void LR_MsgHandler_IMT_Base::update_from_msg_imt(uint8_t imu_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
if (!use_imt) {
return;
}
uint8_t this_imu_mask = 1 << imu_offset;
float delta_time = 0;
require_field(msg, "DelT", delta_time);
ins.set_delta_time(delta_time);
if (gyro_mask & this_imu_mask) {
Vector3f d_angle;
require_field(msg, "DelA", d_angle);
float d_angle_dt;
if (!field_value(msg, "DelaT", d_angle_dt)) {
d_angle_dt = 0;
}
ins.set_delta_angle(imu_offset, d_angle, d_angle_dt);
}
if (accel_mask & this_imu_mask) {
float dvt = 0;
require_field(msg, "DelvT", dvt);
Vector3f d_velocity;
require_field(msg, "DelV", d_velocity);
ins.set_delta_velocity(imu_offset, dvt, d_velocity);
}
}
void LR_MsgHandler_CHEK::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
check_state.time_us = AP_HAL::micros64();
attitude_from_msg(msg, check_state.euler, "Roll", "Pitch", "Yaw");
check_state.euler *= radians(1);
location_from_msg(msg, check_state.pos, "Lat", "Lng", "Alt");
require_field(msg, "VN", check_state.velocity.x);
require_field(msg, "VE", check_state.velocity.y);
require_field(msg, "VD", check_state.velocity.z);
}
void MsgHandler::ground_vel_from_msg(uint8_t *msg,
Vector3f &vel,
const char *label_speed,
const char *label_course,
const char *label_vz)
{
uint32_t ground_speed;
int32_t ground_course;
require_field(msg, label_speed, ground_speed);
require_field(msg, label_course, ground_course);
vel[0] = ground_speed*0.01f*cosf(radians(ground_course*0.01f));
vel[1] = ground_speed*0.01f*sinf(radians(ground_course*0.01f));
vel[2] = require_field_float(msg, label_vz);
}
void LR_MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
Vector3f mag;
require_field(msg, "Mag", mag);
Vector3f mag_offset;
require_field(msg, "Ofs", mag_offset);
compass.setHIL(compass_offset, mag - mag_offset);
// compass_offset is which compass we are setting info for;
// mag_offset is a vector indicating the compass' calibration...
compass.set_offsets(compass_offset, mag_offset);
}
void LR_MsgHandler_PARM::process_message(uint8_t *msg)
{
const uint8_t parameter_name_len = AP_MAX_NAME_SIZE + 1; // null-term
char parameter_name[parameter_name_len];
uint64_t time_us;
if (field_value(msg, "TimeUS", time_us)) {
wait_timestamp_usec(time_us);
} else {
// older logs can have a lot of FMT and PARM messages up the
// front which don't have timestamps. Since in Replay we run
// DataFlash's IO only when stop_clock is called, we can
// overflow DataFlash's ringbuffer. This should force us to
// do IO:
hal.scheduler->stop_clock(last_timestamp_usec);
}
require_field(msg, "Name", parameter_name, parameter_name_len);
float value = require_field_float(msg, "Value");
if (globals.no_params) {
printf("Not changing %s to %f\n", parameter_name, value);
} else {
set_parameter(parameter_name, value);
}
}
void LR_MsgHandler_IMU_Base::update_from_msg_imu(uint8_t imu_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
uint8_t this_imu_mask = 1 << imu_offset;
if (gyro_mask & this_imu_mask) {
Vector3f gyro;
require_field(msg, "Gyr", gyro);
ins.set_gyro(imu_offset, gyro);
}
if (accel_mask & this_imu_mask) {
Vector3f accel2;
require_field(msg, "Acc", accel2);
ins.set_accel(imu_offset, accel2);
}
}
void LR_MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
Vector3f mag;
require_field(msg, "Mag", mag);
Vector3f mag_offset;
require_field(msg, "Ofs", mag_offset);
uint32_t last_update_usec;
if (!field_value(msg, "S", last_update_usec)) {
last_update_usec = AP_HAL::micros();
}
compass.setHIL(compass_offset, mag - mag_offset, last_update_usec);
// compass_offset is which compass we are setting info for;
// mag_offset is a vector indicating the compass' calibration...
