GnssFix2.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.
*
****************************************************************************/
#pragma once
#include "UavcanPublisherBase.hpp"
#include <uavcan/equipment/gnss/Fix2.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/sensor_gps.h>
namespace uavcannode
{
class GnssFix2 :
public UavcanPublisherBase,
public uORB::SubscriptionCallbackWorkItem,
private uavcan::Publisher<uavcan::equipment::gnss::Fix2>
{
public:
GnssFix2(px4::WorkItem *work_item, uavcan::INode &node) :
UavcanPublisherBase(uavcan::equipment::gnss::Fix2::DefaultDataTypeID),
uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_gps)),
uavcan::Publisher<uavcan::equipment::gnss::Fix2>(node)
{}
void PrintInfo() override
{
if (uORB::SubscriptionCallbackWorkItem::advertised()) {
printf("\t%s -> %s:%d\n",
uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
uavcan::equipment::gnss::Fix2::getDataTypeFullName(),
id());
}
}
void BroadcastAnyUpdates() override
{
// sensor_gps -> uavcan::equipment::gnss::Fix2
sensor_gps_s gps;
if (uORB::SubscriptionCallbackWorkItem::update(&gps)) {
uavcan::equipment::gnss::Fix2 fix2{};
fix2.gnss_time_standard = fix2.GNSS_TIME_STANDARD_UTC;
fix2.gnss_timestamp.usec = gps.time_utc_usec;
fix2.latitude_deg_1e8 = (int64_t)gps.lat * 10;
fix2.longitude_deg_1e8 = (int64_t)gps.lon * 10;
fix2.height_msl_mm = gps.alt;
fix2.height_ellipsoid_mm = gps.alt_ellipsoid;
fix2.status = gps.fix_type;
fix2.ned_velocity[0] = gps.vel_n_m_s;
fix2.ned_velocity[1] = gps.vel_e_m_s;
fix2.ned_velocity[2] = gps.vel_d_m_s;
fix2.pdop = gps.hdop > gps.vdop ? gps.hdop :
gps.vdop; // Use pdop for both hdop and vdop since uavcan v0 spec does not support them
fix2.sats_used = gps.satellites_used;
// Diagonal matrix
// position variances -- Xx, Yy, Zz
fix2.covariance.push_back(gps.eph);
fix2.covariance.push_back(gps.eph);
fix2.covariance.push_back(gps.epv);
// velocity variance -- Vxx, Vyy, Vzz
fix2.covariance.push_back(gps.s_variance_m_s);
fix2.covariance.push_back(gps.s_variance_m_s);
fix2.covariance.push_back(gps.s_variance_m_s);
uavcan::Publisher<uavcan::equipment::gnss::Fix2>::broadcast(fix2);
// ensure callback is registered
uORB::SubscriptionCallbackWorkItem::registerCallback();
}
}
};
} // namespace uavcannode