uavcannode: add global navigation solution

boards/ark/can-gps/default.px4board

@@ -14,6 +14,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GLOBAL_NAVIGATION_SOLUTION=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y

boards/ark/can-rtk-gps/default.px4board

@@ -14,6 +14,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_GLOBAL_NAVIGATION_SOLUTION=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y

src/drivers/uavcannode/Kconfig

@@ -29,6 +29,10 @@ if DRIVERS_UAVCANNODE
         bool "Include flow measurement"
         default n
 
+    config UAVCANNODE_GLOBAL_NAVIGATION_SOLUTION
+        bool "Include Global Navigation Solution"
+        default n
+
     config UAVCANNODE_GNSS_FIX
         bool "Include GNSS fix"
         default n

src/drivers/uavcannode/Publishers/GlobalNavigationSolution.hpp

@@ -0,0 +1,122 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <cmath>
+
+#include "UavcanPublisherBase.hpp"
+
+#include <uavcan/navigation/GlobalNavigationSolution.hpp>
+
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_local_position.h>
+
+namespace uavcannode
+{
+
+class GlobalNavigationSolution :
+	public UavcanPublisherBase,
+	public uORB::SubscriptionCallbackWorkItem,
+	private uavcan::Publisher<uavcan::navigation::GlobalNavigationSolution>
+{
+public:
+	GlobalNavigationSolution(px4::WorkItem *work_item, uavcan::INode &node) :
+		UavcanPublisherBase(uavcan::navigation::GlobalNavigationSolution::DefaultDataTypeID),
+		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(vehicle_local_position)),
+		uavcan::Publisher<uavcan::navigation::GlobalNavigationSolution>(node)
+	{
+		this->setPriority(uavcan::TransferPriority::OneLowerThanHighest);
+	}
+
+	void PrintInfo() override
+	{
+		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
+			printf("\t%s -> %s:%d\n",
+			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
+			       uavcan::navigation::GlobalNavigationSolution::getDataTypeFullName(),
+			       id());
+		}
+	}
+
+	void BroadcastAnyUpdates() override
+	{
+		using uavcan::navigation::GlobalNavigationSolution;
+
+		// vehicle_local_position -> uavcan::navigation::GlobalNavigationSolution
+		vehicle_local_position_s localposition;
+
+		if (uORB::SubscriptionCallbackWorkItem::update(&localposition)) {
+			uavcan::navigation::GlobalNavigationSolution navigationsolution{};
+
+			//navigationsolution.timestamp = 0; // get uavcan monotonic time?
+
+			if (localposition.xy_global) {
+				navigationsolution.latitude  = localposition.ref_lat;
+				navigationsolution.longitude = localposition.ref_lon;
+			}
+
+			if (localposition.z_global) {
+				//navigationsolution.height_ellipsoid = localposition.alt_ellipsoid;
+				navigationsolution.height_msl       = localposition.ref_alt;
+			}
+
+			//navigationsolution.height_agl
+			//navigationsolution.height_baro
+
+			//navigationsolution.qnh_hpa
+
+			//navigationsolution.orientation_xyzw
+
+			//navigationsolution.pose_covariance
+
+			navigationsolution.linear_velocity_body[0] = localposition.vx;
+			navigationsolution.linear_velocity_body[1] = localposition.vy;
+			navigationsolution.linear_velocity_body[2] = localposition.vz;
+
+			//navigationsolution.angular_velocity_body
+
+			navigationsolution.linear_acceleration_body[0] = localposition.ax;
+			navigationsolution.linear_acceleration_body[1] = localposition.ay;
+			navigationsolution.linear_acceleration_body[2] = localposition.az;
+
+			//navigationsolution.velocity_covariance
+
+			uavcan::Publisher<uavcan::navigation::GlobalNavigationSolution>::broadcast(navigationsolution);
+
+			// ensure callback is registered
+			uORB::SubscriptionCallbackWorkItem::registerCallback();
+		}
+	}
+};
+} // namespace uavcannode

src/drivers/uavcannode/UavcanNode.cpp

@@ -56,6 +56,10 @@
 #include "Publishers/HygrometerMeasurement.hpp"
 #endif // UAVCANNODE_HYGROMETER_MEASUREMENT
 
+#if defined(CONFIG_UAVCANNODE_GLOBAL_NAVIGATION_SOLUTION)
+#include "Publishers/GlobalNavigationSolution.hpp"
+#endif // CONFIG_UAVCANNODE_GLOBAL_NAVIGATION_SOLUTION
+
 #if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 #include "Publishers/GnssFix2.hpp"
 #include "Publishers/GnssAuxiliary.hpp"
@@ -370,6 +374,10 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 	_publisher_list.add(new HygrometerMeasurement(this, _node));
 #endif // UAVCANNODE_HYGROMETER_MEASUREMENT
 
+#if defined(CONFIG_UAVCANNODE_GLOBAL_NAVIGATION_SOLUTION)
+	_publisher_list.add(new GlobalNavigationSolution(this, _node));
+#endif // CONFIG_UAVCANNODE_GLOBAL_NAVIGATION_SOLUTION
+
 #if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 	_publisher_list.add(new GnssFix2(this, _node));
 	_publisher_list.add(new GnssAuxiliary(this, _node));