static(); } static constexpr const char *get_name_static() { return "POSITION_TARGET_LOCAL_NED"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamLocalPositionSetpoint(mavlink); } unsigned get_size() override { return _pos_sp_sub.advertised() ? MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)}; /* do not allow top copying this class */ MavlinkStreamLocalPositionSetpoint(MavlinkStreamLocalPositionSetpoint &) = delete; MavlinkStreamLocalPositionSetpoint &operator = (const MavlinkStreamLocalPositionSetpoint &) = delete; protected: explicit MavlinkStreamLocalPositionSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_local_position_setpoint_s pos_sp; if (_pos_sp_sub.update(&pos_sp)) { mavlink_position_target_local_ned_t msg{}; msg.time_boot_ms = pos_sp.timestamp / 1000; msg.coordinate_frame = MAV_FRAME_LOCAL_NED; msg.x = pos_sp.x; msg.y = pos_sp.y; msg.z = pos_sp.z; msg.yaw = pos_sp.yaw; msg.yaw_rate = pos_sp.yawspeed; msg.vx = pos_sp.vx; msg.vy = pos_sp.vy; msg.vz = pos_sp.vz; msg.afx = pos_sp.acceleration[0]; msg.afy = pos_sp.acceleration[1]; msg.afz = pos_sp.acceleration[2]; mavlink_msg_position_target_local_ned_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamAttitudeTarget : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamAttitudeTarget::get_name_static(); } static constexpr const char *get_name_static() { return "ATTITUDE_TARGET"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE_TARGET; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitudeTarget(mavlink); } unsigned get_size() override { return _att_sp_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /* do not allow top copying this class */ MavlinkStreamAttitudeTarget(MavlinkStreamAttitudeTarget &) = delete; MavlinkStreamAttitudeTarget &operator = (const MavlinkStreamAttitudeTarget &) = delete; protected: explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_attitude_setpoint_s att_sp; if (_att_sp_sub.update(&att_sp)) { mavlink_attitude_target_t msg{}; msg.time_boot_ms = att_sp.timestamp / 1000; matrix::Quatf(att_sp.q_d).copyTo(msg.q); vehicle_rates_setpoint_s att_rates_sp{}; _att_rates_sp_sub.copy(&att_rates_sp); msg.body_roll_rate = att_rates_sp.roll; msg.body_pitch_rate = att_rates_sp.pitch; msg.body_yaw_rate = att_rates_sp.yaw; msg.thrust = att_sp.thrust_body[0]; mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamRCChannels : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamRCChannels::get_name_static(); } static constexpr const char *get_name_static() { return "RC_CHANNELS"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_RC_CHANNELS; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamRCChannels(mavlink); } unsigned get_size() override { return _rc_sub.advertised() ? (MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _rc_sub{ORB_ID(input_rc)}; /* do not allow top copying this class */ MavlinkStreamRCChannels(MavlinkStreamRCChannels &) = delete; MavlinkStreamRCChannels &operator = (const MavlinkStreamRCChannels &) = delete; protected: explicit MavlinkStreamRCChannels(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { input_rc_s rc; if (_rc_sub.update(&rc)) { /* send RC channel data and RSSI */ mavlink_rc_channels_t msg{}; msg.time_boot_ms = rc.timestamp / 1000; msg.chancount = rc.channel_count; msg.chan1_raw = (rc.channel_count > 0) ? rc.values[0] : UINT16_MAX; msg.chan2_raw = (rc.channel_count > 1) ? rc.values[1] : UINT16_MAX; msg.chan3_raw = (rc.channel_count > 2) ? rc.values[2] : UINT16_MAX; msg.chan4_raw = (rc.channel_count > 3) ? rc.values[3] : UINT16_MAX; msg.chan5_raw = (rc.channel_count > 4) ? rc.values[4] : UINT16_MAX; msg.chan6_raw = (rc.channel_count > 5) ? rc.values[5] : UINT16_MAX; msg.chan7_raw = (rc.channel_count > 6) ? rc.values[6] : UINT16_MAX; msg.chan8_raw = (rc.channel_count > 7) ? rc.values[7] : UINT16_MAX; msg.chan9_raw = (rc.channel_count > 8) ? rc.values[8] : UINT16_MAX; msg.chan10_raw = (rc.channel_count > 9) ? rc.values[9] : UINT16_MAX; msg.chan11_raw = (rc.channel_count > 10) ? rc.values[10] : UINT16_MAX; msg.chan12_raw = (rc.channel_count > 11) ? rc.values[11] : UINT16_MAX; msg.chan13_raw = (rc.channel_count > 