diff options
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 5 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 246 |
2 files changed, 133 insertions, 118 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index f3246c380..e49e99a9b 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1324,7 +1324,7 @@ Mavlink::task_main(int argc, char *argv[]) switch (_mode) { case MAVLINK_MODE_NORMAL: configure_stream("SYS_STATUS", 1.0f); - /*configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); + configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); configure_stream("HIGHRES_IMU", 1.0f); configure_stream("ATTITUDE", 10.0f); configure_stream("VFR_HUD", 8.0f); @@ -1336,7 +1336,6 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f); configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); - */ break; case MAVLINK_MODE_CAMERA: @@ -1369,7 +1368,7 @@ Mavlink::task_main(int argc, char *argv[]) hrt_abstime t = hrt_absolute_time(); update_rate_mult(); - warnx("rate mult %f", (double)_rate_mult); + warnx("rate mult %.2f", (double)_rate_mult); if (param_sub->update(¶m_time, nullptr)) { /* parameters updated */ diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 20b1a966f..a77d34c71 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -454,99 +454,115 @@ protected: }; -//class MavlinkStreamHighresIMU : public MavlinkStream -//{ -//public: -// const char *get_name() const -// { -// return MavlinkStreamHighresIMU::get_name_static(); -// } -// -// static const char *get_name_static() -// { -// return "HIGHRES_IMU"; -// } -// -// uint8_t get_id() -// { -// return MAVLINK_MSG_ID_HIGHRES_IMU; -// } -// -// static MavlinkStream *new_instance() -// { -// return new MavlinkStreamHighresIMU(); -// } -// -//private: -// MavlinkOrbSubscription *sensor_sub; -// uint64_t sensor_time; -// -// uint64_t accel_timestamp; -// uint64_t gyro_timestamp; -// uint64_t mag_timestamp; -// uint64_t baro_timestamp; -// -// /* do not allow top copying this class */ -// MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &); -// MavlinkStreamHighresIMU& operator = (const MavlinkStreamHighresIMU &); -// -//protected: -// explicit MavlinkStreamHighresIMU() : MavlinkStream(), -// sensor_sub(nullptr), -// sensor_time(0), -// accel_timestamp(0), -// gyro_timestamp(0), -// mag_timestamp(0), -// baro_timestamp(0) -// {} -// -// void subscribe(Mavlink *mavlink) -// { -// sensor_sub = mavlink->add_orb_subscription(ORB_ID(sensor_combined)); -// } -// -// void send(const hrt_abstime t) -// { -// struct sensor_combined_s sensor; -// -// if (sensor_sub->update(&sensor_time, &sensor)) { -// uint16_t fields_updated = 0; -// -// if (accel_timestamp != sensor.accelerometer_timestamp) { -// /* mark first three dimensions as changed */ -// fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); -// accel_timestamp = sensor.accelerometer_timestamp; -// } -// -// if (gyro_timestamp != sensor.timestamp) { -// /* mark second group dimensions as changed */ -// fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); -// gyro_timestamp = sensor.timestamp; -// } -// -// if (mag_timestamp != sensor.magnetometer_timestamp) { -// /* mark third group dimensions as changed */ -// fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); -// mag_timestamp = sensor.magnetometer_timestamp; -// } -// -// if (baro_timestamp != sensor.baro_timestamp) { -// /* mark last group dimensions as changed */ -// fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); -// baro_timestamp = sensor.baro_timestamp; -// } -// -// mavlink_msg_highres_imu_send(_channel, -// sensor.timestamp, -// sensor.accelerometer_m_s2[0], sensor.accelerometer_m_s2[1], sensor.accelerometer_m_s2[2], -// sensor.gyro_rad_s[0], sensor.gyro_rad_s[1], sensor.gyro_rad_s[2], -// sensor.magnetometer_ga[0], sensor.magnetometer_ga[1], sensor.magnetometer_ga[2], -// sensor.baro_pres_mbar, sensor.differential_pressure_pa, -// sensor.baro_alt_meter, sensor.baro_temp_celcius, -// fields_updated); -// } -// } -//}; +class MavlinkStreamHighresIMU : public MavlinkStream +{ +public: + const char *get_name() const + { + return MavlinkStreamHighresIMU::get_name_static(); + } + + static const char *get_name_static() + { + return "HIGHRES_IMU"; + } + + uint8_t get_id() + { + return MAVLINK_MSG_ID_HIGHRES_IMU; + } + + static MavlinkStream *new_instance(Mavlink *mavlink) + { + return new MavlinkStreamHighresIMU(mavlink); + } + + unsigned get_size() + { + return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + MavlinkOrbSubscription *sensor_sub; + uint64_t sensor_time; + + uint64_t accel_timestamp; + uint64_t gyro_timestamp; + uint64_t mag_timestamp; + uint64_t baro_timestamp; + + /* do not allow top copying this class */ + MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &); + MavlinkStreamHighresIMU& operator = (const MavlinkStreamHighresIMU &); + +protected: + explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink), + sensor_sub(nullptr), + sensor_time(0), + accel_timestamp(0), + gyro_timestamp(0), + mag_timestamp(0), + baro_timestamp(0) + {} + + void subscribe() + { + sensor_sub = _mavlink->add_orb_subscription(ORB_ID(sensor_combined)); + } + + void send(const hrt_abstime t) + { + struct sensor_combined_s sensor; + + if (sensor_sub->update(&sensor_time, &sensor)) { + uint16_t fields_updated = 0; + + if (accel_timestamp != sensor.accelerometer_timestamp) { + /* mark