OPTICAL_FLOW_RAD.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 OPTICAL_FLOW_RAD_HPP
#define OPTICAL_FLOW_RAD_HPP
#include <uORB/topics/optical_flow.h>
class MavlinkStreamOpticalFlowRad : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamOpticalFlowRad(mavlink); }
static constexpr const char *get_name_static() { return "OPTICAL_FLOW_RAD"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD; }
const char *get_name() const override { return MavlinkStreamOpticalFlowRad::get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _optical_flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _optical_flow_sub{ORB_ID(optical_flow)};
bool send() override
{
optical_flow_s flow;
if (_optical_flow_sub.update(&flow)) {
mavlink_optical_flow_rad_t msg{};
msg.time_usec = flow.timestamp;
msg.sensor_id = flow.sensor_id;
msg.integrated_x = flow.pixel_flow_x_integral;
msg.integrated_y = flow.pixel_flow_y_integral;
msg.integrated_xgyro = flow.gyro_x_rate_integral;
msg.integrated_ygyro = flow.gyro_y_rate_integral;
msg.integrated_zgyro = flow.gyro_z_rate_integral;
msg.distance = flow.ground_distance_m;
msg.quality = flow.quality;
msg.integration_time_us = flow.integration_timespan;
msg.sensor_id = flow.sensor_id;
msg.time_delta_distance_us = flow.time_since_last_sonar_update;
msg.temperature = flow.gyro_temperature;
mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // OPTICAL_FLOW_RAD_HPP