diff options
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 1 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 47 | ||||
-rw-r--r-- | src/modules/mavlink/module.mk | 2 |
3 files changed, 50 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 1ed3f4001..c90b4e2de 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1942,6 +1942,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult); configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult); configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult); + configure_stream("DISTANCE_SENSOR", 0.5f); break; case MAVLINK_MODE_CAMERA: diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 47603b390..e608bf787 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -72,6 +72,7 @@ #include <uORB/topics/navigation_capabilities.h> #include <drivers/drv_rc_input.h> #include <drivers/drv_pwm_output.h> +#include <drivers/drv_range_finder.h> #include "mavlink_messages.h" @@ -1271,6 +1272,51 @@ protected: } }; +class MavlinkStreamDistanceSensor : public MavlinkStream +{ +public: + const char *get_name() + { + return "DISTANCE_SENSOR"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamDistanceSensor(); + } + +private: + MavlinkOrbSubscription *range_sub; + struct range_finder_report *range; + +protected: + void subscribe(Mavlink *mavlink) + { + range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder)); + range = (struct range_finder_report *)range_sub->get_data(); + } + + void send(const hrt_abstime t) + { + (void)range_sub->update(t); + + uint8_t type; + + switch (range->type) { + case RANGE_FINDER_TYPE_LASER: + type = MAV_DISTANCE_SENSOR_LASER; + break; + } + + uint8_t id = 0; + uint8_t orientation = 0; + uint8_t covariance = 20; + + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); + } +}; + MavlinkStream *streams_list[] = { new MavlinkStreamHeartbeat(), new MavlinkStreamSysStatus(), @@ -1297,5 +1343,6 @@ MavlinkStream *streams_list[] = { new MavlinkStreamAttitudeControls(), new MavlinkStreamNamedValueFloat(), new MavlinkStreamCameraCapture(), + new MavlinkStreamDistanceSensor(), nullptr }; diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index 515fbfadc..dcca11977 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -46,3 +46,5 @@ SRCS += mavlink_main.cpp \ mavlink_commands.cpp INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink + +MAXOPTIMIZATION = -Os |