MOUNT_ORIENTATION.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 MOUNT_ORIENTATION_HPP
#define MOUNT_ORIENTATION_HPP
#include <uORB/topics/mount_orientation.h>
#include <uORB/topics/vehicle_local_position.h>
class MavlinkStreamMountOrientation : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamMountOrientation(mavlink); }
static constexpr const char *get_name_static() { return "MOUNT_ORIENTATION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_MOUNT_ORIENTATION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _mount_orientation_sub.advertised() ? MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _mount_orientation_sub{ORB_ID(mount_orientation)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
bool send() override
{
mount_orientation_s mount_orientation;
if (_mount_orientation_sub.update(&mount_orientation)) {
mavlink_mount_orientation_t msg{};
msg.roll = math::degrees(mount_orientation.attitude_euler_angle[0]);
msg.pitch = math::degrees(mount_orientation.attitude_euler_angle[1]);
msg.yaw = math::degrees(mount_orientation.attitude_euler_angle[2]);
vehicle_local_position_s lpos{};
_lpos_sub.copy(&lpos);
msg.yaw_absolute = math::degrees(matrix::wrap_2pi(lpos.heading + mount_orientation.attitude_euler_angle[2]));
mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // MOUNT_ORIENTATION