mag_calibration_status.cpp

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#include <mavros/mavros_plugin.h>
#include <std_msgs/UInt8.h>
#include <mavros_msgs/MagnetometerReporter.h>
#include <bitset>
 
namespace mavros {
namespace std_plugins {
class MagCalStatusPlugin : public plugin::PluginBase {
public:
        MagCalStatusPlugin() : PluginBase(),
                mcs_nh("~mag_calibration")
        { }
 
        void initialize(UAS &uas_)
        {
                PluginBase::initialize(uas_);
                mcs_pub = mcs_nh.advertise<std_msgs::UInt8>("status", 2, true);
                mcr_pub = mcs_nh.advertise<mavros_msgs::MagnetometerReporter>("report", 2, true);
        }
 
        Subscriptions get_subscriptions() {
                return {
                        /* automatic message deduction by second argument */
                        make_handler(&MagCalStatusPlugin::handle_status),
                        make_handler(&MagCalStatusPlugin::handle_report),
                };
        }
 
private:
        ros::NodeHandle mcs_nh;
        ros::Publisher mcs_pub;
        ros::Publisher mcr_pub;
        std::array<bool, 8> calibration_show;
        std::array<uint8_t, 8> _rg_compass_cal_progress;
        //Send progress of magnetometer calibration
        void handle_status(const mavlink::mavlink_message_t *, mavlink::ardupilotmega::msg::MAG_CAL_PROGRESS &mp) {
                auto mcs = boost::make_shared<std_msgs::UInt8>();
 
                // How many compasses are we calibrating?
                std::bitset<8> compass_calibrating = mp.cal_mask;
 
                if (compass_calibrating[mp.compass_id]) {
                        // Each compass gets a portion of the overall progress
                        if (mp.completion_pct < 95) {
                                calibration_show[mp.compass_id] = true;
                        }
                        _rg_compass_cal_progress[mp.compass_id] = mp.completion_pct;
                }
 
                // Prevent data over 100% after cal_mask reset bit assigned to compass_id
                uint16_t total_percentage = 0;
                for (size_t i = 0; i < 8 && (compass_calibrating >> i).any(); i++) {
                        if (compass_calibrating[i]) {
                                total_percentage += static_cast<uint8_t>(_rg_compass_cal_progress[i]);
                        }
                }
 
                mcs->data = total_percentage / compass_calibrating.count();
 
                mcs_pub.publish(mcs);
        }
 
        //Send report after calibration is done
        void handle_report(const mavlink::mavlink_message_t *, mavlink::common::msg::MAG_CAL_REPORT &mr) {
                if (calibration_show[mr.compass_id]) {
                        auto mcr = boost::make_shared<mavros_msgs::MagnetometerReporter>();
                        mcr->header.stamp = ros::Time::now();
                        mcr->header.frame_id = std::to_string(mr.compass_id);
                        mcr->report = mr.cal_status;
                        mcr->confidence = mr.orientation_confidence;
                        mcr_pub.publish(mcr);
                        calibration_show[mr.compass_id] = false;
                }
        }
};
}       // namespace std_plugins
}       // namespace mavros
 
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::MagCalStatusPlugin, mavros::plugin::PluginBase)