GPS_RAW_INT.hpp
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/****************************************************************************
*
* 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 GPS_RAW_INT_HPP
#define GPS_RAW_INT_HPP
#include <uORB/topics/sensor_gps.h>
class MavlinkStreamGPSRawInt : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPSRawInt(mavlink); }
static constexpr const char *get_name_static() { return "GPS_RAW_INT"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_RAW_INT; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _sensor_gps_sub.advertised() ? (MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamGPSRawInt(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps), 0};
bool send() override
{
sensor_gps_s gps;
if (_sensor_gps_sub.update(&gps)) {
mavlink_gps_raw_int_t msg{};
msg.time_usec = gps.timestamp;
msg.fix_type = gps.fix_type;
msg.lat = gps.lat;
msg.lon = gps.lon;
msg.alt = gps.alt;
msg.eph = gps.hdop * 100; // GPS HDOP horizontal dilution of position (unitless)
msg.epv = gps.vdop * 100; // GPS VDOP vertical dilution of position (unitless)
if (PX4_ISFINITE(gps.vel_m_s) && (fabsf(gps.vel_m_s) >= 0.f)) {
msg.vel = gps.vel_m_s * 100.f; // cm/s
} else {
msg.vel = UINT16_MAX; // If unknown, set to: UINT16_MAX
}
msg.cog = math::degrees(matrix::wrap_2pi(gps.cog_rad)) * 1e2f;
msg.satellites_visible = gps.satellites_used;
msg.alt_ellipsoid = gps.alt_ellipsoid;
msg.h_acc = gps.eph * 1e3f; // position uncertainty in mm
msg.v_acc = gps.epv * 1e3f; // altitude uncertainty in mm
msg.vel_acc = gps.s_variance_m_s * 1e3f; // speed uncertainty in mm
msg.hdg_acc = math::degrees(gps.c_variance_rad) * 1e5f; // Heading / track uncertainty in degE5
if (PX4_ISFINITE(gps.heading)) {
if (fabsf(gps.heading) < FLT_EPSILON) {
msg.yaw = 36000; // Use 36000 for north.
} else {
msg.yaw = math::degrees(gps.heading) * 100.f; // centidegrees
}
}
mavlink_msg_gps_raw_int_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // GPS_RAW_INT_HPP