SCALED_PRESSURE3.hpp
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/****************************************************************************
*
* 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 SCALED_PRESSURE3_HPP
#define SCALED_PRESSURE3_HPP
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/sensor_baro.h>
class MavlinkStreamScaledPressure3 : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure3(mavlink); }
static constexpr const char *get_name_static() { return "SCALED_PRESSURE3"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE3; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) {
return MAVLINK_MSG_ID_SCALED_PRESSURE3_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamScaledPressure3(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 2};
uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 2};
bool send() override
{
if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
mavlink_scaled_pressure3_t msg{};
sensor_baro_s sensor_baro;
if (_sensor_baro_sub.copy(&sensor_baro)) {
msg.time_boot_ms = sensor_baro.timestamp / 1000;
msg.press_abs = sensor_baro.pressure; // millibar to hPa
msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees
}
differential_pressure_s differential_pressure;
if (_differential_pressure_sub.copy(&differential_pressure)) {
if (msg.time_boot_ms == 0) {
msg.time_boot_ms = differential_pressure.timestamp / 1000;
}
msg.press_diff = differential_pressure.differential_pressure_raw_pa * 100.f; // Pa to hPa
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees
}
mavlink_msg_scaled_pressure3_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // SCALED_PRESSURE3_HPP