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mavlink: only send ATTITUDE/ATTITUDE_QUATERNION msgs on vehicle_attitude update #13184

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merged 2 commits into from
Oct 14, 2019
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mavlink: only send ATTITUDE/ATTITUDE_QUATERNION msgs on vehicle_attitude update #13184

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3efa53a
mavlink: only send ATTITUDE/ATTITUDE_QUATERNION msgs on vehicle_attit…
dagar Oct 14, 2019
25edf25
Merge branch 'master' into pr-mavlink_attitude_quat
dagar Oct 14, 2019
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26 changes: 10 additions & 16 deletions src/modules/mavlink/mavlink_messages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1185,7 +1185,6 @@ class MavlinkStreamAttitude : public MavlinkStream
MavlinkOrbSubscription *_att_sub;
MavlinkOrbSubscription *_angular_velocity_sub;
uint64_t _att_time{0};
uint64_t _angular_velocity_time{0};

/* do not allow top copying this class */
MavlinkStreamAttitude(MavlinkStreamAttitude &) = delete;
Expand All @@ -1200,18 +1199,16 @@ class MavlinkStreamAttitude : public MavlinkStream

bool send(const hrt_abstime t)
{
bool updated = false;
vehicle_attitude_s att;

vehicle_attitude_s att{};
vehicle_angular_velocity_s angular_velocity{};
updated |= _att_sub->update(&_att_time, &att);
updated |= _angular_velocity_sub->update(&_angular_velocity_time, &angular_velocity);
if (_att_sub->update(&_att_time, &att)) {
vehicle_angular_velocity_s angular_velocity{};
_angular_velocity_sub->update(&angular_velocity);

if (updated) {
mavlink_attitude_t msg{};

const matrix::Eulerf euler = matrix::Quatf(att.q);
msg.time_boot_ms = math::max(angular_velocity.timestamp, att.timestamp) / 1000;
msg.time_boot_ms = att.timestamp / 1000;
msg.roll = euler.phi();
msg.pitch = euler.theta();
msg.yaw = euler.psi();
Expand Down Expand Up @@ -1267,7 +1264,6 @@ class MavlinkStreamAttitudeQuaternion : public MavlinkStream
MavlinkOrbSubscription *_att_sub;
MavlinkOrbSubscription *_angular_velocity_sub;
uint64_t _att_time{0};
uint64_t _angular_velocity_time{0};

/* do not allow top copying this class */
MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &) = delete;
Expand All @@ -1281,17 +1277,15 @@ class MavlinkStreamAttitudeQuaternion : public MavlinkStream

bool send(const hrt_abstime t)
{
bool updated = false;
vehicle_attitude_s att;

vehicle_attitude_s att{};
vehicle_angular_velocity_s angular_velocity{};
updated |= _att_sub->update(&_att_time, &att);
updated |= _angular_velocity_sub->update(&_angular_velocity_time, &angular_velocity);
if (_att_sub->update(&_att_time, &att)) {
vehicle_angular_velocity_s angular_velocity{};
_angular_velocity_sub->update(&angular_velocity);

if (updated) {
mavlink_attitude_quaternion_t msg{};

msg.time_boot_ms = math::max(angular_velocity.timestamp, att.timestamp) / 1000;
msg.time_boot_ms = att.timestamp / 1000;
msg.q1 = att.q[0];
msg.q2 = att.q[1];
msg.q3 = att.q[2];
Expand Down