NAV_CONTROLLER_OUTPUT.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 NAV_CONTROLLER_OUTPUT_HPP
#define NAV_CONTROLLER_OUTPUT_HPP
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/tecs_status.h>
class MavlinkStreamNavControllerOutput : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNavControllerOutput(mavlink); }
static constexpr const char *get_name_static() { return "NAV_CONTROLLER_OUTPUT"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _position_controller_status_sub.advertised() ? MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN +
MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamNavControllerOutput(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _position_controller_status_sub{ORB_ID(position_controller_status)};
uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
bool send() override
{
position_controller_status_s pos_ctrl_status;
if (_position_controller_status_sub.update(&pos_ctrl_status)) {
tecs_status_s tecs_status{};
_tecs_status_sub.copy(&tecs_status);
mavlink_nav_controller_output_t msg{};
msg.nav_roll = math::degrees(pos_ctrl_status.nav_roll);
msg.nav_pitch = math::degrees(pos_ctrl_status.nav_pitch);
msg.nav_bearing = roundf(math::degrees(pos_ctrl_status.nav_bearing));
msg.target_bearing = roundf(math::degrees(pos_ctrl_status.target_bearing));
msg.wp_dist = math::constrain(roundf(pos_ctrl_status.wp_dist), 0.f, (float)UINT16_MAX);
msg.xtrack_error = pos_ctrl_status.xtrack_error;
msg.alt_error = tecs_status.altitude_filtered - tecs_status.altitude_sp;
msg.aspd_error = tecs_status.true_airspeed_filtered - tecs_status.true_airspeed_sp;
mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // NAV_CONTROLLER_OUTPUT_HPP