RC_CHANNELS.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 RC_CHANNELS_HPP
#define RC_CHANNELS_HPP
#include <uORB/topics/input_rc.h>
class MavlinkStreamRCChannels : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamRCChannels(mavlink); }
static constexpr const char *get_name_static() { return "RC_CHANNELS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_RC_CHANNELS; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _input_rc_sub.advertised() ? (MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamRCChannels(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _input_rc_sub{ORB_ID(input_rc)};
bool send() override
{
input_rc_s rc;
if (_input_rc_sub.update(&rc)) {
// send RC channel data and RSSI
mavlink_rc_channels_t msg{};
msg.time_boot_ms = rc.timestamp / 1000;
msg.chancount = rc.channel_count;
msg.chan1_raw = (rc.channel_count > 0) ? rc.values[0] : UINT16_MAX;
msg.chan2_raw = (rc.channel_count > 1) ? rc.values[1] : UINT16_MAX;
msg.chan3_raw = (rc.channel_count > 2) ? rc.values[2] : UINT16_MAX;
msg.chan4_raw = (rc.channel_count > 3) ? rc.values[3] : UINT16_MAX;
msg.chan5_raw = (rc.channel_count > 4) ? rc.values[4] : UINT16_MAX;
msg.chan6_raw = (rc.channel_count > 5) ? rc.values[5] : UINT16_MAX;
msg.chan7_raw = (rc.channel_count > 6) ? rc.values[6] : UINT16_MAX;
msg.chan8_raw = (rc.channel_count > 7) ? rc.values[7] : UINT16_MAX;
msg.chan9_raw = (rc.channel_count > 8) ? rc.values[8] : UINT16_MAX;
msg.chan10_raw = (rc.channel_count > 9) ? rc.values[9] : UINT16_MAX;
msg.chan11_raw = (rc.channel_count > 10) ? rc.values[10] : UINT16_MAX;
msg.chan12_raw = (rc.channel_count > 11) ? rc.values[11] : UINT16_MAX;
msg.chan13_raw = (rc.channel_count > 12) ? rc.values[12] : UINT16_MAX;
msg.chan14_raw = (rc.channel_count > 13) ? rc.values[13] : UINT16_MAX;
msg.chan15_raw = (rc.channel_count > 14) ? rc.values[14] : UINT16_MAX;
msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
msg.rssi = (rc.channel_count > 0) ? rc.rssi : 0;
mavlink_msg_rc_channels_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // RC_CHANNELS_HPP