/*
handle a MISSION_WRITE_PARTIAL_LIST mavlink packet
*/
void GCS_MAVLINK::handle_mission_write_partial_list(AP_Mission &mission, mavlink_message_t *msg)
{
// decode
mavlink_mission_write_partial_list_t packet;
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
// exit immediately if this command is not meant for this vehicle
if (mavlink_check_target(packet.target_system,packet.target_component)) {
return;
}
// start waypoint receiving
if ((unsigned)packet.start_index > mission.num_commands() ||
(unsigned)packet.end_index > mission.num_commands() ||
packet.end_index < packet.start_index) {
send_text_P(SEVERITY_LOW,PSTR("flight plan update rejected"));
return;
}
waypoint_timelast_receive = hal.scheduler->millis();
waypoint_timelast_request = 0;
waypoint_receiving = true;
waypoint_request_i = packet.start_index;
waypoint_request_last= packet.end_index;
}
/*
handle a MISSION_WRITE_PARTIAL_LIST mavlink packet
*/
void GCS_MAVLINK::handle_mission_write_partial_list(AP_Mission &mission, mavlink_message_t *msg)
{
// decode
mavlink_mission_write_partial_list_t packet;
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
// start waypoint receiving
if ((unsigned)packet.start_index > mission.num_commands() ||
(unsigned)packet.end_index > mission.num_commands() ||
packet.end_index < packet.start_index) {
send_text_P(SEVERITY_LOW,PSTR("flight plan update rejected"));
return;
}
waypoint_timelast_receive = hal.scheduler->millis();
waypoint_timelast_request = 0;
waypoint_receiving = true;
waypoint_request_i = packet.start_index;
waypoint_request_last= packet.end_index;
}
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
// If we are currently operating as a proxy for a remote,
// alas we have to look inside each packet to see if its for us or for the remote
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
handle_request_data_stream(msg, true);
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
handle_param_request_list(msg);
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
handle_param_request_read(msg);
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
handle_param_set(msg, NULL);
break;
}
case MAVLINK_MSG_ID_HEARTBEAT:
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text_P(SEVERITY_LOW,PSTR("command received: "));
switch(packet.command) {
case MAV_CMD_PREFLIGHT_CALIBRATION:
{
if (is_equal(packet.param1,1.0f)) {
tracker.ins.init_gyro();
if (tracker.ins.gyro_calibrated_ok_all()) {
tracker.ahrs.reset_gyro_drift();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
}
if (is_equal(packet.param3,1.0f)) {
tracker.init_barometer();
// zero the altitude difference on next baro update
tracker.nav_status.need_altitude_calibration = true;
}
if (is_equal(packet.param4,1.0f)) {
// Cant trim radio
} else if (is_equal(packet.param5,1.0f)) {
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this);
if(tracker.ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
} else if (is_equal(packet.param5,2.0f)) {
// accel trim
float trim_roll, trim_pitch;
if(tracker.ins.calibrate_trim(trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
}
result = MAV_RESULT_ACCEPTED;
break;
}
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
if (is_equal(packet.param1,1.0f)) {
tracker.arm_servos();
result = MAV_RESULT_ACCEPTED;
} else if (is_zero(packet.param1)) {
tracker.disarm_servos();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_UNSUPPORTED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_SET_MODE:
switch ((uint16_t)packet.param1) {
case MAV_MODE_MANUAL_ARMED:
case MAV_MODE_MANUAL_DISARMED:
tracker.set_mode(MANUAL);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_AUTO_ARMED:
case MAV_MODE_AUTO_DISARMED:
tracker.set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
default:
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_SET_SERVO:
if (tracker.servo_test_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
// mavproxy/mavutil sends this when auto command is entered
case MAV_CMD_MISSION_START:
tracker.set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
{
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(is_equal(packet.param1,3.0f));
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) {
tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
result = MAV_RESULT_ACCEPTED;
}
break;
}
default:
break;
}
mavlink_msg_command_ack_send(
chan,
packet.command,
result);
break;
}
// When mavproxy 'wp sethome'
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
{
// decode
mavlink_mission_write_partial_list_t packet;
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
if (packet.start_index == 0)
{
// New home at wp index 0. Ask for it
waypoint_receiving = true;
waypoint_request_i = 0;
waypoint_request_last = 0;
send_message(MSG_NEXT_WAYPOINT);
waypoint_receiving = true;
}
break;
}
// XXX receive a WP from GCS and store in EEPROM if it is HOME
case MAVLINK_MSG_ID_MISSION_ITEM:
{
// decode
mavlink_mission_item_t packet;
uint8_t result = MAV_MISSION_ACCEPTED;
mavlink_msg_mission_item_decode(msg, &packet);
struct Location tell_command = {};
switch (packet.frame)
{
case MAV_FRAME_MISSION:
case MAV_FRAME_GLOBAL:
{
tell_command.lat = 1.0e7f*packet.x; // in as DD converted to * t7
tell_command.lng = 1.0e7f*packet.y; // in as DD converted to * t7
tell_command.alt = packet.z*1.0e2f; // in as m converted to cm
tell_command.options = 0; // absolute altitude
break;
}
#ifdef MAV_FRAME_LOCAL_NED
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
{
tell_command.lat = 1.0e7f*ToDeg(packet.x/
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
tell_command.alt = -packet.z*1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
break;
}
#endif
#ifdef MAV_FRAME_LOCAL
case MAV_FRAME_LOCAL: // local (relative to home position)
{
tell_command.lat = 1.0e7f*ToDeg(packet.x/
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
tell_command.alt = packet.z*1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
break;
}
#endif
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
{
tell_command.lat = 1.0e7f * packet.x; // in as DD converted to * t7
tell_command.lng = 1.0e7f * packet.y; // in as DD converted to * t7
tell_command.alt = packet.z * 1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!!
