FLIGHT_INFORMATION.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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 FLIGHT_INFORMATION_HPP
#define FLIGHT_INFORMATION_HPP
#include <uORB/topics/vehicle_status.h>
class MavlinkStreamFlightInformation : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamFlightInformation(mavlink); }
static constexpr const char *get_name_static() { return "FLIGHT_INFORMATION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_FLIGHT_INFORMATION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return MAVLINK_MSG_ID_FLIGHT_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
explicit MavlinkStreamFlightInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
{
_param_com_flight_uuid = param_find("COM_FLIGHT_UUID");
}
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
param_t _param_com_flight_uuid{PARAM_INVALID};
bool send() override
{
vehicle_status_s vehicle_status{};
if (_vehicle_status_sub.copy(&vehicle_status) && vehicle_status.timestamp != 0) {
mavlink_flight_information_t flight_info{};
flight_info.time_boot_ms = hrt_absolute_time() / 1000;
flight_info.arming_time_utc = vehicle_status.armed_time;
flight_info.takeoff_time_utc = vehicle_status.takeoff_time;
int32_t flight_uuid;
if (param_get(_param_com_flight_uuid, &flight_uuid) == PX4_OK) {
flight_info.flight_uuid = static_cast<uint64_t>(flight_uuid);
}
mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
return true;
}
return false;
}
};
#endif // FLIGHT_INFORMATION_HPP