HOME_POSITION.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 HOME_POSITION_HPP
#define HOME_POSITION_HPP
#include <uORB/topics/home_position.h>
class MavlinkStreamHomePosition : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHomePosition(mavlink); }
static constexpr const char *get_name_static() { return "HOME_POSITION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HOME_POSITION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _home_sub.advertised() ? (MAVLINK_MSG_ID_HOME_POSITION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamHomePosition(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _home_sub{ORB_ID(home_position)};
bool send() override
{
// we're sending the GPS home periodically to ensure the
// the GCS does pick it up at one point
home_position_s home;
if (_home_sub.advertised() && _home_sub.copy(&home)) {
if (home.valid_hpos) {
mavlink_home_position_t msg{};
msg.latitude = home.lat * 1e7;
msg.longitude = home.lon * 1e7;
msg.altitude = home.alt * 1e3f;
msg.x = home.x;
msg.y = home.y;
msg.z = home.z;
matrix::Quatf q(matrix::Eulerf(0.f, 0.f, home.yaw));
q.copyTo(msg.q);
msg.approach_x = 0.f;
msg.approach_y = 0.f;
msg.approach_z = 0.f;
msg.time_usec = home.timestamp;
mavlink_msg_home_position_send_struct(_mavlink->get_channel(), &msg);
return true;
}
}
return false;
}
};
#endif // HOME_POSITION_HPP