int m_cd(t_data *data)
{
char *pwd_asked;
char *start_pwd;
int ret;
bool go_home;
if (data->env == NULL || data->env[0] == NULL || data->env[1] == NULL)
return (0);
go_home = false;
pwd_asked = data->cmd[1];
pwd_asked = set_home(data, &go_home, pwd_asked);
if (data->old_pwd == NULL && pwd_asked[0] == '-')
return (0);
if (pwd_asked[0] == '-')
pwd_asked = data->old_pwd;
data->old_pwd = my_strdup(&data->pwd[4]);
ret = chdir(pwd_asked);
if (ret == 0)
{
start_pwd = data->pwd;
change_path(data, pwd_asked, start_pwd, go_home);
}
else
cannot_access(pwd_asked);
return (0);
}
/*
read the GPS
*/
void Tracker::update_GPS(void)
{
gps.update();
static uint32_t last_gps_msg_ms;
static uint8_t ground_start_count = 5;
if (gps.last_message_time_ms() != last_gps_msg_ms &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
last_gps_msg_ms = gps.last_message_time_ms();
if (ground_start_count > 1) {
ground_start_count--;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0 && current_loc.lng == 0) {
ground_start_count = 5;
} else {
// Now have an initial GPS position
// use it as the HOME position in future startups
current_loc = gps.location();
set_home(current_loc);
if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
ground_start_count = 0;
}
}
}
}
int YARPMEIDeviceDriver::setHomeProcedure(void *cmd)
{
int16 rc = 0;
SingleAxisParameters *tmp = (SingleAxisParameters *) cmd;
int16 ev = _events[*(ControlBoardEvents *)tmp->parameters];
SingleAxisParameters x;
int ipar;
double dpar;
x.axis = tmp->axis;
x.parameters = &ipar;
ipar = CBIndexOnly; // index_only
setHomeIndexConfig(&cmd);
ipar = 0; // (active low)
setHomeLevel(&cmd);
rc = set_home(tmp->axis, ev);
x.parameters = &dpar;
dpar = 50000.0; // stop rate (acc)
setStopRate(&cmd);
return rc;
}
void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
{
if (cmd.p1 == 1 && have_position) {
set_home_to_current_location(false);
} else {
set_home(cmd.content.location, false);
}
}
// set_home_to_current_location - set home to current GPS location
bool Copter::set_home_to_current_location() {
// get current location from EKF
Location temp_loc;
if (inertial_nav.get_location(temp_loc)) {
return set_home(temp_loc);
}
return false;
}
// set_home_and_lock - sets ahrs home (used for RTL) to specified location and locks so it cannot be moved
// unless this function is called again
bool Copter::set_home_and_lock(const Location& loc)
{
if (set_home(loc)) {
set_home_state(HOME_SET_AND_LOCKED);
return true;
}
return false;
}
// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin vertically
void Copter::set_home_to_current_location_inflight() {
// get current location from EKF
Location temp_loc;
if (inertial_nav.get_location(temp_loc)) {
const struct Location &ekf_origin = inertial_nav.get_origin();
temp_loc.alt = ekf_origin.alt;
set_home(temp_loc);
}
}
// set ahrs home to current location from EKF reported location or GPS
bool Rover::set_home_to_current_location(bool lock)
{
// use position from EKF if available otherwise use GPS
Location temp_loc;
if (ahrs.get_position(temp_loc)) {
return set_home(temp_loc, lock);
}
return false;
}
void Copter::do_set_home(const AP_Mission::Mission_Command& cmd)
{
if(cmd.p1 == 1 || (cmd.content.location.lat == 0 && cmd.content.location.lng == 0 && cmd.content.location.alt == 0)) {
set_home_to_current_location();
} else {
if (!far_from_EKF_origin(cmd.content.location)) {
set_home(cmd.content.location);
}
}
}
int YARPMEIDeviceDriver::setHome(void *cmd)
{
int16 rc = 0;
SingleAxisParameters *tmp = (SingleAxisParameters *) cmd;
int axis = tmp->axis;
ControlBoardEvents *event = (ControlBoardEvents *) tmp->parameters;
int16 ev = _events[*event];
rc = set_home(axis, ev);
return rc;
}
// set ahrs home to current location from inertial-nav location
bool Rover::set_home_to_current_location(bool lock)
{
Location temp_loc;