break;
}
default:
result = MAV_MISSION_UNSUPPORTED_FRAME;
break;
}
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
// Check if receiving waypoints (mission upload expected)
if (!waypoint_receiving) {
result = MAV_MISSION_ERROR;
goto mission_failed;
}
// check if this is the HOME wp
if (packet.seq == 0) {
tracker.set_home(tell_command); // New home in EEPROM
send_text_P(SEVERITY_LOW,PSTR("new HOME received"));
waypoint_receiving = false;
}
mission_failed:
// we are rejecting the mission/waypoint
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
result);
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
tracker.tracking_manual_control(packet);
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
// decode
mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(msg, &packet);
tracker.tracking_update_position(packet);
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
// decode
mavlink_scaled_pressure_t packet;
mavlink_msg_scaled_pressure_decode(msg, &packet);
tracker.tracking_update_pressure(packet);
break;
}
case MAVLINK_MSG_ID_SET_MODE:
{
handle_set_mode(msg, FUNCTOR_BIND(&tracker, &Tracker::mavlink_set_mode, bool, uint8_t));
break;
}
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_serial_control(msg, tracker.gps);
break;
case MAVLINK_MSG_ID_GPS_INJECT_DATA:
handle_gps_inject(msg, tracker.gps);
break;
#endif
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
break;
} // end switch
} // end handle mavlink
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
break;
// When mavproxy 'wp sethome'
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
{
// decode
mavlink_mission_write_partial_list_t packet;
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
if (packet.start_index == 0)
{
// New home at wp index 0. Ask for it
waypoint_receiving = true;
waypoint_request_i = 0;
waypoint_request_last = 0;
send_message(MSG_NEXT_WAYPOINT);
}
break;
}
// XXX receive a WP from GCS and store in EEPROM if it is HOME
case MAVLINK_MSG_ID_MISSION_ITEM:
{
// decode
mavlink_mission_item_t packet;
MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
mavlink_msg_mission_item_decode(msg, &packet);
struct Location tell_command = {};
switch (packet.frame)
{
case MAV_FRAME_MISSION:
case MAV_FRAME_GLOBAL:
{
tell_command.lat = 1.0e7f*packet.x; // in as DD converted to * t7
tell_command.lng = 1.0e7f*packet.y; // in as DD converted to * t7
tell_command.alt = packet.z*1.0e2f; // in as m converted to cm
tell_command.options = 0; // absolute altitude
break;
}
#ifdef MAV_FRAME_LOCAL_NED
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
{
tell_command.lat = 1.0e7f*ToDeg(packet.x/
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
tell_command.alt = -packet.z*1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
break;
}
#endif
#ifdef MAV_FRAME_LOCAL
case MAV_FRAME_LOCAL: // local (relative to home position)
{
tell_command.lat = 1.0e7f*ToDeg(packet.x/
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
tell_command.alt = packet.z*1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
break;
}
#endif
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
{
tell_command.lat = 1.0e7f * packet.x; // in as DD converted to * t7
tell_command.lng = 1.0e7f * packet.y; // in as DD converted to * t7
tell_command.alt = packet.z * 1.0e2f;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!!
break;
}
default:
result = MAV_MISSION_UNSUPPORTED_FRAME;
break;
}
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
// Check if receiving waypoints (mission upload expected)
if (!waypoint_receiving) {
result = MAV_MISSION_ERROR;
goto mission_failed;
}
// check if this is the HOME wp
if (packet.seq == 0) {
tracker.set_home(tell_command); // New home in EEPROM
send_text(MAV_SEVERITY_INFO,"New HOME received");
waypoint_receiving = false;
}
mission_failed:
// we are rejecting the mission/waypoint
mavlink_msg_mission_ack_send(
chan,
msg->sysid,
msg->compid,
result,
MAV_MISSION_TYPE_MISSION);
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
tracker.tracking_manual_control(packet);
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
// decode
mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(msg, &packet);
tracker.tracking_update_position(packet);
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
// decode
mavlink_scaled_pressure_t packet;
mavlink_msg_scaled_pressure_decode(msg, &packet);
tracker.tracking_update_pressure(packet);
break;
}
default:
handle_common_message(msg);
break;
} // end switch
} // end handle mavlink
