GPS2_RAW.hpp
3.62 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
/****************************************************************************
*
* 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 GPS2_RAW_HPP
#define GPS2_RAW_HPP
#include <uORB/topics/sensor_gps.h>
class MavlinkStreamGPS2Raw : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGPS2Raw(mavlink); }
static constexpr const char *get_name_static() { return "GPS2_RAW"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS2_RAW; }
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_GPS2_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamGPS2Raw(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps), 1};
bool send() override
{
sensor_gps_s gps;
if (_sensor_gps_sub.update(&gps)) {
mavlink_gps2_raw_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.dgps_numch = // Number of DGPS satellites
//msg.dgps_age = // Age of DGPS info
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_gps2_raw_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // GPS2_RAW_HPP