if (ahrs.have_inertial_nav() && ahrs.get_position(temp_loc)) {
if (!set_home(temp_loc, lock)) {
return false;
}
// we have successfully set AHRS home, set it for SmartRTL
g2.smart_rtl.set_home(true);
return true;
}
return false;
}
void Sub::do_set_home(const AP_Mission::Mission_Command& cmd)
{
if (cmd.p1 == 1 || (cmd.content.location.lat == 0 && cmd.content.location.lng == 0 && cmd.content.location.alt == 0)) {
if (!set_home_to_current_location(false)) {
// silently ignore this failure
}
} else {
if (!far_from_EKF_origin(cmd.content.location)) {
if (!set_home(cmd.content.location, false)) {
// silently ignore this failure
}
}
}
}
// set_home_to_current_location_inflight - set home to current GPS location (horizontally) and EKF origin vertically
void Copter::set_home_to_current_location_inflight() {
// get current location from EKF
Location temp_loc;
if (inertial_nav.get_location(temp_loc)) {
const struct Location &ekf_origin = inertial_nav.get_origin();
temp_loc.alt = ekf_origin.alt;
if (!set_home(temp_loc, false)) {
return;
}
// we have successfully set AHRS home, set it for SmartRTL
#if MODE_SMARTRTL_ENABLED == ENABLED
g2.smart_rtl.set_home(true);
#endif
}
}
// set_home_to_current_location - set home to current GPS location
bool Copter::set_home_to_current_location(bool lock) {
// get current location from EKF
Location temp_loc;
if (inertial_nav.get_location(temp_loc)) {
if (!set_home(temp_loc, lock)) {
return false;
}
// we have successfully set AHRS home, set it for SmartRTL
#if MODE_SMARTRTL_ENABLED == ENABLED
g2.smart_rtl.set_home(true);
#endif
return true;
}
return false;
}
// set_home_to_current_location - set home to current GPS location
bool Sub::set_home_to_current_location(bool lock)
{
// get current location from EKF
Location temp_loc;
if (inertial_nav.get_location(temp_loc)) {
// Make home always at the water's surface.
// This allows disarming and arming again at depth.
// This also ensures that mission items with relative altitude frame, are always
// relative to the water's surface, whether in a high elevation lake, or at sea level.
temp_loc.alt -= barometer.get_altitude() * 100.0f;
return set_home(temp_loc, lock);
}
return false;
}
/*
read the GPS
*/
void Tracker::update_GPS(void)
{
gps.update();
static uint32_t last_gps_msg_ms;
static uint8_t ground_start_count = 5;
if (gps.last_message_time_ms() != last_gps_msg_ms &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
last_gps_msg_ms = gps.last_message_time_ms();
if (ground_start_count > 1) {
ground_start_count--;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0 && current_loc.lng == 0) {
ground_start_count = 5;
} else {
// Now have an initial GPS position
// use it as the HOME position in future startups
current_loc = gps.location();
set_home(current_loc);
// set system clock for log timestamps
uint64_t gps_timestamp = gps.time_epoch_usec();
hal.util->set_system_clock(gps_timestamp);
// update signing timestamp
GCS_MAVLINK::update_signing_timestamp(gps_timestamp);
if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
ground_start_count = 0;
}
}
// log GPS data
if (should_log(MASK_LOG_GPS)) {
DataFlash.Log_Write_GPS(gps, 0);
}
}
}
static void stats_convert(struct stats_file *file)
{
struct stats_file temp_file;
int err;
DBG("converting data file %s", file->name);
stats_file_update_cache32(file);
bzero(&temp_file, sizeof(struct stats_file));
err = stats_open_temp(&temp_file);
if (err < 0) {
connman_error("failed to open temporary file during data conversion");
return;
}
stats_file_setup(&temp_file);
struct stats_iter32 data_iter;
struct stats_record32 *record;
data_iter.file = file;
data_iter.begin = get_iterator_begin32(data_iter.file);
data_iter.end = get_iterator_end32(data_iter.file);
data_iter.it = data_iter.begin;
record = get_next_record32(&data_iter);
while (record) {
