diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 7a7d57bb12..63ce041bb1 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1030,6 +1030,9 @@ Mavlink::handle_message(const mavlink_message_t *msg) // Special case for gimbals that need to forward GIMBAL_DEVICE_ATTITUDE_STATUS. else if (msg->msgid == MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS) { Mavlink::forward_message(msg, this); + + } else if (msg->msgid == MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION) { + Mavlink::forward_message(msg, this); } } diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 53d9dda834..c98526bff9 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -134,6 +134,7 @@ # include "streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp" # include "streams/GIMBAL_MANAGER_INFORMATION.hpp" # include "streams/GIMBAL_MANAGER_STATUS.hpp" +# include "streams/GIMBAL_DEVICE_INFORMATION.hpp" # include "streams/GPS2_RAW.hpp" # include "streams/HIGH_LATENCY2.hpp" # include "streams/LINK_NODE_STATUS.hpp" @@ -337,6 +338,9 @@ static const StreamListItem streams_list[] = { #if defined(GIMBAL_MANAGER_INFORMATION_HPP) create_stream_list_item(), #endif // GIMBAL_MANAGER_INFORMATION_HPP +#if defined(GIMBAL_DEVICE_INFORMATION_HPP) + create_stream_list_item(), +#endif // GIMBAL_DEVICE_INFORMATION_HPP #if defined(GIMBAL_MANAGER_STATUS_HPP) create_stream_list_item(), #endif // GIMBAL_MANAGER_STATUS_HPP diff --git a/src/modules/mavlink/streams/GIMBAL_DEVICE_INFORMATION.hpp b/src/modules/mavlink/streams/GIMBAL_DEVICE_INFORMATION.hpp new file mode 100644 index 0000000000..d0aa42f9f0 --- /dev/null +++ b/src/modules/mavlink/streams/GIMBAL_DEVICE_INFORMATION.hpp @@ -0,0 +1,96 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef GIMBAL_DEVICE_INFORMATION_HPP +#define GIMBAL_DEVICE_INFORMATION_HPP + +#include + +class MavlinkStreamGimbalDeviceInformation : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalDeviceInformation(mavlink); } + + static constexpr const char *get_name_static() { return "GIMBAL_DEVICE_INFORMATION"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + unsigned get_size() override + { + if (_gimbal_device_information_sub.advertised()) { + return MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + + return 0; + } + +private: + explicit MavlinkStreamGimbalDeviceInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _gimbal_device_information_sub{ORB_ID(gimbal_device_information)}; + + bool send() override + { + gimbal_device_information_s gimbal_device_information; + + if (_gimbal_device_information_sub.advertised() && _gimbal_device_information_sub.copy(&gimbal_device_information)) { + // send out gimbal_device_info with info from gimbal_device_information + mavlink_gimbal_device_information_t msg{}; + + msg.time_boot_ms = gimbal_device_information.timestamp / 1000; + memcpy(msg.vendor_name, gimbal_device_information.vendor_name, sizeof(gimbal_device_information.vendor_name)); + memcpy(msg.model_name, gimbal_device_information.model_name, sizeof(gimbal_device_information.model_name)); + memcpy(msg.custom_name, gimbal_device_information.custom_name, sizeof(gimbal_device_information.custom_name)); + msg.firmware_version = gimbal_device_information.firmware_version; + msg.hardware_version = gimbal_device_information.hardware_version; + msg.uid = gimbal_device_information.uid; + msg.cap_flags = gimbal_device_information.cap_flags; + msg.roll_min = gimbal_device_information.roll_min; + msg.roll_max = gimbal_device_information.roll_max; + msg.pitch_min = gimbal_device_information.pitch_min; + msg.pitch_max = gimbal_device_information.pitch_max; + msg.yaw_min = gimbal_device_information.yaw_min; + msg.yaw_max = gimbal_device_information.yaw_max; + + mavlink_msg_gimbal_device_information_send_struct(_mavlink->get_channel(), &msg); + + return true; + } + + return false; + } +}; + +#endif // GIMBAL_DEVICE_INFORMATION_HPP