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author | Anton Babushkin <anton.babushkin@me.com> | 2014-09-28 13:41:21 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-09-28 13:41:21 +0400 |
commit | 1cc5f3778dd6c18f3a14c64959d28f978b0305ef (patch) | |
tree | f2b8138e6f85b5f760fa22bbe3aecbce61539277 /src/modules/uavcan/sensors/gnss.hpp | |
parent | cf4604f5c3614bc5cd1b82dfee693cbac36181ab (diff) | |
parent | 8a18cfa3869555389e7e9ff8f104d83f9c54cb43 (diff) | |
download | px4-firmware-1cc5f3778dd6c18f3a14c64959d28f978b0305ef.tar.gz px4-firmware-1cc5f3778dd6c18f3a14c64959d28f978b0305ef.tar.bz2 px4-firmware-1cc5f3778dd6c18f3a14c64959d28f978b0305ef.zip |
Merge branch 'master' into takeoff_fix
Diffstat (limited to 'src/modules/uavcan/sensors/gnss.hpp')
-rw-r--r-- | src/modules/uavcan/sensors/gnss.hpp | 87 |
1 files changed, 87 insertions, 0 deletions
diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp new file mode 100644 index 000000000..e8466b401 --- /dev/null +++ b/src/modules/uavcan/sensors/gnss.hpp @@ -0,0 +1,87 @@ +/**************************************************************************** + * + * Copyright (C) 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 gnss.hpp + * + * UAVCAN --> ORB bridge for GNSS messages: + * uavcan.equipment.gnss.Fix + * + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + * @author Andrew Chambers <achamber@gmail.com> + */ + +#pragma once + +#include <drivers/drv_hrt.h> + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_gps_position.h> + +#include <uavcan/uavcan.hpp> +#include <uavcan/equipment/gnss/Fix.hpp> + +#include "sensor_bridge.hpp" + +class UavcanGnssBridge : public IUavcanSensorBridge +{ +public: + static const char *const NAME; + + UavcanGnssBridge(uavcan::INode& node); + + const char *get_name() const override { return NAME; } + + int init() override; + + unsigned get_num_redundant_channels() const override; + + void print_status() const override; + +private: + /** + * GNSS fix message will be reported via this callback. + */ + void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg); + + typedef uavcan::MethodBinder<UavcanGnssBridge*, + void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)> + FixCbBinder; + + uavcan::INode &_node; + uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix; + int _receiver_node_id = -1; + + orb_advert_t _report_pub; ///< uORB pub for gnss position + +}; |