12) ? rc.values[12] : UINT16_MAX; msg.chan14_raw = (rc.channel_count > 13) ? rc.values[13] : UINT16_MAX; msg.chan15_raw = (rc.channel_count > 14) ? rc.values[14] : UINT16_MAX; msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX; msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX; msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX; msg.rssi = (rc.channel_count > 0) ? rc.rssi : 0; mavlink_msg_rc_channels_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamManualControl : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamManualControl::get_name_static(); } static constexpr const char *get_name_static() { return "MANUAL_CONTROL"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MANUAL_CONTROL; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamManualControl(mavlink); } unsigned get_size() override { return _manual_sub.advertised() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)}; /* do not allow top copying this class */ MavlinkStreamManualControl(MavlinkStreamManualControl &) = delete; MavlinkStreamManualControl &operator = (const MavlinkStreamManualControl &) = delete; protected: explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { manual_control_setpoint_s manual; if (_manual_sub.update(&manual)) { mavlink_manual_control_t msg{}; msg.target = mavlink_system.sysid; msg.x = manual.x * 1000; msg.y = manual.y * 1000; msg.z = manual.z * 1000; msg.r = manual.r * 1000; unsigned shift = 2; msg.buttons = 0; msg.buttons |= (manual.mode_switch << (shift * 0)); msg.buttons |= (manual.return_switch << (shift * 1)); msg.buttons |= (manual.posctl_switch << (shift * 2)); msg.buttons |= (manual.loiter_switch << (shift * 3)); msg.buttons |= (manual.acro_switch << (shift * 4)); msg.buttons |= (manual.offboard_switch << (shift * 5)); mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamTrajectoryRepresentationWaypoints: public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamTrajectoryRepresentationWaypoints::get_name_static(); } static constexpr const char *get_name_static() { return "TRAJECTORY_REPRESENTATION_WAYPOINTS"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamTrajectoryRepresentationWaypoints(mavlink); } unsigned get_size() override { if (_traj_wp_avoidance_sub.advertised()) { return MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } return 0; } private: uORB::Subscription _traj_wp_avoidance_sub{ORB_ID(vehicle_trajectory_waypoint_desired)}; /* do not allow top copying this class */ MavlinkStreamTrajectoryRepresentationWaypoints(MavlinkStreamTrajectoryRepresentationWaypoints &); MavlinkStreamTrajectoryRepresentationWaypoints &operator = (const MavlinkStreamTrajectoryRepresentationWaypoints &); protected: explicit MavlinkStreamTrajectoryRepresentationWaypoints(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_trajectory_waypoint_s traj_wp_avoidance_desired; if (_traj_wp_avoidance_sub.update(&traj_wp_avoidance_desired)) { mavlink_trajectory_representation_waypoints_t msg{}; msg.time_usec = traj_wp_avoidance_desired.timestamp; int number_valid_points = 0; for (int i = 0; i < vehicle_trajectory_waypoint_s::NUMBER_POINTS; ++i) { msg.pos_x[i] = traj_wp_avoidance_desired.waypoints[i].position[0]; msg.pos_y[i] = traj_wp_avoidance_desired.waypoints[i].position[1]; msg.pos_z[i] = traj_wp_avoidance_desired.waypoints[i].position[2]; msg.vel_x[i] = traj_wp_avoidance_desired.waypoints[i].velocity[0]; msg.vel_y[i] = traj_wp_avoidance_desired.waypoints[i].velocity[1]; msg.vel_z[i] = traj_wp_avoidance_desired.waypoints[i].velocity[2]; msg.acc_x[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[0]; msg.acc_y[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[1]; msg.acc_z[i] = traj_wp_avoidance_desired.waypoints[i].acceleration[2]; msg.pos_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw; msg.vel_yaw[i] = traj_wp_avoidance_desired.waypoints[i].yaw_speed; switch (traj_wp_avoidance_desired.waypoints[i].type) { case position_setpoint_s::SETPOINT_TYPE_TAKEOFF: msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF; break; case position_setpoint_s::SETPOINT_TYPE_LOITER: msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LOITER_UNLIM; break; case