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/**
* @file mavlink.cpp
* Dummy mavlink node that interfaces to a mavros node via UDP
* This simulates the onboard mavlink app to some degree. It should be possible to
* send offboard setpoints via mavros to the SITL setup the same way as on the real system
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "mavlink.h"
#include <platforms/px4_middleware.h>
using namespace px4;
Mavlink::Mavlink() :
_n(),
_v_att_sub(_n.subscribe("vehicle_attitude", 10, &Mavlink::VehicleAttitudeCallback, this))
{
_link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560");
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "mavlink");
Mavlink m;
ros::spin();
return 0;
}
void Mavlink::VehicleAttitudeCallback(const px4::vehicle_attitudeConstPtr &msg)
{
mavlink_message_t msg_m;
mavlink_msg_attitude_quaternion_pack_chan(
_link->get_system_id(),
_link->get_component_id(),
_link->get_channel(),
&msg_m, //XXX hardcoded
get_time_micros() / 1000,
msg->q[0],
msg->q[1],
msg->q[2],
msg->q[3],
msg->rollspeed,
msg->pitchspeed,
msg->yawspeed);
_link->send_message(&msg_m);
}
