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mavlink app: Use actuator controls message

This commit is contained in:
Lorenz Meier 2015-02-11 17:42:51 +01:00
parent f0ad98c92c
commit dcf03a2594
3 changed files with 18 additions and 31 deletions
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2
src/modules/mavlink/mavlink_main.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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

44
src/modules/mavlink/mavlink_messages.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@ -35,7 +35,7 @@
* @file mavlink_messages.cpp
* MAVLink 1.0 message formatters implementation.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Lorenz Meier <lorenz@px4.io>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
@ -2016,12 +2016,12 @@ public:
static const char *get_name_static()
{
return "ATTITUDE_CONTROLS";
return "ACTUATOR_CONTROL_TARGET";
}
uint8_t get_id()
{
return 0;
return MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET;
}
static MavlinkStream *new_instance(Mavlink *mavlink)
@ -2031,11 +2031,11 @@ public:
unsigned get_size()
{
return 4 * (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
return _att_ctrl_sub[0]->is_published() ? (MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
MavlinkOrbSubscription *_att_ctrl_sub;
MavlinkOrbSubscription *_att_ctrl_sub[1];
uint64_t _att_ctrl_time;
/* do not allow top copying this class */
@ -2044,7 +2044,7 @@ private:
protected:
explicit MavlinkStreamAttitudeControls(Mavlink *mavlink) : MavlinkStream(mavlink),
_att_ctrl_sub(_mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS)),
_att_ctrl_sub{_mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS)},
_att_ctrl_time(0)
{}
@ -2052,31 +2052,17 @@ protected:
{
struct actuator_controls_s att_ctrl;
if (_att_ctrl_sub->update(&_att_ctrl_time, &att_ctrl)) {
/* send, add spaces so that string buffer is at least 10 chars long */
mavlink_named_value_float_t msg;
if (_att_ctrl_sub[0]->update(&_att_ctrl_time, &att_ctrl)) {
mavlink_actuator_control_target_t msg;
msg.time_boot_ms = att_ctrl.timestamp / 1000;
msg.time_usec = att_ctrl.timestamp;
msg.group_mlx = 0;
snprintf(msg.name, sizeof(msg.name), "rll ctrl");
msg.value = att_ctrl.control[0];
for (unsigned i = 0; i < sizeof(msg.controls) / sizeof(msg.controls[0]); i++) {
msg.controls[i] = att_ctrl.control[i];
}
_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
snprintf(msg.name, sizeof(msg.name), "ptch ctrl");
msg.value = att_ctrl.control[1];
_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
snprintf(msg.name, sizeof(msg.name), "yaw ctrl");
msg.value = att_ctrl.control[2];
_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
snprintf(msg.name, sizeof(msg.name), "thr ctrl");
msg.value = att_ctrl.control[3];
_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
_mavlink->send_message(MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, &msg);
}
}
};

3
src/modules/mavlink/mavlink_orb_subscription.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2014, 2015 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
@ -36,6 +36,7 @@
* uORB subscription implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <unistd.h>