mavlink: add npfg_status, regenerate headers

Author: Thomas Stastny

mavlink/include/mavlink/v2.0

@@ -515,6 +515,8 @@ FixedwingPositionControl::status_publish()
 		npfg_status.time_const = 0.0f;
 	}
 
+	npfg_status.timestamp = hrt_absolute_time();
+
 	_pos_ctrl_status_pub.publish(pos_ctrl_status);
 	_npfg_status_pub.publish(npfg_status);
 }

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -1528,6 +1528,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("HOME_POSITION", 0.5f);
 		configure_stream_local("LOCAL_POSITION_NED", 1.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.0f);
+		configure_stream_local("NPFG_STATUS", 1.0f);
 		configure_stream_local("OBSTACLE_DISTANCE", 1.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 2.0f);
 		configure_stream_local("PING", 0.1f);
@@ -1587,6 +1588,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
+		configure_stream_local("NPFG_STATUS", 10.0f);
 		configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
 		configure_stream_local("PING", 1.0f);
@@ -1729,6 +1731,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("HOME_POSITION", 0.5f);
 		configure_stream_local("MANUAL_CONTROL", 5.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
+		configure_stream_local("NPFG_STATUS", 10.0f);
 		configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
 		configure_stream_local("PING", 1.0f);

src/modules/mavlink/mavlink_main.cpp

@@ -88,6 +88,7 @@
 #include "streams/MANUAL_CONTROL.hpp"
 #include "streams/MOUNT_ORIENTATION.hpp"
 #include "streams/NAV_CONTROLLER_OUTPUT.hpp"
+#include "streams/NPFG_STATUS.hpp"
 #include "streams/OBSTACLE_DISTANCE.hpp"
 #include "streams/OPTICAL_FLOW_RAD.hpp"
 #include "streams/ORBIT_EXECUTION_STATUS.hpp"
@@ -533,8 +534,11 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamComponentInformation>(),
 #endif // COMPONENT_INFORMATION_HPP
 #if defined(RAW_RPM_HPP)
-	create_stream_list_item<MavlinkStreamRawRpm>()
+	create_stream_list_item<MavlinkStreamRawRpm>(),
 #endif // RAW_RPM_HPP
+#if defined(NPFG_STATUS_HPP)
+	create_stream_list_item<MavlinkStreamNPFGStatus>()
+#endif // NPFG_STATUS
 };
 
 const char *get_stream_name(const uint16_t msg_id)

src/modules/mavlink/mavlink_messages.cpp

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 Autonomous Systems Lab, ETH Zurich. 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 NPFG_STATUS_HPP
+#define NPFG_STATUS_HPP
+
+#include <uORB/topics/npfg_status.h>
+
+class MavlinkStreamNPFGStatus : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNPFGStatus(mavlink); }
+
+	static constexpr const char *get_name_static() { return "NPFG_STATUS"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NPFG_STATUS; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		if (_npfg_status_sub.advertised()) {
+			return MAVLINK_MSG_ID_NPFG_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		}
+
+		return 0;
+	}
+
+private:
+	explicit MavlinkStreamNPFGStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _npfg_status_sub{ORB_ID(npfg_status)};
+
+	bool send() override
+	{
+		struct npfg_status_s npfg_status;
+
+		if (_npfg_status_sub.update(&npfg_status)) {
+			mavlink_npfg_status_t msg{};
+
+			msg.timestamp = npfg_status.timestamp;
+			msg.lat_accel = npfg_status.lat_accel;
+			msg.lat_accel_ff = npfg_status.lat_accel_ff;
+			msg.bearing_feas = npfg_status.bearing_feas;
+			msg.bearing_feas_on_track = npfg_status.bearing_feas_on_track;
+			msg.signed_track_error = npfg_status.signed_track_error;
+			msg.track_error_bound = npfg_status.track_error_bound;
+			msg.airspeed_ref = npfg_status.airspeed_ref;
+			msg.bearing = math::degrees(npfg_status.bearing);
+			msg.heading_ref = math::degrees(npfg_status.heading_ref);
+			msg.min_ground_speed_ref = npfg_status.min_ground_speed_ref;
+			msg.adapted_period = npfg_status.adapted_period;
+			msg.p_gain = npfg_status.p_gain;
+			msg.time_const = npfg_status.time_const;
+
+			mavlink_msg_npfg_status_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // NPFG_STATUS