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fix(msg): bump VehicleLocalPosition version which was previously modified

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This commit is contained in:
GuillaumeLaine
2025-07-28 14:37:28 +02:00
committed by Silvan Fuhrer
parent e4ffed099c
commit 2106c6ca82
4 changed files with 181 additions and 1 deletions
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1
msg/translation_node/translations/all_translations.h
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@@ -13,3 +13,4 @@
#include "translation_home_position_v1.h"
#include "translation_vehicle_attitude_setpoint_v1.h"
#include "translation_vehicle_status_v1.h"
#include "translation_vehicle_local_position_v1.h"

93
msg/translation_node/translations/translation_vehicle_local_position_v1.h Normal file
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@@ -0,0 +1,93 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate VehicleLocalPosition v0 <--> v1
#include <px4_msgs_old/msg/vehicle_local_position_v0.hpp>
#include <px4_msgs/msg/vehicle_local_position.hpp>
class VehicleLocalPositionV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::VehicleLocalPositionV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::VehicleLocalPosition;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/out/vehicle_local_position";
#define COMMON_VEHICLE_LOCAL_POSITION_FIELDS(FUNCTION) \
FUNCTION(timestamp) \
FUNCTION(timestamp_sample) \
FUNCTION(xy_valid) \
FUNCTION(z_valid) \
FUNCTION(v_xy_valid) \
FUNCTION(v_z_valid) \
FUNCTION(x) \
FUNCTION(y) \
FUNCTION(z) \
FUNCTION(delta_xy) \
FUNCTION(xy_reset_counter) \
FUNCTION(delta_z) \
FUNCTION(z_reset_counter) \
FUNCTION(vx) \
FUNCTION(vy) \
FUNCTION(vz) \
FUNCTION(z_deriv) \
FUNCTION(delta_vxy) \
FUNCTION(vxy_reset_counter) \
FUNCTION(delta_vz) \
FUNCTION(vz_reset_counter) \
FUNCTION(ax) \
FUNCTION(ay) \
FUNCTION(az) \
FUNCTION(heading) \
FUNCTION(heading_var) \
FUNCTION(unaided_heading) \
FUNCTION(delta_heading) \
FUNCTION(heading_reset_counter) \
FUNCTION(heading_good_for_control) \
FUNCTION(tilt_var) \
FUNCTION(xy_global) \
FUNCTION(z_global) \
FUNCTION(ref_timestamp) \
FUNCTION(ref_lat) \
FUNCTION(ref_lon) \
FUNCTION(ref_alt) \
FUNCTION(dist_bottom_valid) \
FUNCTION(dist_bottom) \
FUNCTION(dist_bottom_var) \
FUNCTION(delta_dist_bottom) \
FUNCTION(dist_bottom_reset_counter) \
FUNCTION(dist_bottom_sensor_bitfield) \
FUNCTION(eph) \
FUNCTION(epv) \
FUNCTION(evh) \
FUNCTION(evv) \
FUNCTION(dead_reckoning) \
FUNCTION(vxy_max) \
FUNCTION(vz_max) \
FUNCTION(hagl_min)
#define COPY_FIELD_FROM_OLDER(field) msg_newer.field = msg_older.field;
#define COPY_FIELD_TO_OLDER(field) msg_older.field = msg_newer.field;
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
COMMON_VEHICLE_LOCAL_POSITION_FIELDS(COPY_FIELD_FROM_OLDER)
msg_newer.hagl_max_z = msg_older.hagl_max;
msg_newer.hagl_max_xy = msg_older.hagl_max;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
COMMON_VEHICLE_LOCAL_POSITION_FIELDS(COPY_FIELD_TO_OLDER)
msg_older.hagl_max = msg_newer.hagl_max_z; // Use hagl_max_z for both xy and z in v0
}
#undef COPY_FIELD_FROM_OLDER
#undef COPY_FIELD_TO_OLDER
#undef COMMON_VEHICLE_LOCAL_POSITION_FIELDS
};
REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleLocalPositionV1Translation);