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/****************************************************************************
*
* Copyright (c) 2012-2014 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_orb_listener.h
* MAVLink 1.0 uORB listener definition
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#pragma once
#include <systemlib/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
class Mavlink;
class MavlinkReceiver
{
public:
/**
* Constructor
*/
MavlinkReceiver(Mavlink *parent);
/**
* Destructor, also kills the mavlinks task.
*/
~MavlinkReceiver();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
int start();
/**
* Display the mavlink status.
*/
void print_status();
static pthread_t receive_start(Mavlink *parent);
static void * start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink* _mavlink;
void handle_message(mavlink_message_t *msg);
void *receive_thread(void *arg);
mavlink_status_t status;
struct vehicle_vicon_position_s vicon_position;
struct vehicle_command_s vcmd;
struct offboard_control_setpoint_s offboard_control_sp;
struct vehicle_global_position_s hil_global_pos;
struct vehicle_local_position_s hil_local_pos;
struct vehicle_attitude_s hil_attitude;
struct vehicle_gps_position_s hil_gps;
struct sensor_combined_s hil_sensors;
struct battery_status_s hil_battery_status;
struct position_setpoint_triplet_s pos_sp_triplet;
orb_advert_t pub_hil_global_pos;
orb_advert_t pub_hil_local_pos;
orb_advert_t pub_hil_attitude;
orb_advert_t pub_hil_gps;
orb_advert_t pub_hil_sensors;
orb_advert_t pub_hil_gyro;
orb_advert_t pub_hil_accel;
orb_advert_t pub_hil_mag;
orb_advert_t pub_hil_baro;
orb_advert_t pub_hil_airspeed;
orb_advert_t pub_hil_battery;
int hil_counter;
int hil_frames;
uint64_t old_timestamp;
orb_advert_t cmd_pub;
orb_advert_t flow_pub;
orb_advert_t offboard_control_sp_pub;
orb_advert_t vicon_position_pub;
orb_advert_t telemetry_status_pub;
int32_t lat0;
int32_t lon0;
double alt0;
};
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