mirror of
https://github.com/PX4/PX4-Autopilot.git
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2c97a875bf
According to the mavlink spec we should be publishing the home attitude as a quaternion rather than just the yaw/heading. Additionally, this allows setting the landing roll and pitch angle using DO_SET_HOME (this yet needs to go into the MAVLink spec though). This time including the message versioning and translation.
66 lines
2.2 KiB
C++
66 lines
2.2 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 HomePosition v0 <--> v1
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#include <px4_msgs_old/msg/home_position_v0.hpp>
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#include <px4_msgs/msg/home_position.hpp>
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class HomePositionV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::HomePositionV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::HomePosition;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/out/home_position";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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// Update for HomePosition
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// Set msg_newer from msg_older
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.lat = msg_older.lat;
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msg_newer.lon = msg_older.lon;
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msg_newer.alt = msg_older.alt;
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msg_newer.x = msg_older.x;
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msg_newer.y = msg_older.y;
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msg_newer.z = msg_older.z;
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msg_newer.roll = 0.0f; // New field in v1, set to 0
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msg_newer.pitch = 0.0f; // New field in v1, set to 0
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msg_newer.yaw = msg_older.yaw;
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msg_newer.valid_alt = msg_older.valid_alt;
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msg_newer.valid_hpos = msg_older.valid_hpos;
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msg_newer.valid_lpos = msg_older.valid_lpos;
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msg_newer.manual_home = msg_older.manual_home;
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msg_newer.update_count = msg_older.update_count;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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// Update for HomePosition
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// Set msg_older from msg_newer
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.lat = msg_newer.lat;
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msg_older.lon = msg_newer.lon;
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msg_older.alt = msg_newer.alt;
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msg_older.x = msg_newer.x;
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msg_older.y = msg_newer.y;
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msg_older.z = msg_newer.z;
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// Note: roll and pitch from v1 are ignored in v0
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msg_older.yaw = msg_newer.yaw;
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msg_older.valid_alt = msg_newer.valid_alt;
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msg_older.valid_hpos = msg_newer.valid_hpos;
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msg_older.valid_lpos = msg_newer.valid_lpos;
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msg_older.manual_home = msg_newer.manual_home;
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msg_older.update_count = msg_newer.update_count;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(HomePositionV1Translation);
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