ATTITUDE_TARGET.hpp
3.31 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
/****************************************************************************
*
* 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_TARGET_HPP
#define ATTITUDE_TARGET_HPP
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
class MavlinkStreamAttitudeTarget : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAttitudeTarget(mavlink); }
static constexpr const char *get_name_static() { return "ATTITUDE_TARGET"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_ATTITUDE_TARGET; }
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_sp_sub.advertised() ? MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _att_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
bool send() override
{
vehicle_attitude_setpoint_s att_sp;
if (_att_sp_sub.update(&att_sp)) {
mavlink_attitude_target_t msg{};
msg.time_boot_ms = att_sp.timestamp / 1000;
matrix::Quatf(att_sp.q_d).copyTo(msg.q);
vehicle_rates_setpoint_s att_rates_sp{};
_att_rates_sp_sub.copy(&att_rates_sp);
msg.body_roll_rate = att_rates_sp.roll;
msg.body_pitch_rate = att_rates_sp.pitch;
msg.body_yaw_rate = att_rates_sp.yaw;
msg.thrust = matrix::Vector3f(att_sp.thrust_body).norm();
mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // ATTITUDE_TARGET_HPP