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mavlink: publish ESC_INFO and ESC_STATUS 

Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>
This commit is contained in:
Ricardo Marques 2020-09-14 15:38:44 +02:00 committed by GitHub
parent 0ece66dc80
commit c15efea429
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 184 additions and 0 deletions
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6
src/modules/mavlink/mavlink_main.cpp
View File

@ -1587,6 +1587,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
configure_stream_local("DEBUG_VECT", 1.0f);
configure_stream_local("DISTANCE_SENSOR", 0.5f);
configure_stream_local("ESC_INFO", 1.0f);
configure_stream_local("ESC_STATUS", 1.0f);
configure_stream_local("ESTIMATOR_STATUS", 0.5f);
configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
@ -1620,6 +1622,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("ATTITUDE", 100.0f);
configure_stream_local("ALTITUDE", 10.0f);
configure_stream_local("DISTANCE_SENSOR", 10.0f);
configure_stream_local("ESC_INFO", 10.0f);
configure_stream_local("ESC_STATUS", 10.0f);
configure_stream_local("MOUNT_ORIENTATION", 10.0f);
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
@ -1755,6 +1759,8 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("DEBUG", 50.0f);
configure_stream_local("DEBUG_FLOAT_ARRAY", 50.0f);
configure_stream_local("DEBUG_VECT", 50.0f);
configure_stream_local("ESC_INFO", 10.0f);
configure_stream_local("ESC_STATUS", 10.0f);
configure_stream_local("ESTIMATOR_STATUS", 5.0f);
configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
configure_stream_local("GLOBAL_POSITION_INT", 10.0f);

178
src/modules/mavlink/mavlink_messages.cpp
View File

@ -77,6 +77,7 @@
#include <uORB/topics/debug_vect.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
@ -5314,6 +5315,181 @@ protected:
}
};
class MavlinkStreamESCInfo : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamESCInfo::get_name_static();
}
static constexpr const char *get_name_static()
{
return "ESC_INFO";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ESC_INFO;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamESCInfo(mavlink);
}
unsigned get_size() override
{
static constexpr unsigned size_per_batch = MAVLINK_MSG_ID_ESC_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
return _esc_status_sub.advertised() ? size_per_batch * _number_of_batches : 0;
}
private:
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
/* do not allow top copying this class */
MavlinkStreamESCInfo(MavlinkStreamESCInfo &) = delete;
MavlinkStreamESCInfo &operator = (const MavlinkStreamESCInfo &) = delete;
protected:
uint8_t _number_of_batches{0};
explicit MavlinkStreamESCInfo(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
{
esc_status_s esc_status;
uint8_t batch_size = MAVLINK_MSG_ESC_INFO_FIELD_TEMPERATURE_LEN;
if (_esc_status_sub.update(&esc_status)) {
mavlink_esc_info_t msg = {};
msg.time_usec = esc_status.timestamp;
msg.counter = esc_status.counter;
msg.count = esc_status.esc_count;
msg.connection_type = esc_status.esc_connectiontype;
msg.info = esc_status.esc_online_flags;
// Ceil value of integer division. For 1-4 esc => 1 batch, 5-8 esc => 2 batches etc
_number_of_batches = ceilf((float)esc_status.esc_count / batch_size);
for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
msg.index = batch_number * batch_size;
for (int esc_index = 0; esc_index < batch_size ; esc_index++) {
msg.failure_flags[esc_index] = esc_status.esc[esc_index].failures;
msg.error_count[esc_index] = esc_status.esc[esc_index].esc_errorcount;
msg.temperature[esc_index] = esc_status.esc[esc_index].esc_temperature;
}
mavlink_msg_esc_info_send_struct(_mavlink->get_channel(), &msg);
}
return true;
}
return false;
}
};
class MavlinkStreamESCStatus : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamESCStatus::get_name_static();
}
static constexpr const char *get_name_static()
{
return "ESC_STATUS";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_ESC_STATUS;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamESCStatus(mavlink);
}
unsigned get_size() override
{
static constexpr unsigned size_per_batch = MAVLINK_MSG_ID_ESC_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
return _esc_status_sub.advertised() ? size_per_batch * _number_of_batches : 0;
}
private:
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
/* do not allow top copying this class */
MavlinkStreamESCStatus(MavlinkStreamESCStatus &) = delete;
MavlinkStreamESCStatus &operator = (const MavlinkStreamESCStatus &) = delete;
protected:
uint8_t _number_of_batches{0};
explicit MavlinkStreamESCStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
{
esc_status_s esc_status;
uint8_t batch_size = MAVLINK_MSG_ESC_STATUS_FIELD_RPM_LEN;
if (_esc_status_sub.update(&esc_status)) {
mavlink_esc_status_t msg = {};
msg.time_usec = esc_status.timestamp;
// Ceil value of integer division. For 1-4 esc => 1 batch, 5-8 esc => 2 batches etc
_number_of_batches = ceilf((float)esc_status.esc_count / batch_size);
for (int batch_number = 0; batch_number < _number_of_batches; batch_number++) {
msg.index = batch_number * batch_size;
for (int esc_index = 0; esc_index < batch_size ; esc_index++) {
msg.rpm[esc_index] = esc_status.esc[esc_index].esc_rpm;
msg.voltage[esc_index] = esc_status.esc[esc_index].esc_voltage;
msg.current[esc_index] = esc_status.esc[esc_index].esc_current;
}
mavlink_msg_esc_status_send_struct(_mavlink->get_channel(), &msg);
}
return true;
}
return false;
}
};
static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamHeartbeat>(),
create_stream_list_item<MavlinkStreamStatustext>(),
@ -5375,6 +5551,8 @@ static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamPing>(),
create_stream_list_item<MavlinkStreamOrbitStatus>(),
create_stream_list_item<MavlinkStreamObstacleDistance>(),
create_stream_list_item<MavlinkStreamESCInfo>(),
create_stream_list_item<MavlinkStreamESCStatus>(),
create_stream_list_item<MavlinkStreamAutopilotVersion>(),
create_stream_list_item<MavlinkStreamProtocolVersion>(),
create_stream_list_item<MavlinkStreamFlightInformation>(),