/**
* Telemetry transmit task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
inputPort = telemetryPort;
}
if (inputPort) {
// Block until data are available
uint8_t serial_data[1];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(serial_data[i]);
}
}
} else {
vTaskDelay(5);
}
}
}
/**
* Telemetry transmit task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
int32_t len;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
inputPort = telemetryPort;
}
// Block until data are available
// TODO: Currently we periodically check the buffer for data, update once the PIOS_COM is made blocking
len = PIOS_COM_ReceiveBufferUsed(inputPort);
for (int32_t n = 0; n < len; ++n) {
UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(inputPort));
}
vTaskDelay(5); // <- remove when blocking calls are implemented
}
}
/**
* Transmit data buffer to the modem or USB port.
* \param[in] data Data buffer to send
* \param[in] length Length of buffer
* \return 0 Success
*/
static int32_t transmitData(uint8_t * data, int32_t length)
{
uint32_t outputPort;
// Determine input port (USB takes priority over telemetry port)
#if defined(PIOS_INCLUDE_USB_HID)
if (PIOS_USB_HID_CheckAvailable(0)) {
outputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
outputPort = telemetryPort;
}
return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
}
/**
* Telemetry transmit task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
uint8_t c;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
inputPort = telemetryPort;
}
mavlink_channel_t mavlink_chan = MAVLINK_COMM_0;
// Block until a byte is available
PIOS_COM_ReceiveBuffer(inputPort, &c, 1, portMAX_DELAY);
// And process it
if (mavlink_parse_char(mavlink_chan, c, &rx_msg, &rx_status))
{
// Handle packet with waypoint component
mavlink_wpm_message_handler(&rx_msg);
// Handle packet with parameter component
mavlink_pm_message_handler(mavlink_chan, &rx_msg);
switch (rx_msg.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
// Check if this is the gcs
mavlink_heartbeat_t beat;
mavlink_msg_heartbeat_decode(&rx_msg, &beat);
if (beat.type == MAV_TYPE_GCS)
{
// Got heartbeat from the GCS, we're good!
lastOperatorHeartbeat = xTaskGetTickCount() * portTICK_RATE_MS;
}
}
break;
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(&rx_msg, &mode);
// Check if this system should change the mode
if (mode.target_system == mavlink_system.sysid)
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
switch (mode.base_mode)
{
case MAV_MODE_MANUAL_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_MANUAL;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_MANUAL_DISARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_MANUAL;
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
}
break;
case MAV_MODE_PREFLIGHT:
{
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
}
break;
case MAV_MODE_STABILIZE_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED1;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_GUIDED_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED2;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_AUTO_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED3;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
}
bool newHilEnabled = (mode.base_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL);
if (newHilEnabled != hilEnabled)
{
if (newHilEnabled)
{
// READ-ONLY flag write to ActuatorCommand
UAVObjMetadata meta;
UAVObjHandle handle = ActuatorCommandHandle();
UAVObjGetMetadata(handle, &meta);
meta.access = ACCESS_READONLY;
UAVObjSetMetadata(handle, &meta);
mavlink_missionlib_send_gcs_string("ENABLING HIL SIMULATION");
mavlink_missionlib_send_gcs_string("+++++++++++++++++++++++");
mavlink_missionlib_send_gcs_string("BLOCKING ALL ACTUATORS");
}
else
{
// READ-ONLY flag write to ActuatorCommand
UAVObjMetadata meta;
UAVObjHandle handle = ActuatorCommandHandle();
UAVObjGetMetadata(handle, &meta);
meta.access = ACCESS_READWRITE;
UAVObjSetMetadata(handle, &meta);
mavlink_missionlib_send_gcs_string("DISABLING HIL SIMULATION");
mavlink_missionlib_send_gcs_string("+++++++++++++++++++++++");
mavlink_missionlib_send_gcs_string("ACTIVATING ALL ACTUATORS");
}
}
hilEnabled = newHilEnabled;
FlightStatusSet(&flightStatus);
// Check HIL
bool hilEnabled = (mode.base_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL);
enableHil(hilEnabled);
}
}
break;
case MAVLINK_MSG_ID_HIL_STATE:
{
if (hilEnabled)
{
mavlink_hil_state_t hil;
mavlink_msg_hil_state_decode(&rx_msg, &hil);
// Write GPSPosition
GPSPositionData gps;
GPSPositionGet(&gps);
gps.Altitude = hil.alt/10;
gps.Latitude = hil.lat/10;
gps.Longitude = hil.lon/10;
GPSPositionSet(&gps);
// Write PositionActual
PositionActualData pos;
PositionActualGet(&pos);
// FIXME WRITE POSITION HERE
PositionActualSet(&pos);
// Write AttitudeActual
AttitudeActualData att;
AttitudeActualGet(&att);
att.Roll = hil.roll;
att.Pitch = hil.pitch;
att.Yaw = hil.yaw;
// FIXME
//att.RollSpeed = hil.rollspeed;
//att.PitchSpeed = hil.pitchspeed;
//att.YawSpeed = hil.yawspeed;
// Convert to quaternion formulation
RPY2Quaternion(&attitudeActual.Roll, &attitudeActual.q1);
// Write AttitudeActual
AttitudeActualSet(&att);
// Write AttitudeRaw
AttitudeRawData raw;
AttitudeRawGet(&raw);
raw.gyros[0] = hil.rollspeed;
raw.gyros[1] = hil.pitchspeed;
raw.gyros[2] = hil.yawspeed;
raw.accels[0] = hil.xacc;
raw.accels[1] = hil.yacc;
raw.accels[2] = hil.zacc;
// raw.magnetometers[0] = hil.xmag;
// raw.magnetometers[0] = hil.ymag;
// raw.magnetometers[0] = hil.zmag;
AttitudeRawSet(&raw);
}
}
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// FIXME Implement
}
break;
}
}
}
}
