[mw/mavlink] Add support for attitude messsage

src/morse/builder/data.py

@@ -133,7 +133,8 @@
         "default": {
             "socket": INTERFACE_DEFAULT_OUT,
             "yarp": INTERFACE_DEFAULT_OUT,
-            "text": INTERFACE_DEFAULT_OUT
+            "text": INTERFACE_DEFAULT_OUT,
+            "mavlink": 'morse.middleware.mavlink.attitude.AttitudeSensor',
             }
         },
     "morse.sensors.barometer.Barometer": {

src/morse/middleware/mavlink/attitude.py

@@ -0,0 +1,16 @@
+import logging; logger = logging.getLogger("morse." + __name__)
+from morse.middleware.mavlink.abstract_mavlink import MavlinkSensor
+from pymavlink.dialects.v10 import common as mavlink
+
+class AttitudeSensor(MavlinkSensor):
+    def make_msg(self):
+        # Expects the coordinate in aeronautical frame
+        self._msg = mavlink.MAVLink_attitude_message(
+                self.time_since_boot(),
+                self.data['rotation'][0],
+                self.data['rotation'][1],
+                self.data['rotation'][2],
+                self.data['angular_velocity'][0],
+                self.data['angular_velocity'][1],
+                self.data['angular_velocity'][2]
+        )