struct stats_record *next;
if (temp_file.last == get_end(&temp_file)) {
err = stats_file_remap(&temp_file, temp_file.len + sysconf(_SC_PAGESIZE));
if (err < 0) {
connman_error("failed to extend file %s", temp_file.name);
unlink(temp_file.name);
stats_file_unmap(&temp_file);
TFR(close(temp_file.fd));
stats_file_cleanup(&temp_file);
return;
}
stats_file_update_cache(&temp_file);
}
next = get_next(&temp_file, get_end(&temp_file));
if (next == get_begin(&temp_file)) {
connman_error("ring buffer is full");
unlink(temp_file.name);
stats_file_unmap(&temp_file);
TFR(close(temp_file.fd));
stats_file_cleanup(&temp_file);
return;
}
next->ts = record->ts;
next->roaming = record->roaming;
next->data.rx_packets = record->data.rx_packets;
next->data.tx_packets = record->data.tx_packets;
next->data.rx_bytes = record->data.rx_bytes;
next->data.tx_bytes = record->data.tx_bytes;
next->data.rx_errors = record->data.rx_errors;
next->data.tx_errors = record->data.tx_errors;
next->data.rx_dropped = record->data.rx_dropped;
next->data.tx_dropped = record->data.tx_dropped;
next->data.time = record->data.time;
if (next->roaming)
set_roaming(&temp_file, next);
else
set_home(&temp_file, next);
set_end(&temp_file, next);
record = get_next_record32(&data_iter);
}
// close and swap
stats_file_unmap(file);
TFR(close(file->fd));
err = rename(temp_file.name, file->name);
if (err < 0)
connman_error("failed to rename converted data file %s to %s", temp_file.name, file->name);
g_free(temp_file.name);
temp_file.name = file->name;
memcpy(file, &temp_file, sizeof(struct stats_file));
}
MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch(packet.command) {
case MAV_CMD_DO_CHANGE_SPEED: {
// if we're in failsafe modes (e.g., RTL, LOITER) or in pilot
// controlled modes (e.g., MANUAL, TRAINING)
// this command should be ignored since it comes in from GCS
// or a companion computer:
if ((plane.control_mode != &plane.mode_guided) &&
(plane.control_mode != &plane.mode_auto) &&
(plane.control_mode != &plane.mode_avoidADSB)) {
// failed
return MAV_RESULT_FAILED;
}
AP_Mission::Mission_Command cmd;
if (AP_Mission::mavlink_cmd_long_to_mission_cmd(packet, cmd) == MAV_MISSION_ACCEPTED) {
plane.do_change_speed(cmd);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
case MAV_CMD_NAV_LOITER_UNLIM:
plane.set_mode(plane.mode_loiter, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
plane.set_mode(plane.mode_rtl, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_TAKEOFF: {
// user takeoff only works with quadplane code for now
// param7 : altitude [metres]
float takeoff_alt = packet.param7;
if (plane.quadplane.available() && plane.quadplane.do_user_takeoff(takeoff_alt)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
case MAV_CMD_MISSION_START:
plane.set_mode(plane.mode_auto, MODE_REASON_GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (plane.arm_motors(AP_Arming::Method::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
} else if (is_zero(packet.param1)) {
if (plane.disarm_motors()) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_DO_LAND_START:
// attempt to switch to next DO_LAND_START command in the mission
if (plane.mission.jump_to_landing_sequence()) {
plane.set_mode(plane.mode_auto, MODE_REASON_UNKNOWN);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_GO_AROUND:
{
uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
bool is_in_landing = (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) ||
(mission_id == MAV_CMD_NAV_LAND) ||
(mission_id == MAV_CMD_NAV_VTOL_LAND);
if (is_in_landing) {
// fly a user planned abort pattern if available
if (plane.mission.jump_to_abort_landing_sequence()) {
return MAV_RESULT_ACCEPTED;
}
// only fly a fixed wing abort if we aren't doing quadplane stuff, or potentially
// shooting a quadplane approach
if ((!plane.quadplane.available()) ||
