HIL_STATE_QUATERNION.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 HIL_STATE_QUATERNION_HPP
#define HIL_STATE_QUATERNION_HPP
class MavlinkStreamHILStateQuaternion : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHILStateQuaternion(mavlink); }
static constexpr const char *get_name_static() { return "HIL_STATE_QUATERNION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HIL_STATE_QUATERNION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_att_sub.advertised() || _gpos_sub.advertised()) {
return MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamHILStateQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude_groundtruth)};
uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position_groundtruth)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position_groundtruth)};
bool send() override
{
if (_angular_velocity_sub.updated() || _att_sub.updated() || _gpos_sub.updated() || _lpos_sub.updated()) {
vehicle_attitude_s att{};
_att_sub.copy(&att);
vehicle_global_position_s gpos{};
_gpos_sub.copy(&gpos);
vehicle_local_position_s lpos{};
_lpos_sub.copy(&lpos);
vehicle_angular_velocity_s angular_velocity{};
_angular_velocity_sub.copy(&angular_velocity);
mavlink_hil_state_quaternion_t msg{};
// vehicle_attitude -> hil_state_quaternion
msg.attitude_quaternion[0] = att.q[0];
msg.attitude_quaternion[1] = att.q[1];
msg.attitude_quaternion[2] = att.q[2];
msg.attitude_quaternion[3] = att.q[3];
msg.rollspeed = angular_velocity.xyz[0];
msg.pitchspeed = angular_velocity.xyz[1];
msg.yawspeed = angular_velocity.xyz[2];
// vehicle_global_position -> hil_state_quaternion
// same units as defined in mavlink/common.xml
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;
msg.alt = gpos.alt * 1e3f;
msg.vx = lpos.vx * 1e2f;
msg.vy = lpos.vy * 1e2f;
msg.vz = lpos.vz * 1e2f;
msg.ind_airspeed = 0;
msg.true_airspeed = 0;
msg.xacc = lpos.ax;
msg.yacc = lpos.ay;
msg.zacc = lpos.az;
mavlink_msg_hil_state_quaternion_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // HIL_STATE_QUATERNION_HPP