output_mavlink.cpp

Go to the documentation of this file.

/****************************************************************************
*
*   Copyright (c) 2016-2019 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 output_mavlink.cpp
 * @author Leon Müller (thedevleon)
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#include "output_mavlink.h"

#include <math.h>

#include <uORB/topics/vehicle_command.h>
#include <px4_platform_common/defines.h>


namespace vmount
{

OutputMavlink::OutputMavlink(const OutputConfig &output_config)
    : OutputBase(output_config)
{
}

int OutputMavlink::update(const ControlData *control_data)
{
    vehicle_command_s vehicle_command{};
    vehicle_command.timestamp = hrt_absolute_time();
    vehicle_command.target_system = (uint8_t)_config.mavlink_sys_id;
    vehicle_command.target_component = (uint8_t)_config.mavlink_comp_id;

    if (control_data) {
        //got new command
        _set_angle_setpoints(control_data);

        vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE;
        vehicle_command.timestamp = hrt_absolute_time();

        if (control_data->type == ControlData::Type::Neutral) {
            vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL;

        } else {
            vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;
        }

        _vehicle_command_pub.publish(vehicle_command);
    }

    _handle_position_update();

    hrt_abstime t = hrt_absolute_time();
    _calculate_output_angles(t);

    vehicle_command.timestamp = t;
    vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;

    // vmount spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively
    // vmount uses radians, MAVLink uses degrees
    vehicle_command.param1 = (_angle_outputs[1] + _config.pitch_offset) * M_RAD_TO_DEG_F;
    vehicle_command.param2 = (_angle_outputs[0] + _config.roll_offset) * M_RAD_TO_DEG_F;
    vehicle_command.param3 = (_angle_outputs[2] + _config.yaw_offset) * M_RAD_TO_DEG_F;
    vehicle_command.param7 = 2.0f; // MAV_MOUNT_MODE_MAVLINK_TARGETING;

    _vehicle_command_pub.publish(vehicle_command);

    _last_update = t;

    return 0;
}

void OutputMavlink::print_status()
{
    PX4_INFO("Output: Mavlink");
}

} /* namespace vmount */