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https://github.com/PX4/PX4-Autopilot.git
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b26dd4d3f3
To separate accuracy requirements for VTOL hover and cruise. - global_position_relaxed refers to having a valid horizontal velocity aid source in the estimator and a set global reference position, but poses no requirements on the accuracy of the provided position estimate. - Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, only require the relaxed global position going forward - COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW) - rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>
85 lines
3.8 KiB
C++
85 lines
3.8 KiB
C++
/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate ArmingCheckReply v0 <--> v1
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#include <px4_msgs_old/msg/arming_check_reply_v0.hpp>
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#include <px4_msgs/msg/arming_check_reply.hpp>
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#include "translation_event_v1.h"
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class ArmingCheckReplyV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::ArmingCheckReplyV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::ArmingCheckReply;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "/fmu/in/arming_check_reply";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.request_id = msg_older.request_id;
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msg_newer.registration_id = msg_older.registration_id;
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msg_newer.health_component_index = msg_older.health_component_index;
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msg_newer.health_component_is_present = msg_older.health_component_is_present;
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msg_newer.health_component_warning = msg_older.health_component_warning;
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msg_newer.health_component_error = msg_older.health_component_error;
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msg_newer.can_arm_and_run = msg_older.can_arm_and_run;
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for (std::size_t i = 0; i < msg_newer.events.size();i++) {
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EventV1Translation::fromOlder(msg_older.events.at(i), msg_newer.events.at(i));
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}
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msg_newer.mode_req_angular_velocity = msg_older.mode_req_angular_velocity;
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msg_newer.mode_req_attitude = msg_older.mode_req_attitude;
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msg_newer.mode_req_local_alt = msg_older.mode_req_local_alt;
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msg_newer.mode_req_local_position = msg_older.mode_req_local_position;
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msg_newer.mode_req_local_position_relaxed = msg_older.mode_req_local_position_relaxed;
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msg_newer.mode_req_global_position = msg_older.mode_req_global_position;
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msg_newer.mode_req_global_position_relaxed = false;
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msg_newer.mode_req_mission = msg_older.mode_req_mission;
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msg_newer.mode_req_home_position = msg_older.mode_req_home_position;
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msg_newer.mode_req_prevent_arming = msg_older.mode_req_prevent_arming;
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msg_newer.mode_req_manual_control = msg_older.mode_req_manual_control;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.request_id = msg_newer.request_id;
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msg_older.registration_id = msg_newer.registration_id;
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msg_older.health_component_index = msg_newer.health_component_index;
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msg_older.health_component_is_present = msg_newer.health_component_is_present;
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msg_older.health_component_warning = msg_newer.health_component_warning;
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msg_older.health_component_error = msg_newer.health_component_error;
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msg_older.can_arm_and_run = msg_newer.can_arm_and_run;
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for (std::size_t i = 0; i < msg_older.events.size();i++) {
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EventV1Translation::toOlder(msg_newer.events.at(i), msg_older.events.at(i));
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}
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msg_older.mode_req_angular_velocity = msg_newer.mode_req_angular_velocity;
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msg_older.mode_req_attitude = msg_newer.mode_req_attitude;
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msg_older.mode_req_local_alt = msg_newer.mode_req_local_alt;
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msg_older.mode_req_local_position = msg_newer.mode_req_local_position;
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msg_older.mode_req_global_position = msg_newer.mode_req_global_position;
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msg_older.mode_req_mission = msg_newer.mode_req_mission;
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msg_older.mode_req_home_position = msg_newer.mode_req_home_position;
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msg_older.mode_req_prevent_arming = msg_newer.mode_req_prevent_arming;
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msg_older.mode_req_manual_control = msg_newer.mode_req_manual_control;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(ArmingCheckReplyV1Translation);
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