Skip to content

chore: restore mav updates #348

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
AskewParity merged 2 commits into from
Mar 5, 2026
Merged

chore: restore mav updates #348

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
39ddf25
chore: restore mav updates
AskewParity Feb 27, 2026
7bfcc9f
Update mav integration
kimichenn Mar 5, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
29 changes: 19 additions & 10 deletions src/network/mavlink.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,13 @@ MavlinkClient::MavlinkClient(OBCConfig config)
this->data.armed = armed;
});

this->telemetry->subscribe_heading([this](mavsdk::Telemetry::Heading heading) {
VLOG_F(DEBUG, "Heading: %d", heading.heading_deg);
Lock lock(this->data_mut);
this->data.heading_deg = heading.heading_deg;
});

// TODO: AFTER UPDATING TO MAV 3, REPLACE WITH MAVSDK IMPLIMENTATION
this->passthrough->subscribe_message(WIND_COV, [this](const mavlink_message_t& message) {
// LOG_F(INFO, "UNIX TIME: %lu", message.payload64[0]);

Expand All @@ -184,16 +191,18 @@ MavlinkClient::MavlinkClient(OBCConfig config)
this->data.wind.y = (message.payload64[1] >> 48) & 0xFF;
this->data.wind.z = (message.payload64[1] >> 40) & 0xFF;
});
// this->telemetry->subscribe_attitude_euler(
// [this](mavsdk::Telemetry::EulerAngle attitude) {
// VLOG_F(DEBUG, "Yaw: %f, Pitch: %f, Roll: %f)",
// attitude.yaw_deg, attitude.pitch_deg, attitude.roll_deg);

// Lock lock(this->data_mut);
// this->data.yaw_deg = attitude.yaw_deg;
// this->data.pitch_deg = attitude.pitch_deg;
// this->data.roll_deg = attitude.roll_deg;
// });


this->telemetry->subscribe_attitude_euler(
[this](mavsdk::Telemetry::EulerAngle attitude) {
VLOG_F(DEBUG, "Yaw: %f, Pitch: %f, Roll: %f)",
attitude.yaw_deg, attitude.pitch_deg, attitude.roll_deg);

Lock lock(this->data_mut);
this->data.yaw_deg = attitude.yaw_deg;
this->data.pitch_deg = attitude.pitch_deg;
this->data.roll_deg = attitude.roll_deg;
});
}

// Implement the triggerRelay method
Expand Down
3 changes: 3 additions & 0 deletions tests/integration/mavlink_client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,9 @@ int main(int argc, char *argv[]) {
LOG_S(INFO) << "LatLng: " << mav.latlng_deg().first <<
", " << mav.latlng_deg().second;
LOG_S(INFO) << "Heading: " << mav.heading_deg();
LOG_S(INFO) << "Yaw: " << mav.heading_deg();
LOG_S(INFO) << "Pitch: " << mav.pitch_deg();
LOG_S(INFO) << "Roll: " << mav.roll_deg();
std::this_thread::sleep_for(std::chrono::seconds(1));
}

Expand Down