diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 152 |
1 files changed, 50 insertions, 102 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 683f0f1e8..c10be77b5 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1385,43 +1385,43 @@ protected: }; -class MavlinkStreamGlobalPositionSetpointInt : public MavlinkStream +class MavlinkStreamPositionTargetGlobalInt : public MavlinkStream { public: const char *get_name() const { - return MavlinkStreamGlobalPositionSetpointInt::get_name_static(); + return MavlinkStreamPositionTargetGlobalInt::get_name_static(); } static const char *get_name_static() { - return "GLOBAL_POSITION_SETPOINT_INT"; + return "POSITION_TARGET_GLOBAL_INT"; } uint8_t get_id() { - return MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT; + return MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT; } static MavlinkStream *new_instance(Mavlink *mavlink) { - return new MavlinkStreamGlobalPositionSetpointInt(mavlink); + return new MavlinkStreamPositionTargetGlobalInt(mavlink); } unsigned get_size() { - return MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + return MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: MavlinkOrbSubscription *_pos_sp_triplet_sub; /* do not allow top copying this class */ - MavlinkStreamGlobalPositionSetpointInt(MavlinkStreamGlobalPositionSetpointInt &); - MavlinkStreamGlobalPositionSetpointInt& operator = (const MavlinkStreamGlobalPositionSetpointInt &); + MavlinkStreamPositionTargetGlobalInt(MavlinkStreamPositionTargetGlobalInt &); + MavlinkStreamPositionTargetGlobalInt& operator = (const MavlinkStreamPositionTargetGlobalInt &); protected: - explicit MavlinkStreamGlobalPositionSetpointInt(Mavlink *mavlink) : MavlinkStream(mavlink), + explicit MavlinkStreamPositionTargetGlobalInt(Mavlink *mavlink) : MavlinkStream(mavlink), _pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet))) {} @@ -1430,15 +1430,14 @@ protected: struct position_setpoint_triplet_s pos_sp_triplet; if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) { - mavlink_global_position_setpoint_int_t msg; + mavlink_position_target_global_int_t msg{}; msg.coordinate_frame = MAV_FRAME_GLOBAL; - msg.latitude = pos_sp_triplet.current.lat * 1e7; - msg.longitude = pos_sp_triplet.current.lon * 1e7; - msg.altitude = pos_sp_triplet.current.alt * 1000; - msg.yaw = pos_sp_triplet.current.yaw * M_RAD_TO_DEG_F * 100.0f; + msg.lat_int = pos_sp_triplet.current.lat * 1e7; + msg.lon_int = pos_sp_triplet.current.lon * 1e7; + msg.alt = pos_sp_triplet.current.alt; - _mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, &msg); + _mavlink->send_message(MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT, &msg); } } }; @@ -1454,12 +1453,12 @@ public: static const char *get_name_static() { - return "LOCAL_POSITION_SETPOINT"; + return "POSITION_TARGET_LOCAL_NED"; } uint8_t get_id() { - return MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT; + return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED; } static MavlinkStream *new_instance(Mavlink *mavlink) @@ -1469,7 +1468,7 @@ public: unsigned get_size() { - return MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + return MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: @@ -1491,137 +1490,87 @@ protected: struct vehicle_local_position_setpoint_s pos_sp; if (_pos_sp_sub->update(&_pos_sp_time, &pos_sp)) { - mavlink_local_position_setpoint_t msg; + mavlink_position_target_local_ned_t msg{}; + msg.time_boot_ms = pos_sp.timestamp / 1000; msg.coordinate_frame = MAV_FRAME_LOCAL_NED; msg.x = pos_sp.x; msg.y = pos_sp.y; msg.z = pos_sp.z; - msg.yaw = pos_sp.yaw; - _mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, &msg); + _mavlink->send_message(MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, &msg); } } }; -class MavlinkStreamRollPitchYawThrustSetpoint : public MavlinkStream +class MavlinkStreamAttitudeTarget : public MavlinkStream { public: const char *get_name() const { - return MavlinkStreamRollPitchYawThrustSetpoint::get_name_static(); + return MavlinkStreamAttitudeTarget::get_name_static(); } static const char *get_name_static() { - return "ROLL_PITCH_YAW_THRUST_SETPOINT"; + return "ATTITUDE_TARGET"; } uint8_t get_id() { - return MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT; + return MAVLINK_MSG_ID_ATTITUDE_TARGET; } static MavlinkStream *new_instance(Mavlink *mavlink) { - return new MavlinkStreamRollPitchYawThrustSetpoint(mavlink); + return new MavlinkStreamAttitudeTarget(mavlink); } unsigned get_size() { - return MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + return MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; } private: - MavlinkOrbSubscription *att_sp_sub; - uint64_t att_sp_time; + MavlinkOrbSubscription *_att_sp_sub; + MavlinkOrbSubscription *_att_rates_sp_sub; + uint64_t _att_sp_time; + uint64_t _att_rates_sp_time; /* do not allow top copying this class */ - MavlinkStreamRollPitchYawThrustSetpoint(MavlinkStreamRollPitchYawThrustSetpoint &); - MavlinkStreamRollPitchYawThrustSetpoint& operator = (const MavlinkStreamRollPitchYawThrustSetpoint &); + MavlinkStreamAttitudeTarget(MavlinkStreamAttitudeTarget &); + MavlinkStreamAttitudeTarget& operator = (const MavlinkStreamAttitudeTarget &); protected: - explicit MavlinkStreamRollPitchYawThrustSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink), - att_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint))), - att_sp_time(0) + explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink), + _att_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint))), + _att_rates_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_rates_setpoint))), + _att_sp_time(0), + _att_rates_sp_time(0) {} void send(const hrt_abstime t) { struct vehicle_attitude_setpoint_s att_sp; - if (att_sp_sub->update(&att_sp_time, &att_sp)) { - mavlink_roll_pitch_yaw_thrust_setpoint_t msg; - - msg.time_boot_ms = att_sp.timestamp / 1000; - msg.roll = att_sp.roll_body; - msg.pitch = att_sp.pitch_body; - msg.yaw = att_sp.yaw_body; - msg.thrust = att_sp.thrust; - - _mavlink->send_message(MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, &msg); - } - } -}; - + if (_att_sp_sub->update(&_att_sp_time, &att_sp)) { -class MavlinkStreamRollPitchYawRatesThrustSetpoint : public MavlinkStream -{ -public: - const char *get_name() const - { - return MavlinkStreamRollPitchYawRatesThrustSetpoint::get_name_static(); - } - - static const char *get_name_static() - { - return "ROLL_PITCH_YAW_RATES_THRUST_SETPOINT"; - } + struct vehicle_rates_setpoint_s att_rates_sp; + (void)_att_rates_sp_sub->update(&_att_rates_sp_time, &att_rates_sp); - uint8_t get_id() - { - return MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT; - } + mavlink_attitude_target_t msg{}; - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamRollPitchYawRatesThrustSetpoint(mavlink); - } - - unsigned get_size() - { - return MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - -private: - MavlinkOrbSubscription *_att_rates_sp_sub; - uint64_t _att_rates_sp_time; - - /* do not allow top copying this class */ - MavlinkStreamRollPitchYawRatesThrustSetpoint(MavlinkStreamRollPitchYawRatesThrustSetpoint &); - MavlinkStreamRollPitchYawRatesThrustSetpoint& operator = (const MavlinkStreamRollPitchYawRatesThrustSetpoint &); - -protected: - explicit MavlinkStreamRollPitchYawRatesThrustSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink), - _att_rates_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_rates_setpoint))), - _att_rates_sp_time(0) - {} - - void send(const hrt_abstime t) - { - struct vehicle_rates_setpoint_s att_rates_sp; + msg.time_boot_ms = att_sp.timestamp / 1000; + mavlink_euler_to_quaternion(att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, msg.q); - if (_att_rates_sp_sub->update(&_att_rates_sp_time, &att_rates_sp)) { - mavlink_roll_pitch_yaw_rates_thrust_setpoint_t msg; + msg.body_roll_rate = att_rates_sp.roll; + msg.body_pitch_rate = att_rates_sp.pitch; + msg.body_yaw_rate = att_rates_sp.yaw; - msg.time_boot_ms = att_rates_sp.timestamp / 1000; - msg.roll_rate = att_rates_sp.roll; - msg.pitch_rate = att_rates_sp.pitch; - msg.yaw_rate = att_rates_sp.yaw; - msg.thrust = att_rates_sp.thrust; + msg.thrust = att_sp.thrust; - _mavlink->send_message(MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, &msg); + _mavlink->send_message(MAVLINK_MSG_ID_ATTITUDE_TARGET, &msg); } } }; @@ -2149,10 +2098,9 @@ StreamListItem *streams_list[] = { new StreamListItem(&MavlinkStreamServoOutputRaw<2>::new_instance, &MavlinkStreamServoOutputRaw<2>::get_name_static), new StreamListItem(&MavlinkStreamServoOutputRaw<3>::new_instance, &MavlinkStreamServoOutputRaw<3>::get_name_static), new StreamListItem(&MavlinkStreamHILControls::new_instance, &MavlinkStreamHILControls::get_name_static), - new StreamListItem(&MavlinkStreamGlobalPositionSetpointInt::new_instance, &MavlinkStreamGlobalPositionSetpointInt::get_name_static), + new StreamListItem(&MavlinkStreamPositionTargetGlobalInt::new_instance, &MavlinkStreamPositionTargetGlobalInt::get_name_static), new StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static), - new StreamListItem(&MavlinkStreamRollPitchYawThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawThrustSetpoint::get_name_static), - new StreamListItem(&MavlinkStreamRollPitchYawRatesThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawRatesThrustSetpoint::get_name_static), + new StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static), new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static), new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static), new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static), |