From dcf03a25949bc47f6dec227637aaf54958462592 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 11 Feb 2015 17:42:51 +0100 Subject: mavlink app: Use actuator controls message --- src/modules/mavlink/mavlink_messages.cpp | 44 +++++++++++--------------------- 1 file changed, 15 insertions(+), 29 deletions(-) (limited to 'src/modules/mavlink/mavlink_messages.cpp') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index be7d91c65..179195d3a 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -35,7 +35,7 @@ * @file mavlink_messages.cpp * MAVLink 1.0 message formatters implementation. * - * @author Lorenz Meier + * @author Lorenz Meier * @author Anton Babushkin */ @@ -2016,12 +2016,12 @@ public: static const char *get_name_static() { - return "ATTITUDE_CONTROLS"; + return "ACTUATOR_CONTROL_TARGET"; } uint8_t get_id() { - return 0; + return MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET; } static MavlinkStream *new_instance(Mavlink *mavlink) @@ -2031,11 +2031,11 @@ public: unsigned get_size() { - return 4 * (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES); + return _att_ctrl_sub[0]->is_published() ? (MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0; } private: - MavlinkOrbSubscription *_att_ctrl_sub; + MavlinkOrbSubscription *_att_ctrl_sub[1]; uint64_t _att_ctrl_time; /* do not allow top copying this class */ @@ -2044,7 +2044,7 @@ private: protected: explicit MavlinkStreamAttitudeControls(Mavlink *mavlink) : MavlinkStream(mavlink), - _att_ctrl_sub(_mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS)), + _att_ctrl_sub{_mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS)}, _att_ctrl_time(0) {} @@ -2052,31 +2052,17 @@ protected: { struct actuator_controls_s att_ctrl; - if (_att_ctrl_sub->update(&_att_ctrl_time, &att_ctrl)) { - /* send, add spaces so that string buffer is at least 10 chars long */ - mavlink_named_value_float_t msg; - - msg.time_boot_ms = att_ctrl.timestamp / 1000; + if (_att_ctrl_sub[0]->update(&_att_ctrl_time, &att_ctrl)) { + mavlink_actuator_control_target_t msg; - snprintf(msg.name, sizeof(msg.name), "rll ctrl"); - msg.value = att_ctrl.control[0]; + msg.time_usec = att_ctrl.timestamp; + msg.group_mlx = 0; - _mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg); - - snprintf(msg.name, sizeof(msg.name), "ptch ctrl"); - msg.value = att_ctrl.control[1]; - - _mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg); - - snprintf(msg.name, sizeof(msg.name), "yaw ctrl"); - msg.value = att_ctrl.control[2]; - - _mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg); - - snprintf(msg.name, sizeof(msg.name), "thr ctrl"); - msg.value = att_ctrl.control[3]; + for (unsigned i = 0; i < sizeof(msg.controls) / sizeof(msg.controls[0]); i++) { + msg.controls[i] = att_ctrl.control[i]; + } - _mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg); + _mavlink->send_message(MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, &msg); } } }; -- cgit v1.2.3