AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.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 AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP
#define AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP
#include <uORB/topics/estimator_selector_status.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
class MavlinkStreamAutopilotStateForGimbalDevice : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamAutopilotStateForGimbalDevice(mavlink); }
static constexpr const char *get_name_static() { return "AUTOPILOT_STATE_FOR_GIMBAL_DEVICE"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
if (_att_sub.advertised()) {
return MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
return 0;
}
private:
explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _lpos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _landed_sub{ORB_ID(vehicle_land_detected)};
bool send() override
{
vehicle_attitude_s att;
if (_att_sub.update(&att)) {
mavlink_autopilot_state_for_gimbal_device_t msg{};
//msg.target_system = 0; // TODO
//msg.target_component = 0; // TODO
msg.time_boot_us = att.timestamp;
msg.q[0] = att.q[0];
msg.q[1] = att.q[1];
msg.q[2] = att.q[2];
msg.q[3] = att.q[3];
msg.q_estimated_delay_us = 0; // I don't know.
{
vehicle_local_position_s lpos;
if (_lpos_sub.copy(&lpos)) {
msg.vx = lpos.vx;
msg.vy = lpos.vy;
msg.vz = lpos.vz;
msg.v_estimated_delay_us = 0; // I don't know.
}
}
{
vehicle_attitude_setpoint_s att_sp;
if (_att_sp_sub.copy(&att_sp)) {
msg.feed_forward_angular_velocity_z = att_sp.yaw_sp_move_rate;
}
}
{
estimator_selector_status_s estimator_selector_status;
if (_estimator_selector_status_sub.update(&estimator_selector_status)) {
_estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance);
}
estimator_status_s est;
if (_estimator_status_sub.copy(&est)) {
msg.estimator_status = est.solution_status_flags;
}
}
{
vehicle_land_detected_s land_detected;
if (_landed_sub.copy(&land_detected)) {
// Ignore take-off and landing states for now.
msg.landed_state = land_detected.landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR;
}
}
mavlink_msg_autopilot_state_for_gimbal_device_send_struct(_mavlink->get_channel(), &msg);
return true;
}
return false;
}
};
#endif // AUTOPILOT_STATE_FOR_GIMBAL_DEVICE_HPP