diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 156 |
1 files changed, 89 insertions, 67 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 7d388f88d..dc01935ca 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1127,6 +1127,93 @@ protected: } }; +class MavlinkStreamAttitudeControls : public MavlinkStream +{ +public: + const char *get_name() + { + return "ATTITUDE_CONTROLS"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamAttitudeControls(); + } + +private: + MavlinkOrbSubscription *att_ctrl_sub; + struct actuator_controls_s *att_ctrl; + +protected: + void subscribe(Mavlink *mavlink) + { + att_ctrl_sub = mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + att_ctrl = (struct actuator_controls_s *)att_ctrl_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (att_ctrl_sub->update(t)) { + + // send, add spaces so that string buffer is at least 10 chars long + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "rll ctrl ", + att_ctrl->control[0]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "ptch ctrl ", + att_ctrl->control[1]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "yaw ctrl ", + att_ctrl->control[2]); + mavlink_msg_named_value_float_send(_channel, + att_ctrl->timestamp / 1000, + "thr ctrl ", + att_ctrl->control[3]); + } + } +}; + +class MavlinkStreamNamedValueFloat : public MavlinkStream +{ +public: + const char *get_name() + { + return "NAMED_VALUE_FLOAT"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamNamedValueFloat(); + } + +private: + MavlinkOrbSubscription *debug_sub; + struct debug_key_value_s *debug; + +protected: + void subscribe(Mavlink *mavlink) + { + debug_sub = mavlink->add_orb_subscription(ORB_ID(debug_key_value)); + debug = (struct debug_key_value_s *)debug_sub->get_data(); + } + + void send(const hrt_abstime t) + { + if (debug_sub->update(t)) { + + // Enforce null termination + debug->key[sizeof(debug->key) - 1] = '\0'; + + mavlink_msg_named_value_float_send(_channel, + debug->timestamp_ms, + debug->key, + debug->value); + } + } +}; MavlinkStream *streams_list[] = { new MavlinkStreamHeartbeat(), @@ -1151,72 +1238,7 @@ MavlinkStream *streams_list[] = { new MavlinkStreamRCChannelsRaw(), new MavlinkStreamManualControl(), new MavlinkStreamOpticalFlow(), + new MavlinkStreamAttitudeControls(), + new MavlinkStreamNamedValueFloat(), nullptr }; - - - - - - - -// -// -// -// -// -// -//void -//MavlinkOrbListener::l_vehicle_attitude_controls(const struct listener *l) -//{ -// orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, l->mavlink->get_subs()->actuators_sub, &l->listener->actuators_0); -// -// if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) { -// /* send, add spaces so that string buffer is at least 10 chars long */ -// mavlink_msg_named_value_float_send(l->mavlink->get_chan(), -// l->listener->last_sensor_timestamp / 1000, -// "ctrl0 ", -// l->listener->actuators_0.control[0]); -// mavlink_msg_named_value_float_send(l->mavlink->get_chan(), -// l->listener->last_sensor_timestamp / 1000, -// "ctrl1 ", -// l->listener->actuators_0.control[1]); -// mavlink_msg_named_value_float_send(l->mavlink->get_chan(), -// l->listener->last_sensor_timestamp / 1000, -// "ctrl2 ", -// l->listener->actuators_0.control[2]); -// mavlink_msg_named_value_float_send(l->mavlink->get_chan(), -// l->listener->last_sensor_timestamp / 1000, -// "ctrl3 ", -// l->listener->actuators_0.control[3]); -// } -//} -// -//void -//MavlinkOrbListener::l_debug_key_value(const struct listener *l) -//{ -// struct debug_key_value_s debug; -// -// orb_copy(ORB_ID(debug_key_value), l->mavlink->get_subs()->debug_key_value, &debug); -// -// /* Enforce null termination */ -// debug.key[sizeof(debug.key) - 1] = '\0'; -// -// mavlink_msg_named_value_float_send(l->mavlink->get_chan(), -// l->listener->last_sensor_timestamp / 1000, -// debug.key, -// debug.value); -//} -// -//void -//MavlinkOrbListener::l_nav_cap(const struct listener *l) -//{ -// -// orb_copy(ORB_ID(navigation_capabilities), l->mavlink->get_subs()->navigation_capabilities_sub, &l->listener->nav_cap); -// -// mavlink_msg_named_value_float_send(l->mavlink->get_chan(), -// hrt_absolute_time() / 1000, -// "turn dist", -// l->listener->nav_cap.turn_distance); -// -//} |