((!plane.quadplane.in_vtol_auto()) &&
(!(plane.quadplane.options & QuadPlane::OPTION_MISSION_LAND_FW_APPROACH)))) {
// Initiate an aborted landing. This will trigger a pitch-up and
// climb-out to a safe altitude holding heading then one of the
// following actions will occur, check for in this order:
// - If MAV_CMD_CONTINUE_AND_CHANGE_ALT is next command in mission,
// increment mission index to execute it
// - else if DO_LAND_START is available, jump to it
// - else decrement the mission index to repeat the landing approach
if (!is_zero(packet.param1)) {
plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
}
if (plane.landing.request_go_around()) {
plane.auto_state.next_wp_crosstrack = false;
return MAV_RESULT_ACCEPTED;
}
}
}
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_FENCE_ENABLE:
if (!plane.geofence_present()) {
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence not configured");
return MAV_RESULT_FAILED;
}
switch((uint16_t)packet.param1) {
case 0:
if (! plane.geofence_set_enabled(false, GCS_TOGGLED)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case 1:
if (! plane.geofence_set_enabled(true, GCS_TOGGLED)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case 2: //disable fence floor only
if (! plane.geofence_set_floor_enabled(false)) {
return MAV_RESULT_FAILED;
}
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence floor disabled");
return MAV_RESULT_ACCEPTED;
default:
break;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_SET_HOME: {
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude (absolute)
if (is_equal(packet.param1,1.0f)) {
if (!plane.set_home_persistently(AP::gps().location())) {
return MAV_RESULT_FAILED;
}
AP::ahrs().lock_home();
return MAV_RESULT_ACCEPTED;
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc {};
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (!set_home(new_home_loc, true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_AUTOTUNE_ENABLE:
// param1 : enable/disable
plane.autotune_enable(!is_zero(packet.param1));
return MAV_RESULT_ACCEPTED;
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// configure or release parachute
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
plane.parachute.enabled(false);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_ENABLE:
plane.parachute.enabled(true);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
if (plane.parachute.released()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute already released");
return MAV_RESULT_FAILED;
}
if (!plane.parachute.enabled()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute not enabled");
return MAV_RESULT_FAILED;
}
if (!plane.parachute_manual_release()) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
default:
break;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
// param5 : motor count (number of motors to test in sequence)
return plane.quadplane.mavlink_motor_test_start(chan,
(uint8_t)packet.param1,
(uint8_t)packet.param2,
(uint16_t)packet.param3,
packet.param4,
(uint8_t)packet.param5);
case MAV_CMD_DO_VTOL_TRANSITION:
if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_ENGINE_CONTROL:
if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet);
}
}
void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
#if GEOFENCE_ENABLED == ENABLED
// receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: {
mavlink_fence_point_t packet;
mavlink_msg_fence_point_decode(msg, &packet);
if (plane.g.fence_action != FENCE_ACTION_NONE) {
send_text(MAV_SEVERITY_WARNING,"Fencing must be disabled");
} else if (packet.count != plane.g.fence_total) {
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
} else if (!check_latlng(packet.lat,packet.lng)) {
send_text(MAV_SEVERITY_WARNING,"Invalid fence point, lat or lng too large");
} else {
plane.set_fence_point_with_index(Vector2l(packet.lat*1.0e7f, packet.lng*1.0e7f), packet.idx);
