GPS_GLOBAL_ORIGIN.hpp
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/****************************************************************************
*
* Copyright (c) 2020-2021 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 GPS_GLOBAL_ORIGIN_HPP
#define GPS_GLOBAL_ORIGIN_HPP
#include <uORB/topics/vehicle_local_position.h>
class MavlinkStreamGpsGlobalOrigin : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGpsGlobalOrigin(mavlink); }
static constexpr const char *get_name_static() { return "GPS_GLOBAL_ORIGIN"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_vehicle_local_position_sub.advertised()) {
return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
bool request_message(float param2, float param3, float param4, float param5, float param6, float param7) override
{
if (_valid) {
_force_next_send = true;
return true;
}
return false;
}
private:
explicit MavlinkStreamGpsGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uint64_t _ref_timestamp{0};
double _ref_lat{static_cast<double>(NAN)};
double _ref_lon{static_cast<double>(NAN)};
float _ref_alt{NAN};
bool _valid{false};
bool _force_next_send{true};
bool send() override
{
vehicle_local_position_s vehicle_local_position;
if (_vehicle_local_position_sub.update(&vehicle_local_position)) {
if (vehicle_local_position.xy_global && vehicle_local_position.z_global) {
static constexpr double LLA_MIN_DIFF = 0.0000001; // ~11.132 mm at the equator
if (_force_next_send
|| (_ref_timestamp != vehicle_local_position.ref_timestamp)
|| (fabs(_ref_lat - vehicle_local_position.ref_lat) > LLA_MIN_DIFF)
|| (fabs(_ref_lon - vehicle_local_position.ref_lon) > LLA_MIN_DIFF)
|| (fabsf(_ref_alt - vehicle_local_position.ref_alt) > 0.001f)) {
mavlink_gps_global_origin_t msg{};
msg.latitude = round(vehicle_local_position.ref_lat * 1e7); // double degree -> int32 degreeE7
msg.longitude = round(vehicle_local_position.ref_lon * 1e7); // double degree -> int32 degreeE7
msg.altitude = roundf(vehicle_local_position.ref_alt * 1e3f); // float m -> int32 mm
msg.time_usec = vehicle_local_position.ref_timestamp; // int64 time since system boot
mavlink_msg_gps_global_origin_send_struct(_mavlink->get_channel(), &msg);
_ref_timestamp = vehicle_local_position.ref_timestamp;
_ref_lat = vehicle_local_position.ref_lat;
_ref_lon = vehicle_local_position.ref_lon;
_ref_alt = vehicle_local_position.ref_alt;
_force_next_send = false;
_valid = true;
return true;
}
}
}
return false;
}
};
#endif // GPS_GLOBAL_ORIGIN_HPP