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0ea8104344
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind) - rename message wind_estimate to wind - publish wind from currently used ekf instance (ekf2selector) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
136 lines
4.2 KiB
C++
136 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef ALTITUDE_HPP
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#define ALTITUDE_HPP
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/wind.h>
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class MavlinkStreamAltitude : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAltitude(mavlink); }
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static constexpr const char *get_name_static() { return "ALTITUDE"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ALTITUDE; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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return _local_pos_sub.advertised() ? MAVLINK_MSG_ID_ALTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
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}
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private:
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explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _home_sub{ORB_ID(home_position)};
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uORB::Subscription _air_data_sub{ORB_ID(vehicle_air_data)};
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bool send() override
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{
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mavlink_altitude_t msg{};
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msg.altitude_monotonic = NAN;
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msg.altitude_amsl = NAN;
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msg.altitude_local = NAN;
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msg.altitude_relative = NAN;
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msg.altitude_terrain = NAN;
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msg.bottom_clearance = NAN;
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// always update monotonic altitude
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bool air_data_updated = false;
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vehicle_air_data_s air_data{};
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_air_data_sub.copy(&air_data);
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if (air_data.timestamp > 0) {
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msg.altitude_monotonic = air_data.baro_alt_meter;
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air_data_updated = true;
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}
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bool lpos_updated = false;
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vehicle_local_position_s local_pos{};
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if (_local_pos_sub.copy(&local_pos)) {
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if (local_pos.z_valid) {
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if (local_pos.z_global) {
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msg.altitude_amsl = -local_pos.z + local_pos.ref_alt;
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} else {
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msg.altitude_amsl = msg.altitude_monotonic;
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}
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msg.altitude_local = -local_pos.z;
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home_position_s home{};
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_home_sub.copy(&home);
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if (home.valid_alt) {
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msg.altitude_relative = -(local_pos.z - home.z);
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} else {
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msg.altitude_relative = -local_pos.z;
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}
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if (local_pos.dist_bottom_valid) {
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msg.altitude_terrain = -local_pos.z - local_pos.dist_bottom;
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msg.bottom_clearance = local_pos.dist_bottom;
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}
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}
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lpos_updated = true;
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}
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// local position timeout after 10 ms
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// avoid publishing only baro altitude_monotonic if possible
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bool lpos_timeout = (hrt_elapsed_time(&local_pos.timestamp) > 10_ms);
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if (lpos_updated || (air_data_updated && lpos_timeout)) {
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msg.time_usec = hrt_absolute_time();
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mavlink_msg_altitude_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // ALTITUDE_HPP
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