}
break;
}
// send a fence point to GCS
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
mavlink_fence_fetch_point_t packet;
mavlink_msg_fence_fetch_point_decode(msg, &packet);
if (packet.idx >= plane.g.fence_total) {
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
} else {
Vector2l point = plane.get_fence_point_with_index(packet.idx);
mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, plane.g.fence_total,
point.x*1.0e-7f, point.y*1.0e-7f);
}
break;
}
#endif // GEOFENCE_ENABLED
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg->sysid != plane.g.sysid_my_gcs) {
break; // only accept control from our gcs
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
if (packet.target != plane.g.sysid_this_mav) {
break; // only accept messages aimed at us
}
uint32_t tnow = AP_HAL::millis();
manual_override(plane.channel_roll, packet.y, 1000, 2000, tnow);
manual_override(plane.channel_pitch, packet.x, 1000, 2000, tnow, true);
manual_override(plane.channel_throttle, packet.z, 0, 1000, tnow);
manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
plane.failsafe.last_heartbeat_ms = tnow;
break;
}
case MAVLINK_MSG_ID_HEARTBEAT:
{
// We keep track of the last time we received a heartbeat from
// our GCS for failsafe purposes
if (msg->sysid != plane.g.sysid_my_gcs) break;
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
case MAVLINK_MSG_ID_HIL_STATE:
{
#if HIL_SUPPORT
if (plane.g.hil_mode != 1) {
break;
}
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
last_hil_state = packet;
// set gps hil sensor
const Location loc{packet.lat, packet.lon, packet.alt/10, Location::AltFrame::ABSOLUTE};
Vector3f vel(packet.vx, packet.vy, packet.vz);
vel *= 0.01f;
// setup airspeed pressure based on 3D speed, no wind
plane.airspeed.setHIL(sq(vel.length()) / 2.0f + 2013);
plane.gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
packet.time_usec/1000,
loc, vel, 10, 0);
// rad/sec
Vector3f gyros;
gyros.x = packet.rollspeed;
gyros.y = packet.pitchspeed;
gyros.z = packet.yawspeed;
// m/s/s
Vector3f accels;
accels.x = packet.xacc * GRAVITY_MSS*0.001f;
accels.y = packet.yacc * GRAVITY_MSS*0.001f;
accels.z = packet.zacc * GRAVITY_MSS*0.001f;
plane.ins.set_gyro(0, gyros);
plane.ins.set_accel(0, accels);
plane.barometer.setHIL(packet.alt*0.001f);
plane.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
plane.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
// cope with DCM getting badly off due to HIL lag
if (plane.g.hil_err_limit > 0 &&
(fabsf(packet.roll - plane.ahrs.roll) > ToRad(plane.g.hil_err_limit) ||
fabsf(packet.pitch - plane.ahrs.pitch) > ToRad(plane.g.hil_err_limit) ||
wrap_PI(fabsf(packet.yaw - plane.ahrs.yaw)) > ToRad(plane.g.hil_err_limit))) {
plane.ahrs.reset_attitude(packet.roll, packet.pitch, packet.yaw);
}
#endif
break;
}
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{
handle_radio_status(msg, plane.should_log(MASK_LOG_PM));
break;
}
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
plane.rangefinder.handle_msg(msg);
break;
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE
plane.terrain.handle_data(chan, msg);
#endif
break;
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
{
// Only allow companion computer (or other external controller) to
// control attitude in GUIDED mode. We DON'T want external control
// in e.g., RTL, CICLE. Specifying a single mode for companion
// computer control is more safe (even more so when using
// FENCE_ACTION = 4 for geofence failures).
if ((plane.control_mode != &plane.mode_guided) &&
(plane.control_mode != &plane.mode_avoidADSB)) { // don't screw up failsafes
break;
}
mavlink_set_attitude_target_t att_target;
mavlink_msg_set_attitude_target_decode(msg, &att_target);
// Mappings: If any of these bits are set, the corresponding input should be ignored.
