diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0 index d6e317e1ca..fb57c62ee8 160000 --- a/mavlink/include/mavlink/v1.0 +++ b/mavlink/include/mavlink/v1.0 @@ -1 +1 @@ -Subproject commit d6e317e1ca97bf4ac4a6d1d4e8eb1fd85b7c7a1a +Subproject commit fb57c62ee8b14c86f423d1549a90e0f6879584dc diff --git a/mavlink/include/mavlink/v2.0 b/mavlink/include/mavlink/v2.0 index 714eab3a4f..10d730a446 160000 --- a/mavlink/include/mavlink/v2.0 +++ b/mavlink/include/mavlink/v2.0 @@ -1 +1 @@ -Subproject commit 714eab3a4ffadd09e86f8e56a31a17237ad35a08 +Subproject commit 10d730a446995b989e88ee15f14d9c28a3a428cc diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index a42f9fecaa..0f313b4b68 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -122,7 +122,7 @@ set(msg_file_names vtol_vehicle_status.msg wind_estimate.msg vehicle_roi.msg - mount_status.msg + mount_orientation.msg collision_report.msg ) diff --git a/msg/mount_status.msg b/msg/mount_orientation.msg similarity index 100% rename from msg/mount_status.msg rename to msg/mount_orientation.msg diff --git a/src/drivers/vmount/output.cpp b/src/drivers/vmount/output.cpp index 42eca610ed..30a005659c 100644 --- a/src/drivers/vmount/output.cpp +++ b/src/drivers/vmount/output.cpp @@ -44,7 +44,7 @@ #include #include #include -#include +#include #include #include #include @@ -86,13 +86,13 @@ int OutputBase::initialize() void OutputBase::publish() { int instance; - mount_status_s mount_status; + mount_orientation_s mount_orientation; for (unsigned i = 0; i < 3; ++i) { - mount_status.attitude_euler_angle[i] = _angle_outputs[i]; + mount_orientation.attitude_euler_angle[i] = _angle_outputs[i]; } - orb_publish_auto(ORB_ID(mount_status), &_mount_status_pub, &mount_status, &instance, ORB_PRIO_DEFAULT); + orb_publish_auto(ORB_ID(mount_orientation), &_mount_orientation_pub, &mount_orientation, &instance, ORB_PRIO_DEFAULT); } float OutputBase::_calculate_pitch(double lon, double lat, float altitude, diff --git a/src/drivers/vmount/output.h b/src/drivers/vmount/output.h index 4610cbb47c..29adf98c09 100644 --- a/src/drivers/vmount/output.h +++ b/src/drivers/vmount/output.h @@ -80,7 +80,7 @@ public: /** report status to stdout */ virtual void print_status() = 0; - /** Publish _angle_outputs as a mount_status message. */ + /** Publish _angle_outputs as a mount_orientation message. */ void publish(); protected: @@ -114,7 +114,7 @@ private: int _vehicle_attitude_sub = -1; int _vehicle_global_position_sub = -1; - orb_advert_t _mount_status_pub = nullptr; + orb_advert_t _mount_orientation_pub = nullptr; }; diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index f9be1a80c3..b0c3aecc30 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -89,7 +89,7 @@ #include #include #include -#include +#include #include #include @@ -3526,22 +3526,22 @@ protected: } }; -class MavlinkStreamMountStatus : public MavlinkStream +class MavlinkStreamMountOrientation : public MavlinkStream { public: const char *get_name() const { - return MavlinkStreamMountStatus::get_name_static(); + return MavlinkStreamMountOrientation::get_name_static(); } static const char *get_name_static() { - return "MOUNT_STATUS"; + return "MOUNT_ORIENTATION"; } static uint16_t get_id_static() { - return MAVLINK_MSG_ID_MOUNT_STATUS; + return MAVLINK_MSG_ID_MOUNT_ORIENTATION; } uint16_t get_id() @@ -3551,43 +3551,43 @@ public: static MavlinkStream *new_instance(Mavlink *mavlink) { - return new MavlinkStreamMountStatus(mavlink); + return new MavlinkStreamMountOrientation(mavlink); } unsigned get_size() { - return (_mount_status_time > 0) ? MAVLINK_MSG_ID_MOUNT_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; + return (_mount_orientation_time > 0) ? MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; } private: - MavlinkOrbSubscription *_mount_status_sub; - uint64_t _mount_status_time; + MavlinkOrbSubscription *_mount_orientation_sub; + uint64_t _mount_orientation_time; /* do not allow top copying this class */ - MavlinkStreamMountStatus(MavlinkStreamMountStatus &); - MavlinkStreamMountStatus &operator = (const MavlinkStreamMountStatus &); + MavlinkStreamMountOrientation(MavlinkStreamMountOrientation &); + MavlinkStreamMountOrientation &operator = (const MavlinkStreamMountOrientation &); protected: - explicit MavlinkStreamMountStatus(Mavlink *mavlink) : MavlinkStream(mavlink), - _mount_status_sub(_mavlink->add_orb_subscription(ORB_ID(mount_status))), - _mount_status_time(0) + explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink), + _mount_orientation_sub(_mavlink->add_orb_subscription(ORB_ID(mount_orientation))), + _mount_orientation_time(0) {} void send(const hrt_abstime t) { - struct mount_status_s mount_status = {}; + struct mount_orientation_s mount_orientation = {}; - bool updated = _mount_status_sub->update(&_mount_status_time, &mount_status); + bool updated = _mount_orientation_sub->update(&_mount_orientation_time, &mount_orientation); if (updated) { - mavlink_mount_status_t msg = {}; + mavlink_mount_orientation_t msg = {}; - msg.roll = 180.0f / M_PI_F * mount_status.attitude_euler_angle[0]; - msg.pitch = 180.0f / M_PI_F * mount_status.attitude_euler_angle[1]; - msg.yaw = 180.0f / M_PI_F * mount_status.attitude_euler_angle[2]; + msg.roll = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[0]; + msg.pitch = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[1]; + msg.yaw = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[2]; - mavlink_msg_mount_status_send_struct(_mavlink->get_channel(), &msg); + mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg); } } }; @@ -3637,6 +3637,6 @@ const StreamListItem *streams_list[] = { new StreamListItem(&MavlinkStreamADSBVehicle::new_instance, &MavlinkStreamADSBVehicle::get_name_static, &MavlinkStreamADSBVehicle::get_id_static), new StreamListItem(&MavlinkStreamCollision::new_instance, &MavlinkStreamCollision::get_name_static, &MavlinkStreamCollision::get_id_static), new StreamListItem(&MavlinkStreamWind::new_instance, &MavlinkStreamWind::get_name_static, &MavlinkStreamWind::get_id_static), - new StreamListItem(&MavlinkStreamMountStatus::new_instance, &MavlinkStreamMountStatus::get_name_static, &MavlinkStreamMountStatus::get_id_static), + new StreamListItem(&MavlinkStreamMountOrientation::new_instance, &MavlinkStreamMountOrientation::get_name_static, &MavlinkStreamMountOrientation::get_id_static), nullptr };