gnss_relative.cpp

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#include "gnss_relative.hpp"

#include <drivers/drv_hrt.h>
#include <lib/mathlib/math/Limits.hpp>

const char *const UavcanGnssRelativeBridge::NAME = "gnss_relative";

UavcanGnssRelativeBridge::UavcanGnssRelativeBridge(uavcan::INode &node, NodeInfoPublisher *node_info_publisher) :
	UavcanSensorBridgeBase("uavcan_gnss_relative", ORB_ID(sensor_gnss_relative), node_info_publisher),
	_sub_rel_pos_heading(node)
{
	set_device_type(DRV_GPS_DEVTYPE_UAVCAN);
}

int
UavcanGnssRelativeBridge::init()
{
	int res = _sub_rel_pos_heading.start(RelPosHeadingCbBinder(this, &UavcanGnssRelativeBridge::rel_pos_heading_sub_cb));

	if (res < 0) {
		DEVICE_LOG("failed to start uavcan sub: %d", res);
		return res;
	}

	return 0;
}

void UavcanGnssRelativeBridge::rel_pos_heading_sub_cb(const
		uavcan::ReceivedDataStructure<ardupilot::gnss::RelPosHeading> &msg)
{
	sensor_gnss_relative_s sensor_gnss_relative{};

	sensor_gnss_relative.timestamp_sample = uavcan::UtcTime(msg.timestamp).toUSec();

	sensor_gnss_relative.heading_valid = msg.reported_heading_acc_available;
	sensor_gnss_relative.heading = math::radians(msg.reported_heading_deg);
	sensor_gnss_relative.heading_accuracy = math::radians(msg.reported_heading_acc_deg);
	sensor_gnss_relative.position_length = msg.relative_distance_m;
	sensor_gnss_relative.position[2] = msg.relative_down_pos_m;

	sensor_gnss_relative.device_id = make_uavcan_device_id(msg);

	// Register GPS capability with NodeInfoPublisher after first successful message
	if (_node_info_publisher != nullptr) {
		_node_info_publisher->registerDeviceCapability(msg.getSrcNodeID().get(),
				sensor_gnss_relative.device_id,
				NodeInfoPublisher::DeviceCapability::GPS);
	}

	sensor_gnss_relative.timestamp = hrt_absolute_time();

	publish(msg.getSrcNodeID().get(), &sensor_gnss_relative);
}