diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 44 |
1 files changed, 44 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 63bac45c0..c0fae0a2f 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -108,6 +108,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _att_sp_pub(-1), _rates_sp_pub(-1), _vicon_position_pub(-1), + _vision_position_pub(-1), _telemetry_status_pub(-1), _rc_pub(-1), _manual_pub(-1), @@ -148,6 +149,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_vicon_position_estimate(msg); break; + case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: + handle_message_vision_position_estimate(msg); + break; + case MAVLINK_MSG_ID_RADIO_STATUS: handle_message_radio_status(msg); break; @@ -359,6 +364,45 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg) } void +MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) +{ + mavlink_vision_position_estimate_t pos; + mavlink_msg_vision_position_estimate_decode(msg, &pos); + + struct vision_position_estimate vision_position; + memset(&vision_position, 0, sizeof(vision_position)); + + // Use the component ID to identify the vision sensor + vision_position.id = msg->compid; + + vision_position.timestamp_boot = hrt_absolute_time(); + vision_position.timestamp_computer = pos.usec; + vision_position.x = pos.x; + vision_position.y = pos.y; + vision_position.z = pos.z; + + // XXX fix this + vision_position.vx = 0.0f; + vision_position.vy = 0.0f; + vision_position.vz = 0.0f; + + math::Quaternion q; + q.from_euler(pos.roll, pos.pitch, pos.yaw); + + vision_position.q[0] = q(0); + vision_position.q[1] = q(1); + vision_position.q[2] = q(2); + vision_position.q[3] = q(3); + + if (_vision_position_pub < 0) { + _vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position); + + } else { + orb_publish(ORB_ID(vision_position_estimate), _vision_position_pub, &vision_position); + } +} + +void MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) { /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */ |