Gnss.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.
*
****************************************************************************/
/**
* @file Gnss.hpp
*
* Defines basic functionality of UAVCAN v1 GNSS subscription
*
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#pragma once
// DS-15 Specification Messages
#include <reg/drone/physics/kinematics/geodetic/Point_0_1.h>
#include "DynamicPortSubscriber.hpp"
class UavcanGnssSubscriber : public UavcanDynamicPortSubscriber
{
public:
UavcanGnssSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanDynamicPortSubscriber(ins, pmgr, "gps", instance) { };
void subscribe() override
{
// Subscribe to messages reg.drone.physics.kinematics.geodetic.Point.0.1
canardRxSubscribe(&_canard_instance,
CanardTransferKindMessage,
_subj_sub._canard_sub._port_id,
reg_drone_physics_kinematics_geodetic_Point_0_1_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&_subj_sub._canard_sub);
/** TODO: Add additional GPS-data messages: (reg.drone.service.gnss._.0.1.uavcan):
* # A compliant implementation of this service should publish the following subjects:
* #
* # PUBLISHED SUBJECT NAME SUBJECT TYPE TYP. RATE [Hz]
* # point_kinematics reg.drone.physics.kinematics.geodetic.PointStateVarTs 1...100
* # time reg.drone.service.gnss.Time 1...10
* # heartbeat reg.drone.service.gnss.Heartbeat ~1
* # sensor_status reg.drone.service.sensor.Status ~1
*
* Not mentioned, but should also be included: Dilution of Precision
* (reg.drone.service.gnss.DilutionOfPrecision.0.1.uavcan)
* For PX4, only the PointStateVarTs, DilutionOfPrecision, and perhaps Time would be needed
* to publish 'sensor_gps'
*/
};
void callback(const CanardTransfer &receive) override
{
// Test with Yakut:
// export YAKUT_TRANSPORT="pyuavcan.transport.can.CANTransport(pyuavcan.transport.can.media.slcan.SLCANMedia('/dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_23002B000E514E413431302000000000-if00', 8, 115200), 42)"
// yakut pub 1500.reg.drone.physics.kinematics.geodetic.Point.0.1 '{latitude: 1.234, longitude: 2.34, altitude: {meter: 0.5}}'
PX4_INFO("GpsCallback");
reg_drone_physics_kinematics_geodetic_Point_0_1 geo {};
size_t geo_size_in_bits = receive.payload_size;
reg_drone_physics_kinematics_geodetic_Point_0_1_deserialize_(&geo, (const uint8_t *)receive.payload, &geo_size_in_bits);
double lat = geo.latitude;
double lon = geo.longitude;
double alt = geo.altitude.meter;
PX4_INFO("Latitude: %f, Longitude: %f, Altitude: %f", lat, lon, alt);
/// do something with the data
};
};