position_setpoint_s::SETPOINT_TYPE_LAND: msg.command[i] = vehicle_command_s::VEHICLE_CMD_NAV_LAND; break; default: msg.command[i] = UINT16_MAX; } if (traj_wp_avoidance_desired.waypoints[i].point_valid) { number_valid_points++; } } msg.valid_points = number_valid_points; mavlink_msg_trajectory_representation_waypoints_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamOpticalFlowRad : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamOpticalFlowRad::get_name_static(); } static constexpr const char *get_name_static() { return "OPTICAL_FLOW_RAD"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOpticalFlowRad(mavlink); } unsigned get_size() override { return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _flow_sub{ORB_ID(optical_flow)}; /* do not allow top copying this class */ MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete; MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete; protected: explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { optical_flow_s flow; if (_flow_sub.update(&flow)) { mavlink_optical_flow_rad_t msg{}; msg.time_usec = flow.timestamp; msg.sensor_id = flow.sensor_id; msg.integrated_x = flow.pixel_flow_x_integral; msg.integrated_y = flow.pixel_flow_y_integral; msg.integrated_xgyro = flow.gyro_x_rate_integral; msg.integrated_ygyro = flow.gyro_y_rate_integral; msg.integrated_zgyro = flow.gyro_z_rate_integral; msg.distance = flow.ground_distance_m; msg.quality = flow.quality; msg.integration_time_us = flow.integration_timespan; msg.sensor_id = flow.sensor_id; msg.time_delta_distance_us = flow.time_since_last_sonar_update; msg.temperature = flow.gyro_temperature; mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamNamedValueFloat : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamNamedValueFloat::get_name_static(); } static constexpr const char *get_name_static() { return "NAMED_VALUE_FLOAT"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNamedValueFloat(mavlink); } unsigned get_size() override { return _debug_sub.advertised() ? MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _debug_sub{ORB_ID(debug_key_value)}; /* do not allow top copying this class */ MavlinkStreamNamedValueFloat(MavlinkStreamNamedValueFloat &) = delete; MavlinkStreamNamedValueFloat &operator = (const MavlinkStreamNamedValueFloat &) = delete; protected: explicit MavlinkStreamNamedValueFloat(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { debug_key_value_s debug; if (_debug_sub.update(&debug)) { mavlink_named_value_float_t msg{}; msg.time_boot_ms = debug.timestamp / 1000ULL; memcpy(msg.name, debug.key, sizeof(msg.name)); /* enforce null termination */ msg.name[sizeof(msg.name) - 1] = '\0'; msg.value = debug.value; mavlink_msg_named_value_float_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamDebug : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamDebug::get_name_static(); } static constexpr const char *get_name_static() { return "DEBUG"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebug(mavlink); } unsigned get_size() override { return _debug_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _debug_sub{ORB_ID(debug_value)}; /* do not allow top copying this class */ MavlinkStreamDebug(MavlinkStreamDebug &) = delete; MavlinkStreamDebug &operator = (const MavlinkStreamDebug &) = delete; protected: explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { debug_value_s debug; if (_debug_sub.update(&debug)) { mavlink_debug_t msg{}; msg.time_boot_ms = debug.timestamp / 1000ULL; msg.ind = debug.ind; msg.value = debug.value; mavlink_msg_debug_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamDebugVect : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamDebugVect::get_name_static(); } static constexpr const char *get_name_static() { return "DEBUG_VECT"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG_VECT; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebugVect(mavlink); } unsigned get_size() override { return _debug_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_VECT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _debug_sub{ORB_ID(debug_vect)}; /* do not allow top copying this class */ MavlinkStreamDebugVect(MavlinkStreamDebugVect &) = delete; MavlinkStreamDebugVect &operator = (const MavlinkStreamDebugVect &) = delete; protected: explicit MavlinkStreamDebugVect(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { debug_vect_s debug; if (_debug_sub.update(&debug)) { mavlink_debug_vect_t msg{}; msg.time_usec = debug.timestamp; memcpy(msg.name, debug.name, sizeof(msg.name)); /* enforce null termination */ msg.name[sizeof(msg.name) - 1] = '\0'; msg.x = debug.x; msg.y = debug.y; msg.z = debug.z; mavlink_msg_debug_vect_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamDebugFloatArray : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamDebugFloatArray::get_name_static(); } static constexpr const char *get_name_static() { return "DEBUG_FLOAT_ARRAY"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebugFloatArray(mavlink); } unsigned get_size() override { return _debug_array_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _debug_array_sub{ORB_ID(debug_array)}; /* do not allow top copying this class */ MavlinkStreamDebugFloatArray(MavlinkStreamDebugFloatArray &); MavlinkStreamDebugFloatArray &operator = (const MavlinkStreamDebugFloatArray &); protected: explicit MavlinkStreamDebugFloatArray(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { debug_array_s debug; if (_debug_array_sub.update(&debug)) { mavlink_debug_float_array_t msg{}; msg.time_usec = debug.timestamp; msg.array_id = debug.id; memcpy(msg.name, debug.name, sizeof(msg.name)); /* enforce null termination */ msg.name[sizeof(msg.name) - 1] = '\0'; for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) { msg.data[i] = debug.data[i]; } mavlink_msg_debug_float_array_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamNavControllerOutput : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamNavControllerOutput::get_name_static(); } static constexpr const char *get_name_static() { return "NAV_CONTROLLER_OUTPUT"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNavControllerOutput(mavlink); } unsigned get_size() override { return (_pos_ctrl_status_sub.advertised()) ? MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _pos_ctrl_status_sub{ORB_ID(position_controller_status)}; uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)}; /* do not allow top copying this class */ MavlinkStreamNavControllerOutput(MavlinkStreamNavControllerOutput &) = delete; MavlinkStreamNavControllerOutput &operator = (const MavlinkStreamNavControllerOutput &) = delete; protected: explicit MavlinkStreamNavControllerOutput(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { if (_pos_ctrl_status_sub.updated()) { position_controller_status_s pos_ctrl_status{}; _pos_ctrl_status_sub.copy(&pos_ctrl_status); tecs_status_s tecs_status{}; _tecs_status_sub.copy(&tecs_status); mavlink_nav_controller_output_t msg{}; msg.nav_roll = math::degrees(pos_ctrl_status.nav_roll); msg.nav_pitch = math::degrees(pos_ctrl_status.nav_pitch); msg.nav_bearing = (int16_t)math::degrees(pos_ctrl_status.nav_bearing); msg.target_bearing = (int16_t)math::degrees(pos_ctrl_status.target_bearing); msg.wp_dist = (uint16_t)pos_ctrl_status.wp_dist; msg.xtrack_error = pos_ctrl_status.xtrack_error; msg.alt_error = tecs_status.altitude_filtered - tecs_status.altitude_sp; msg.aspd_error = tecs_status.airspeed_filtered - tecs_status.airspeed_sp; mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamCameraCapture : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamCameraCapture::get_name_static(); } static constexpr const char *get_name_static() { return "CAMERA_CAPTURE"; } static constexpr uint16_t get_id_static() { return 0; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamCameraCapture(mavlink); } unsigned get_size() override { return MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; /* do not allow top copying this class */ MavlinkStreamCameraCapture(MavlinkStreamCameraCapture &) = delete; MavlinkStreamCameraCapture &operator = (const MavlinkStreamCameraCapture &) = delete; protected: explicit MavlinkStreamCameraCapture(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { vehicle_status_s status; if (_status_sub.update(&status)) { mavlink_command_long_t msg{}; msg.target_system = 0; msg.target_component = MAV_COMP_ID_ALL; msg.command = MAV_CMD_DO_CONTROL_VIDEO; msg.confirmation = 0; msg.param1 = 0; msg.param2 = 0; msg.param3 = 0; /* set camera capture ON/OFF depending on arming state */ msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) ? 