ATTITUDE_QUATERNION.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 ATTITUDE_QUATERNION_HPP
#define ATTITUDE_QUATERNION_HPP
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_status.h>
class MavlinkStreamAttitudeQuaternion : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitudeQuaternion(mavlink); }
static constexpr const char *get_name_static() { return "ATTITUDE_QUATERNION"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE_QUATERNION; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _att_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
bool send() override
{
vehicle_attitude_s att;
if (_att_sub.update(&att)) {
vehicle_angular_velocity_s angular_velocity{};
_angular_velocity_sub.copy(&angular_velocity);
vehicle_status_s status{};
_status_sub.copy(&status);
mavlink_attitude_quaternion_t msg{};
msg.time_boot_ms = att.timestamp / 1000;
msg.q1 = att.q[0];
msg.q2 = att.q[1];
msg.q3 = att.q[2];
msg.q4 = att.q[3];
msg.rollspeed = angular_velocity.xyz[0];
msg.pitchspeed = angular_velocity.xyz[1];
msg.yawspeed = angular_velocity.xyz[2];
if (status.is_vtol && status.is_vtol_tailsitter && (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
// This is a tailsitter VTOL flying in fixed wing mode:
// indicate that reported attitude should be rotated by
// 90 degrees upward pitch for user display
get_rot_quaternion(ROTATION_PITCH_90).copyTo(msg.repr_offset_q);
} else {
// Normal case
// zero rotation should be [1 0 0 0]:
// `get_rot_quaternion(ROTATION_NONE).copyTo(msg.repr_offset_q);`
// but to save bandwidth, we instead send [0, 0, 0, 0].
msg.repr_offset_q[0] = 0.0f;
msg.repr_offset_q[1] = 0.0f;
msg.repr_offset_q[2] = 0.0f;
msg.repr_offset_q[3] = 0.0f;
}
mavlink_msg_attitude_quaternion_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // ATTITUDE_QUATERNION_HPP