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GCS_MAVLink: add support for ATTITUDE_QUATERNION

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Peter Barker 2021-03-03 17:42:44 +11:00 committed by Peter Barker
parent 0414929310
commit 5123b05b2b
3 changed files with 31 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -247,6 +247,7 @@ public:
void send_battery2(); void send_battery2();
void send_opticalflow(); void send_opticalflow();
virtual void send_attitude() const; virtual void send_attitude() const;
virtual void send_attitude_quaternion() const;
void send_autopilot_version() const; void send_autopilot_version() const;
void send_extended_sys_state() const; void send_extended_sys_state() const;
void send_local_position() const; void send_local_position() const;

29
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -790,6 +790,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
} map[] { } map[] {
{ MAVLINK_MSG_ID_HEARTBEAT, MSG_HEARTBEAT}, { MAVLINK_MSG_ID_HEARTBEAT, MSG_HEARTBEAT},
{ MAVLINK_MSG_ID_ATTITUDE, MSG_ATTITUDE}, { MAVLINK_MSG_ID_ATTITUDE, MSG_ATTITUDE},
{ MAVLINK_MSG_ID_ATTITUDE_QUATERNION, MSG_ATTITUDE_QUATERNION},
{ MAVLINK_MSG_ID_GLOBAL_POSITION_INT, MSG_LOCATION}, { MAVLINK_MSG_ID_GLOBAL_POSITION_INT, MSG_LOCATION},
{ MAVLINK_MSG_ID_HOME_POSITION, MSG_HOME}, { MAVLINK_MSG_ID_HOME_POSITION, MSG_HOME},
{ MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, MSG_ORIGIN}, { MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, MSG_ORIGIN},
@ -4541,6 +4542,29 @@ void GCS_MAVLINK::send_attitude() const
omega.z); omega.z);
} }
void GCS_MAVLINK::send_attitude_quaternion() const
{
const AP_AHRS &ahrs = AP::ahrs();
Quaternion quat;
if (!ahrs.get_secondary_quaternion(quat)) {
return;
}
const Vector3f omega = ahrs.get_gyro();
const float repr_offseq_q[] {0,0,0,0}; // unused, but probably should correspond to the AHRS view?
mavlink_msg_attitude_quaternion_send(
chan,
AP_HAL::millis(),
quat.q1,
quat.q2,
quat.q3,
quat.q4,
omega.x, // rollspeed
omega.y, // pitchspeed
omega.z, // yawspeed
repr_offseq_q
);
}
int32_t GCS_MAVLINK::global_position_int_alt() const { int32_t GCS_MAVLINK::global_position_int_alt() const {
return global_position_current_loc.alt * 10UL; return global_position_current_loc.alt * 10UL;
} }
@ -4646,6 +4670,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_attitude(); send_attitude();
break; break;
case MSG_ATTITUDE_QUATERNION:
CHECK_PAYLOAD_SIZE(ATTITUDE_QUATERNION);
send_attitude_quaternion();
break;
case MSG_NEXT_PARAM: case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE); CHECK_PAYLOAD_SIZE(PARAM_VALUE);
queued_param_send(); queued_param_send();

1
libraries/GCS_MAVLink/ap_message.h
View File

@ -9,6 +9,7 @@
enum ap_message : uint8_t { enum ap_message : uint8_t {
MSG_HEARTBEAT, MSG_HEARTBEAT,
MSG_ATTITUDE, MSG_ATTITUDE,
MSG_ATTITUDE_QUATERNION,
MSG_LOCATION, MSG_LOCATION,
MSG_SYS_STATUS, MSG_SYS_STATUS,
MSG_POWER_STATUS, MSG_POWER_STATUS,