forked from Archive/PX4-Autopilot
mavlink_messages: add GPS_GLOBAL_ORIGIN
sending out local position reference. Only send as anser to a request message command or when the origin was changed from externally to verify.
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@ -113,6 +113,7 @@ using matrix::wrap_2pi;
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#include "streams/ESC_STATUS.hpp"
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#include "streams/EXTENDED_SYS_STATE.hpp"
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#include "streams/FLIGHT_INFORMATION.hpp"
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#include "streams/GPS_GLOBAL_ORIGIN.hpp"
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#include "streams/GPS_STATUS.hpp"
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#include "streams/HIGH_LATENCY2.hpp"
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#include "streams/HIL_STATE_QUATERNION.hpp"
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@ -4301,6 +4302,9 @@ static const StreamListItem streams_list[] = {
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create_stream_list_item<MavlinkStreamAttitude>(),
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create_stream_list_item<MavlinkStreamAttitudeQuaternion>(),
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create_stream_list_item<MavlinkStreamVFRHUD>(),
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#if defined(GPS_GLOBAL_ORIGIN_HPP)
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create_stream_list_item<MavlinkStreamGpsGlobalOrigin>(),
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#endif // GPS_GLOBAL_ORIGIN_HPP
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create_stream_list_item<MavlinkStreamGPSRawInt>(),
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create_stream_list_item<MavlinkStreamGPS2Raw>(),
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create_stream_list_item<MavlinkStreamSystemTime>(),
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@ -1229,6 +1229,8 @@ MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg)
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(float)origin.altitude * 1.0e-3f, hrt_absolute_time());
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_global_ref_timestamp = hrt_absolute_time();
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}
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handle_request_message_command(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN);
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}
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void
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@ -0,0 +1,106 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef GPS_GLOBAL_ORIGIN_HPP
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#define GPS_GLOBAL_ORIGIN_HPP
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#include <uORB/topics/vehicle_local_position.h>
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class MavlinkStreamGpsGlobalOrigin : public MavlinkStream
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{
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public:
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const char *get_name() const override
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{
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return MavlinkStreamGpsGlobalOrigin::get_name_static();
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}
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static constexpr const char *get_name_static()
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{
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return "GPS_GLOBAL_ORIGIN";
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}
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static constexpr uint16_t get_id_static()
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{
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return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
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}
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uint16_t get_id() override
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{
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return get_id_static();
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}
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static MavlinkStream *new_instance(Mavlink *mavlink)
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{
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return new MavlinkStreamGpsGlobalOrigin(mavlink);
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}
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unsigned get_size() override
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{
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return _vehicle_local_position_sub.advertised() ?
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(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
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}
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private:
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uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
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/* do not allow top copying this class */
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MavlinkStreamGpsGlobalOrigin(MavlinkStreamGpsGlobalOrigin &) = delete;
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MavlinkStreamGpsGlobalOrigin &operator = (const MavlinkStreamGpsGlobalOrigin &) = delete;
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protected:
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explicit MavlinkStreamGpsGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink)
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{}
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bool send() override
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{
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vehicle_local_position_s vehicle_local_position;
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if (_vehicle_local_position_sub.update(&vehicle_local_position)) {
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mavlink_gps_global_origin_t msg{};
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if (vehicle_local_position.ref_timestamp > 0) {
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msg.latitude = static_cast<int32_t>(vehicle_local_position.ref_lat * 1e7); // double degree -> int32 degreeE7
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msg.longitude = static_cast<int32_t>(vehicle_local_position.ref_lon * 1e7); // double degree -> int32 degreeE7
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msg.altitude = static_cast<int32_t>(vehicle_local_position.ref_alt * 1e3f); // float m -> int32 mm
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msg.time_usec = vehicle_local_position.timestamp; // int64 time since system boot
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}
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mavlink_msg_gps_global_origin_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // GPS_GLOBAL_ORIGIN_HPP
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