void
mavlinkHandler(const lcm_recv_buf_t* rbuf, const char* channel,
const mavlink_message_t* msg, void* user)
{
switch (msg->msgid)
{
// get setpoint from MAVLINK
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
{
mavlink_local_position_setpoint_set_t setpoint;
mavlink_msg_local_position_setpoint_set_decode(msg, &setpoint);
// publish goal to ROS
asctec_hl_comm::WaypointActionGoal goal;
goal.goal_id.stamp = ros::Time::now();
goal.goal.goal_pos.x = setpoint.x;
goal.goal.goal_pos.y = setpoint.y;
goal.goal.goal_pos.z = setpoint.z;
goal.goal.goal_yaw = setpoint.yaw;
goal.goal.max_speed.x = 2.0f;
goal.goal.max_speed.y = 2.0f;
goal.goal.max_speed.z = 2.0f;
goal.goal.accuracy_position = 0.25f;
goal.goal.accuracy_orientation = 0.1f;
goal.goal.timeout = 60.0f;
ros::Publisher* waypointPub = reinterpret_cast<ros::Publisher*>(user);
waypointPub->publish(goal);
if (verbose)
{
ROS_INFO("Sent ROS WaypointActionGoal message [%.2f %.2f %.2f %.2f].",
setpoint.x, setpoint.y, setpoint.z, setpoint.yaw);
}
break;
}
default: {}
};
}
//@{
void handle_mavlink_message(mavlink_channel_t chan,
mavlink_message_t* msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint32_t len;
switch (chan)
{
case MAVLINK_COMM_0:
{
if (msg->msgid != MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE)
{
// Copy to COMM 1
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
uart1_transmit(buf[i]);
}
}
}
break;
case MAVLINK_COMM_1:
{
if (msg->msgid != MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE && msg->msgid != MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE)
{
// Copy to COMM 0
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
uart0_transmit(buf[i]);
}
break;
}
}
default:
break;
}
switch (msg->msgid)
{
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(msg, &mode);
// Check if this system should change the mode
if (mode.target == (uint8_t)global_data.param[PARAM_SYSTEM_ID])
{
sys_set_mode(mode.mode);
// Emit current mode
mavlink_msg_sys_status_send(MAVLINK_COMM_0, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
mavlink_msg_sys_status_send(MAVLINK_COMM_1, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
}
}
break;
case MAVLINK_MSG_ID_ACTION:
{
execute_action(mavlink_msg_action_get_action(msg));
//Forwart actions from Xbee to Onboard Computer and vice versa
if (chan == MAVLINK_COMM_1)
{
mavlink_send_uart(MAVLINK_COMM_0, msg);
}
else if (chan == MAVLINK_COMM_0)
{
mavlink_send_uart(MAVLINK_COMM_1, msg);
}
}
break;
case MAVLINK_MSG_ID_SYSTEM_TIME:
{
if (!sys_time_clock_get_unix_offset())
{
int64_t offset = ((int64_t) mavlink_msg_system_time_get_time_usec(
msg)) - (int64_t) sys_time_clock_get_time_usec();
sys_time_clock_set_unix_offset(offset);
debug_message_buffer("UNIX offset updated");
}
else
{
// debug_message_buffer("UNIX offset REFUSED");
}
}
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
mavlink_request_data_stream_t stream;
mavlink_msg_request_data_stream_decode(msg, &stream);
switch (stream.req_stream_id)
{
case 0: // UNIMPLEMENTED
break;
case 1: // RAW SENSOR DATA
global_data.param[PARAM_SEND_SLOT_RAW_IMU] = stream.start_stop;
break;
case 2: // EXTENDED SYSTEM STATUS
global_data.param[PARAM_SEND_SLOT_ATTITUDE] = stream.start_stop;
break;
case 3: // REMOTE CONTROL CHANNELS
global_data.param[PARAM_SEND_SLOT_REMOTE_CONTROL] = stream.start_stop;
break;
case 4: // RAW CONTROLLER
//global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
//global_data.param[PARAM_SEND_SLOT_DEBUG_3] = stream.start_stop;
global_data.param[PARAM_SEND_SLOT_CONTROLLER_OUTPUT] = stream.start_stop;
break;
case 5: // SENSOR FUSION
//LOST IN GROUDNCONTROL
// global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
break;
case 6: // POSITION
global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
break;
case 7: // EXTRA1
global_data.param[PARAM_SEND_SLOT_DEBUG_2] = stream.start_stop;
break;
case 8: // EXTRA2
global_data.param[PARAM_SEND_SLOT_DEBUG_4] = stream.start_stop;
break;
case 9: // EXTRA3
global_data.param[PARAM_SEND_SLOT_DEBUG_6] = stream.start_stop;