// NOTE, when parsing the bits we invert them for easier interpretation but transport has them inverted
// bit 1: body roll rate
// bit 2: body pitch rate
// bit 3: body yaw rate
// bit 4: unknown
// bit 5: unknown
// bit 6: reserved
// bit 7: throttle
// bit 8: attitude
// if not setting all Quaternion values, use _rate flags to indicate which fields.
// Extract the Euler roll angle from the Quaternion.
Quaternion q(att_target.q[0], att_target.q[1],
att_target.q[2], att_target.q[3]);
// NOTE: att_target.type_mask is inverted for easier interpretation
att_target.type_mask = att_target.type_mask ^ 0xFF;
uint8_t attitude_mask = att_target.type_mask & 0b10000111; // q plus rpy
uint32_t now = AP_HAL::millis();
if ((attitude_mask & 0b10000001) || // partial, including roll
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.x = degrees(q.get_euler_roll()) * 100.0f;
// Update timer for external roll to the nav control
plane.guided_state.last_forced_rpy_ms.x = now;
}
if ((attitude_mask & 0b10000010) || // partial, including pitch
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.y = degrees(q.get_euler_pitch()) * 100.0f;
// Update timer for external pitch to the nav control
plane.guided_state.last_forced_rpy_ms.y = now;
}
if ((attitude_mask & 0b10000100) || // partial, including yaw
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.z = degrees(q.get_euler_yaw()) * 100.0f;
// Update timer for external yaw to the nav control
plane.guided_state.last_forced_rpy_ms.z = now;
}
if (att_target.type_mask & 0b01000000) { // throttle
plane.guided_state.forced_throttle = att_target.thrust * 100.0f;
// Update timer for external throttle
plane.guided_state.last_forced_throttle_ms = now;
}
break;
}
case MAVLINK_MSG_ID_SET_HOME_POSITION:
{
mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(msg, &packet);
Location new_home_loc {};
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
if (!set_home(new_home_loc, false)) {
// silently fails...
break;
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
{
// decode packet
mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
// exit if vehicle is not in Guided mode
if (plane.control_mode != &plane.mode_guided) {
break;
}
// only local moves for now
if (packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED) {
break;
}
// just do altitude for now
plane.next_WP_loc.alt += -packet.z*100.0;
gcs().send_text(MAV_SEVERITY_INFO, "Change alt to %.1f",
(double)((plane.next_WP_loc.alt - plane.home.alt)*0.01));
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
{
// Only want to allow companion computer position control when
// in a certain mode to avoid inadvertently sending these
// kinds of commands when the autopilot is responding to problems
// in modes such as RTL, CIRCLE, etc. Specifying ONLY one mode
// for companion computer control is more safe (provided
// one uses the FENCE_ACTION = 4 (RTL) for geofence failures).
if (plane.control_mode != &plane.mode_guided && plane.control_mode != &plane.mode_avoidADSB) {
//don't screw up failsafes
break;
}
mavlink_set_position_target_global_int_t pos_target;
mavlink_msg_set_position_target_global_int_decode(msg, &pos_target);
// Unexpectedly, the mask is expecting "ones" for dimensions that should
// be IGNORNED rather than INCLUDED. See mavlink documentation of the
// SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3)
bool msg_valid = true;
AP_Mission::Mission_Command cmd = {0};
if (pos_target.type_mask & alt_mask)
{
cmd.content.location.alt = pos_target.alt * 100;
cmd.content.location.relative_alt = false;
cmd.content.location.terrain_alt = false;
switch (pos_target.coordinate_frame)
{
case MAV_FRAME_GLOBAL_INT:
break; //default to MSL altitude
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
cmd.content.location.relative_alt = true;
break;
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
cmd.content.location.relative_alt = true;
cmd.content.location.terrain_alt = true;
break;
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT");
msg_valid = false;
break;
}
if (msg_valid) {
handle_change_alt_request(cmd);
}
} // end if alt_mask
break;
}
case MAVLINK_MSG_ID_ADSB_VEHICLE:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
plane.adsb.handle_message(chan, msg);
break;
default:
handle_common_message(msg);
break;
} // end switch
} // end handle mavlink