compass.set_offsets(compass_offset, mag_offset);
}
void LR_MsgHandler_GPA_Base::update_from_msg_gpa(uint8_t gps_offset, uint8_t *msg)
{
uint64_t time_us;
require_field(msg, "TimeUS", time_us);
wait_timestamp_usec(time_us);
uint16_t vdop, hacc, vacc, sacc;
require_field(msg, "VDop", vdop);
require_field(msg, "HAcc", hacc);
require_field(msg, "VAcc", vacc);
require_field(msg, "SAcc", sacc);
uint8_t have_vertical_velocity;
if (! field_value(msg, "VV", have_vertical_velocity)) {
have_vertical_velocity = !is_zero(gps.velocity(gps_offset).z);
}
uint32_t sample_ms;
if (! field_value(msg, "SMS", sample_ms)) {
sample_ms = 0;
}
gps.setHIL_Accuracy(gps_offset, vdop*0.01f, hacc*0.01f, vacc*0.01f, sacc*0.01f, have_vertical_velocity, sample_ms);
}
void LR_MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *msg, bool responsible_for_relalt)
{
uint64_t time_us;
if (! field_value(msg, "TimeUS", time_us)) {
uint32_t timestamp;
require_field(msg, "T", timestamp);
time_us = timestamp * 1000;
}
wait_timestamp_usec(time_us);
Location loc;
location_from_msg(msg, loc, "Lat", "Lng", "Alt");
Vector3f vel;
ground_vel_from_msg(msg, vel, "Spd", "GCrs", "VZ");
uint8_t status = require_field_uint8_t(msg, "Status");
uint8_t hdop = 0;
if (! field_value(msg, "HDop", hdop) &&
! field_value(msg, "HDp", hdop)) {
hdop = 20;
}
uint8_t nsats = 0;
if (! field_value(msg, "NSats", nsats) &&
! field_value(msg, "numSV", nsats)) {
field_not_found(msg, "NSats");
}
gps.setHIL(gps_offset,
(AP_GPS::GPS_Status)status,
uint32_t(time_us/1000),
loc,
vel,
nsats,
hdop,
require_field_float(msg, "VZ") != 0);
if (status == AP_GPS::GPS_OK_FIX_3D && ground_alt_cm == 0) {
ground_alt_cm = require_field_int32_t(msg, "Alt");
}
if (responsible_for_relalt) {
// this could possibly check for the presence of "RelAlt" label?
int32_t tmp;
if (! field_value(msg, "RAlt", tmp)) {
tmp = require_field_int32_t(msg, "RelAlt");
}
rel_altitude = 0.01f * tmp;
}
}
void LR_MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *msg)
{
uint64_t time_us;
if (! field_value(msg, "TimeUS", time_us)) {
uint32_t timestamp;
require_field(msg, "T", timestamp);
time_us = timestamp * 1000;
}
wait_timestamp_usec(time_us);
Location loc;
location_from_msg(msg, loc, "Lat", "Lng", "Alt");
Vector3f vel;
ground_vel_from_msg(msg, vel, "Spd", "GCrs", "VZ");
uint8_t status = require_field_uint8_t(msg, "Status");
uint8_t hdop = 0;
if (! field_value(msg, "HDop", hdop) &&
! field_value(msg, "HDp", hdop)) {
hdop = 20;
}
uint8_t nsats = 0;
if (! field_value(msg, "NSats", nsats) &&
! field_value(msg, "numSV", nsats)) {
field_not_found(msg, "NSats");
}
uint16_t GWk;
uint32_t GMS;
if (! field_value(msg, "GWk", GWk)) {
field_not_found(msg, "GWk");
}
if (! field_value(msg, "GMS", GMS)) {
field_not_found(msg, "GMS");
}
gps.setHIL(gps_offset,
(AP_GPS::GPS_Status)status,
AP_GPS::time_epoch_convert(GWk, GMS),
loc,
vel,
nsats,
hdop);
if (status == AP_GPS::GPS_OK_FIX_3D && ground_alt_cm == 0) {
ground_alt_cm = require_field_int32_t(msg, "Alt");
}
}
void LR_MsgHandler_MSG::process_message(uint8_t *msg)
{
const uint8_t msg_text_len = 64;
char msg_text[msg_text_len];
require_field(msg, "Message", msg_text, msg_text_len);
if (strncmp(msg_text, "ArduPlane", strlen("ArduPlane")) == 0) {
vehicle = VehicleType::VEHICLE_PLANE;
::printf("Detected Plane\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
ahrs.set_fly_forward(true);
} else if (strncmp(msg_text, "ArduCopter", strlen("ArduCopter")) == 0 ||
strncmp(msg_text, "APM:Copter", strlen("APM:Copter")) == 0) {
vehicle = VehicleType::VEHICLE_COPTER;
::printf("Detected Copter\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_COPTER);
ahrs.set_fly_forward(false);
} else if (strncmp(msg_text, "ArduRover", strlen("ArduRover")) == 0) {
vehicle = VehicleType::VEHICLE_ROVER;
::printf("Detected Rover\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
ahrs.set_fly_forward(true);
}
}
int16_t MsgHandler::require_field_int16_t(uint8_t *msg, const char *label)
{
int16_t ret;
require_field(msg, label, ret);
return ret;
}
float MsgHandler::require_field_float(uint8_t *msg, const char *label)
{
float ret;
require_field(msg, label, ret);
return ret;
}
void MsgHandler::wait_timestamp_from_msg(uint8_t *msg)
{
uint32_t timestamp;
require_field(msg, "TimeMS", timestamp);
wait_timestamp(timestamp);
}