1 : 0; msg.param5 = 0; msg.param6 = 0; msg.param7 = 0; mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg); } return true; } }; class MavlinkStreamDistanceSensor : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamDistanceSensor::get_name_static(); } static constexpr const char *get_name_static() { return "DISTANCE_SENSOR"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DISTANCE_SENSOR; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDistanceSensor(mavlink); } unsigned get_size() override { return _distance_sensor_sub.advertised() ? (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _distance_sensor_sub{ORB_ID(distance_sensor)}; /* do not allow top copying this class */ MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &) = delete; MavlinkStreamDistanceSensor &operator = (const MavlinkStreamDistanceSensor &) = delete; protected: explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { distance_sensor_s dist_sensor; if (_distance_sensor_sub.update(&dist_sensor)) { mavlink_distance_sensor_t msg{}; msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */ switch (dist_sensor.type) { case MAV_DISTANCE_SENSOR_ULTRASOUND: msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND; break; case MAV_DISTANCE_SENSOR_LASER: msg.type = MAV_DISTANCE_SENSOR_LASER; break; case MAV_DISTANCE_SENSOR_INFRARED: msg.type = MAV_DISTANCE_SENSOR_INFRARED; break; default: msg.type = MAV_DISTANCE_SENSOR_LASER; break; } msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm msg.id = dist_sensor.id; msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm msg.orientation = dist_sensor.orientation; msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2 mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamExtendedSysState : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamExtendedSysState::get_name_static(); } static constexpr const char *get_name_static() { return "EXTENDED_SYS_STATE"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_EXTENDED_SYS_STATE; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamExtendedSysState(mavlink); } unsigned get_size() override { return MAVLINK_MSG_ID_EXTENDED_SYS_STATE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)}; uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; mavlink_extended_sys_state_t _msg; /* do not allow top copying this class */ MavlinkStreamExtendedSysState(MavlinkStreamExtendedSysState &) = delete; MavlinkStreamExtendedSysState &operator = (const MavlinkStreamExtendedSysState &) = delete; protected: explicit MavlinkStreamExtendedSysState(Mavlink *mavlink) : MavlinkStream(mavlink), _msg() { _msg.vtol_state = MAV_VTOL_STATE_UNDEFINED; _msg.landed_state = MAV_LANDED_STATE_ON_GROUND; } bool send(const hrt_abstime t) override { bool updated = false; vehicle_status_s status; if (_status_sub.copy(&status)) { updated = true; if (status.is_vtol) { if (!status.in_transition_mode && status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { _msg.vtol_state = MAV_VTOL_STATE_MC; } else if (!status.in_transition_mode) { _msg.vtol_state = MAV_VTOL_STATE_FW; } else if (status.in_transition_mode && status.in_transition_to_fw) { _msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_FW; } else if (status.in_transition_mode) { _msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_MC; } } } vehicle_land_detected_s land_detected; if (_landed_sub.copy(&land_detected)) { updated = true; if (land_detected.landed) { _msg.landed_state = MAV_LANDED_STATE_ON_GROUND; } else if (!land_detected.landed) { _msg.landed_state = MAV_LANDED_STATE_IN_AIR; vehicle_control_mode_s control_mode; position_setpoint_triplet_s pos_sp_triplet; if (_control_mode_sub.copy(&control_mode) && _pos_sp_triplet_sub.copy(&pos_sp_triplet)) { if (control_mode.flag_control_auto_enabled && pos_sp_triplet.current.valid) { if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { _msg.landed_state = MAV_LANDED_STATE_TAKEOFF; } else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { _msg.landed_state = MAV_LANDED_STATE_LANDING; } } } } } if (updated) { mavlink_msg_extended_sys_state_send_struct(_mavlink->get_channel(), &_msg); } return updated; } }; class MavlinkStreamAltitude : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamAltitude::get_name_static(); } static constexpr const char *get_name_static() { return "ALTITUDE"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ALTITUDE; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAltitude(mavlink); } unsigned get_size() override { return _local_pos_sub.advertised() ? MAVLINK_MSG_ID_ALTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; uORB::Subscription _home_sub{ORB_ID(home_position)}; uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)}; /* do not allow top copying this class */ MavlinkStreamAltitude(MavlinkStreamAltitude &) = delete; MavlinkStreamAltitude &operator = (const MavlinkStreamAltitude &) = delete; protected: explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { mavlink_altitude_t msg{}; msg.altitude_monotonic = NAN; msg.altitude_amsl = NAN; msg.altitude_local = NAN; msg.altitude_relative = NAN; msg.altitude_terrain = NAN; msg.bottom_clearance = NAN; // always update monotonic altitude bool air_data_updated = false; vehicle_air_data_s air_data{}; _air_data_sub.copy(&air_data); if (air_data.timestamp > 0) { msg.altitude_monotonic = air_data.baro_alt_meter; air_data_updated = true; } bool lpos_updated = false; vehicle_local_position_s local_pos; if (_local_pos_sub.copy(&local_pos)) { if (local_pos.z_valid) { if (local_pos.z_global) { msg.altitude_amsl = -local_pos.z + local_pos.ref_alt; } else { msg.altitude_amsl = msg.altitude_monotonic; } msg.altitude_local = -local_pos.z; home_position_s home{}; _home_sub.copy(&home); if (home.valid_alt) { msg.altitude_relative = -(local_pos.z - home.z); } else { msg.altitude_relative = -local_pos.z; } if (local_pos.dist_bottom_valid) { msg.altitude_terrain = -local_pos.z - local_pos.dist_bottom; msg.bottom_clearance = local_pos.dist_bottom; } } lpos_updated = true; } // local position timeout after 10 ms // avoid publishing only baro altitude_monotonic if possible bool lpos_timeout = (hrt_elapsed_time(&local_pos.timestamp) > 10_ms); if (lpos_updated || (air_data_updated && lpos_timeout)) { msg.time_usec = hrt_absolute_time(); mavlink_msg_altitude_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamWind : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamWind::get_name_static(); } static constexpr const char *get_name_static() { return "WIND_COV"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_WIND_COV; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamWind(mavlink); } unsigned get_size() override { return _wind_estimate_sub.advertised() ? MAVLINK_MSG_ID_WIND_COV_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _wind_estimate_sub{ORB_ID(wind_estimate)}; uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; /* do not allow top copying this class */ MavlinkStreamWind(MavlinkStreamWind &) = delete; MavlinkStreamWind &operator = (const MavlinkStreamWind &) = delete; protected: explicit MavlinkStreamWind(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { wind_estimate_s wind_estimate; if (_wind_estimate_sub.update(&wind_estimate)) { mavlink_wind_cov_t msg{}; msg.time_usec = wind_estimate.timestamp; msg.wind_x = wind_estimate.windspeed_north; msg.wind_y = wind_estimate.windspeed_east; msg.wind_z = 0.0f; msg.var_horiz = wind_estimate.variance_north + wind_estimate.variance_east; msg.var_vert = 0.0f; vehicle_local_position_s lpos{}; _local_pos_sub.copy(&lpos); msg.wind_alt = (lpos.z_valid && lpos.z_global) ? (-lpos.z + lpos.ref_alt) : NAN; msg.horiz_accuracy = 0.0f; msg.vert_accuracy = 0.0f; mavlink_msg_wind_cov_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamMountOrientation : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamMountOrientation::get_name_static(); } static constexpr const char *get_name_static() { return "MOUNT_ORIENTATION"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MOUNT_ORIENTATION; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamMountOrientation(mavlink); } unsigned get_size() override { return _mount_orientation_sub.advertised() ? MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _mount_orientation_sub{ORB_ID(mount_orientation)}; uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; /* do not allow top copying this class */ MavlinkStreamMountOrientation(MavlinkStreamMountOrientation &) = delete; MavlinkStreamMountOrientation &operator = (const MavlinkStreamMountOrientation &) = delete; protected: explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { mount_orientation_s mount_orientation; if (_mount_orientation_sub.update(&mount_orientation)) { mavlink_mount_orientation_t msg{}; msg.roll = math::degrees(mount_orientation.attitude_euler_angle[0]); msg.pitch = math::degrees(mount_orientation.attitude_euler_angle[1]); msg.yaw = math::degrees(mount_orientation.attitude_euler_angle[2]); vehicle_local_position_s lpos{}; _lpos_sub.copy(&lpos); msg.yaw_absolute = math::degrees(matrix::wrap_2pi(lpos.yaw + mount_orientation.attitude_euler_angle[2])); mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamGroundTruth : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamGroundTruth::get_name_static(); } static constexpr const char *get_name_static() { return "GROUND_TRUTH"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_STATE_QUATERNION; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGroundTruth(mavlink); } unsigned get_size() override { return (_att_sub.advertised() || _gpos_sub.advertised()) ? MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)}; uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)}; uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)}; uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)}; /* do not allow top copying this class */ MavlinkStreamGroundTruth(MavlinkStreamGroundTruth &) = delete; MavlinkStreamGroundTruth &operator = (const MavlinkStreamGroundTruth &) = delete; protected: explicit MavlinkStreamGroundTruth(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { if (_angular_velocity_sub.updated() || _att_sub.updated() || _gpos_sub.updated() || _lpos_sub.updated()) { vehicle_attitude_s att{}; _att_sub.copy(&att); vehicle_global_position_s gpos{}; _gpos_sub.copy(&gpos); vehicle_local_position_s lpos{}; _lpos_sub.copy(&lpos); vehicle_angular_velocity_s angular_velocity{}; _angular_velocity_sub.copy(&angular_velocity); mavlink_hil_state_quaternion_t msg{}; // vehicle_attitude -> hil_state_quaternion msg.attitude_quaternion[0] = att.q[0]; msg.attitude_quaternion[1] = att.q[1]; msg.attitude_quaternion[2] = att.q[2]; msg.attitude_quaternion[3] = att.q[3]; msg.rollspeed = angular_velocity.xyz[0]; msg.pitchspeed = angular_velocity.xyz[1]; msg.yawspeed = angular_velocity.xyz[2]; // vehicle_global_position -> hil_state_quaternion // same units as defined in mavlink/common.xml msg.lat = gpos.lat * 1e7; msg.lon = gpos.lon * 1e7; msg.alt = gpos.alt * 1e3f; msg.vx = lpos.vx * 1e2f; msg.vy = lpos.vy * 1e2f; msg.vz = lpos.vz * 1e2f; msg.ind_airspeed = 0; msg.true_airspeed = 0; msg.xacc = lpos.ax; msg.yacc = lpos.ay; msg.zacc = lpos.az; mavlink_msg_hil_state_quaternion_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; class MavlinkStreamPing : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamPing::get_name_static(); } static constexpr const char *get_name_static() { return "PING"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_PING; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamPing(mavlink); } unsigned get_size() override { return MAVLINK_MSG_ID_PING_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } bool const_rate() override { return true; } private: uint32_t _sequence; /* do not allow top copying this class */ MavlinkStreamPing(MavlinkStreamPing &) = delete; MavlinkStreamPing &operator = (const MavlinkStreamPing &) = delete; protected: explicit MavlinkStreamPing(Mavlink *mavlink) : MavlinkStream(mavlink), _sequence(0) {} bool send(const hrt_abstime t) override { mavlink_ping_t msg = {}; msg.time_usec = hrt_absolute_time(); msg.seq = _sequence++; msg.target_system = 0; // All systems msg.target_component = 0; // All components mavlink_msg_ping_send_struct(_mavlink->get_channel(), &msg); return true; } }; class MavlinkStreamOrbitStatus : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamOrbitStatus::get_name_static(); } static constexpr const char *get_name_static() { return "ORBIT_EXECUTION_STATUS"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOrbitStatus(mavlink); } unsigned get_size() override { return _orb_status_sub.advertised() ? MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: uORB::Subscription _orb_status_sub{ORB_ID(orbit_status)}; /* do not allow top copying this class */ MavlinkStreamOrbitStatus(MavlinkStreamOrbitStatus &); MavlinkStreamOrbitStatus &operator = (const MavlinkStreamOrbitStatus &); protected: explicit MavlinkStreamOrbitStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { orbit_status_s _orbit_status; if (_orb_status_sub.update(&_orbit_status)) { mavlink_orbit_execution_status_t _msg_orbit_execution_status{}; _msg_orbit_execution_status.time_usec = _orbit_status.timestamp; _msg_orbit_execution_status.radius = _orbit_status.radius; _msg_orbit_execution_status.frame = _orbit_status.frame; _msg_orbit_execution_status.x = _orbit_status.x * 1e7; _msg_orbit_execution_status.y = _orbit_status.y * 1e7; _msg_orbit_execution_status.z = _orbit_status.z; mavlink_msg_orbit_execution_status_send_struct(_mavlink->get_channel(), &_msg_orbit_execution_status); } return true; } }; class MavlinkStreamObstacleDistance : public MavlinkStream { public: const char *get_name() const override { return MavlinkStreamObstacleDistance::get_name_static(); } static constexpr const char *get_name_static() { return "OBSTACLE_DISTANCE"; } static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_OBSTACLE_DISTANCE; } uint16_t get_id() override { return get_id_static(); } static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamObstacleDistance(mavlink); } unsigned get_size() override { return _obstacle_distance_fused_sub.advertised() ? (MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: uORB::Subscription _obstacle_distance_fused_sub{ORB_ID(obstacle_distance_fused)}; /* do not allow top copying this class */ MavlinkStreamObstacleDistance(MavlinkStreamObstacleDistance &) = delete; MavlinkStreamObstacleDistance &operator = (const MavlinkStreamObstacleDistance &) = delete; protected: explicit MavlinkStreamObstacleDistance(Mavlink *mavlink) : MavlinkStream(mavlink) {} bool send(const hrt_abstime t) override { obstacle_distance_s obstacle_distance; if (_obstacle_distance_fused_sub.update(&obstacle_distance)) { mavlink_obstacle_distance_t msg{}; msg.time_usec = obstacle_distance.timestamp; msg.sensor_type = obstacle_distance.sensor_type; memcpy(msg.distances, obstacle_distance.distances, sizeof(msg.distances)); msg.increment = 0; msg.min_distance = obstacle_distance.min_distance; msg.max_distance = obstacle_distance.max_distance; msg.angle_offset = obstacle_distance.angle_offset; msg.increment_f = obstacle_distance.increment; msg.frame = obstacle_distance.frame; mavlink_msg_obstacle_distance_send_struct(_mavlink->get_channel(), &msg); return true; } return false; } }; static const StreamListItem streams_list[] = { create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item >(), // create_stream_list_item >(), // create_stream_list_item >(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item >(), create_stream_list_item >(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item >(), create_stream_list_item >(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item(), create_stream_list_item() }; const char *get_stream_name(const uint16_t msg_id) { // search for stream with specified msg id in supported streams list for (const auto &stream : streams_list) { if (msg_id == stream.get_id()) { return stream.get_name(); } } return nullptr; } MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink) { // search for stream with specified name in supported streams list if (stream_name != nullptr) { for (const auto &stream : streams_list) { if (strcmp(stream_name, stream.get_name()) == 0) { return stream.new_instance(mavlink); } } } return nullptr; }