first three dimensions as changed */ + fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); + accel_timestamp = sensor.accelerometer_timestamp; + } + + if (gyro_timestamp != sensor.timestamp) { + /* mark second group dimensions as changed */ + fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); + gyro_timestamp = sensor.timestamp; + } + + if (mag_timestamp != sensor.magnetometer_timestamp) { + /* mark third group dimensions as changed */ + fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); + mag_timestamp = sensor.magnetometer_timestamp; + } + + if (baro_timestamp != sensor.baro_timestamp) { + /* mark last group dimensions as changed */ + fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); + baro_timestamp = sensor.baro_timestamp; + } + + mavlink_highres_imu_t msg; + + msg.time_usec = sensor.timestamp; + msg.xacc = sensor.accelerometer_m_s2[0]; + msg.yacc = sensor.accelerometer_m_s2[1]; + msg.zacc = sensor.accelerometer_m_s2[2]; + msg.xgyro = sensor.gyro_rad_s[0]; + msg.ygyro = sensor.gyro_rad_s[1]; + msg.zgyro = sensor.gyro_rad_s[2]; + msg.xmag = sensor.magnetometer_ga[0]; + msg.ymag = sensor.magnetometer_ga[1]; + msg.zmag = sensor.magnetometer_ga[2]; + msg.abs_pressure = sensor.baro_pres_mbar; + msg.diff_pressure = sensor.differential_pressure_pa; + msg.pressure_alt = sensor.baro_alt_meter; + msg.temperature = sensor.baro_temp_celcius; + msg.fields_updated = fields_updated; + + _mavlink->send_message(MAVLINK_MSG_ID_HIGHRES_IMU, &msg); + } + } +}; // // //class MavlinkStreamAttitude : public MavlinkStream @@ -567,7 +583,7 @@ protected: // return MAVLINK_MSG_ID_ATTITUDE; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamAttitude(); // } @@ -624,7 +640,7 @@ protected: // return MAVLINK_MSG_ID_ATTITUDE_QUATERNION; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamAttitudeQuaternion(); // } @@ -686,7 +702,7 @@ protected: // return MAVLINK_MSG_ID_VFR_HUD; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamVFRHUD(); // } @@ -783,7 +799,7 @@ protected: // return MAVLINK_MSG_ID_GPS_RAW_INT; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamGPSRawInt(); // } @@ -846,7 +862,7 @@ protected: // return MAVLINK_MSG_ID_GLOBAL_POSITION_INT; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamGlobalPositionInt(); // } @@ -918,7 +934,7 @@ protected: // return MAVLINK_MSG_ID_LOCAL_POSITION_NED; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamLocalPositionNED(); // } @@ -979,7 +995,7 @@ protected: // return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamViconPositionEstimate(); // } @@ -1039,7 +1055,7 @@ protected: // return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamGPSGlobalOrigin(); // } @@ -1109,7 +1125,7 @@ protected: // } // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamServoOutputRaw<N>(); // } @@ -1179,7 +1195,7 @@ protected: // return MAVLINK_MSG_ID_HIL_CONTROLS; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamHILControls(); // } @@ -1319,7 +1335,7 @@ protected: // return MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamGlobalPositionSetpointInt(); // } @@ -1375,7 +1391,7 @@ protected: // return MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamLocalPositionSetpoint(); // } @@ -1433,7 +1449,7 @@ protected: // return MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamRollPitchYawThrustSetpoint(); // } @@ -1491,7 +1507,7 @@ protected: // return MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamRollPitchYawRatesThrustSetpoint(); // } @@ -1549,7 +1565,7 @@ protected: // return MAVLINK_MSG_ID_RC_CHANNELS_RAW; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamRCChannelsRaw(); // } @@ -1643,7 +1659,7 @@ protected: // return MAVLINK_MSG_ID_MANUAL_CONTROL; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamManualControl(); // } @@ -1702,7 +1718,7 @@ protected: // return MAVLINK_MSG_ID_OPTICAL_FLOW; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamOpticalFlow(); // } @@ -1760,7 +1776,7 @@ protected: // return 0; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamAttitudeControls(); // } @@ -1828,7 +1844,7 @@ protected: // return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamNamedValueFloat(); // } @@ -1886,7 +1902,7 @@ protected: // return 0; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamCameraCapture(); // } @@ -1944,7 +1960,7 @@ protected: // return MAVLINK_MSG_ID_DISTANCE_SENSOR; // } // -// static MavlinkStream *new_instance() +// static MavlinkStream *new_instance(Mavlink *mavlink) // { // return new MavlinkStreamDistanceSensor(); // } @@ -1997,7 +2013,7 @@ StreamListItem *streams_list[] = { new StreamListItem(&MavlinkStreamHeartbeat::new_instance, &MavlinkStreamHeartbeat::get_name_static), new StreamListItem(&MavlinkStreamCommandLong::new_instance, &MavlinkStreamCommandLong::get_name_static), new StreamListItem(&MavlinkStreamSysStatus::new_instance, &MavlinkStreamSysStatus::get_name_static), -// new StreamListItem(&MavlinkStreamHighresIMU::new_instance, &MavlinkStreamHighresIMU::get_name_static), + new StreamListItem(&MavlinkStreamHighresIMU::new_instance, &MavlinkStreamHighresIMU::get_name_static), // new StreamListItem(&MavlinkStreamAttitude::new_instance, &MavlinkStreamAttitude::get_name_static), // new StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static), // new StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static), |