break;
default:
// Do nothing
break;
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
mavlink_param_request_read_t set;
mavlink_msg_param_request_read_decode(msg, &set);
// Check if this message is for this system
if ((uint8_t) set.target_system
== (uint8_t) global_data.param[PARAM_SYSTEM_ID]
&& (uint8_t) set.target_component
== (uint8_t) global_data.param[PARAM_COMPONENT_ID])
{
char* key = (char*) set.param_id;
if (set.param_id[0] == '\0')
{
// Choose parameter based on index
if (set.param_index < ONBOARD_PARAM_COUNT)
{
// Report back value
mavlink_msg_param_value_send(chan,
(int8_t*) global_data.param_name[set.param_index],
global_data.param[set.param_index], ONBOARD_PARAM_COUNT, set.param_index);
}
}
else
{
for (int i = 0; i < ONBOARD_PARAM_COUNT; i++)
{
bool match = true;
for (int j = 0; j < ONBOARD_PARAM_NAME_LENGTH; j++)
{
// Compare
if (((char) (global_data.param_name[i][j]))
!= (char) (key[j]))
{
match = false;
}
// End matching if null termination is reached
if (((char) global_data.param_name[i][j]) == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Report back value
mavlink_msg_param_value_send(chan,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
}
}
}
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// Start sending parameters
m_parameter_i = 0;
}
break;
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_param_set_t set;
mavlink_msg_param_set_decode(msg, &set);
// Check if this message is for this system
if ((uint8_t) set.target_system
== (uint8_t) global_data.param[PARAM_SYSTEM_ID]
&& (uint8_t) set.target_component
== (uint8_t) global_data.param[PARAM_COMPONENT_ID])
{
char* key = (char*) set.param_id;
for (int i = 0; i < ONBOARD_PARAM_COUNT; i++)
{
bool match = true;
for (int j = 0; j < ONBOARD_PARAM_NAME_LENGTH; j++)
{
// Compare
if (((char) (global_data.param_name[i][j]))
!= (char) (key[j]))
{
match = false;
}
// End matching if null termination is reached
if (((char) global_data.param_name[i][j]) == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Only write and emit changes if there is actually a difference
// AND only write if new value is NOT "not-a-number"
// AND is NOT infy
if (global_data.param[i] != set.param_value
&& !isnan(set.param_value)
&& !isinf(set.param_value))
{
global_data.param[i] = set.param_value;
// Report back new value
mavlink_msg_param_value_send(MAVLINK_COMM_0,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
mavlink_msg_param_value_send(MAVLINK_COMM_1,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
debug_message_buffer_sprintf("Parameter received param id=%i",i);
}
}
}
}
}
break;
case MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET:
{
mavlink_position_control_setpoint_set_t pos;
mavlink_msg_position_control_setpoint_set_decode(msg, &pos);
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1)
{
// global_data.position_setpoint.x = pos.x;
// global_data.position_setpoint.y = pos.y;
// global_data.position_setpoint.z = pos.z;
debug_message_buffer("Position setpoint updated. OLD?\n");
}
else
{
debug_message_buffer(
"Position setpoint recieved but not updated. OLD?\n");
}
// Send back a message confirming the new position
mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_0, pos.id,
pos.x, pos.y, pos.z, pos.yaw);
mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_1, pos.id,
pos.x, pos.y, pos.z, pos.yaw);
}
break;
case MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET:
{
mavlink_position_control_offset_set_t set;
mavlink_msg_position_control_offset_set_decode(msg, &set);
//global_data.attitude_setpoint_pos_body_offset.z = set.yaw;
//Ball Tracking
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1 && global_data.param[PARAM_POSITION_YAW_TRACKING]==1)
{
global_data.param[PARAM_POSITION_SETPOINT_YAW]
= global_data.attitude.z + set.yaw;
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 92, set.yaw);
}
}
break;
case MAVLINK_MSG_ID_SET_CAM_SHUTTER:
{
// Decode the desired shutter
mavlink_set_cam_shutter_t cam;
mavlink_msg_set_cam_shutter_decode(msg, &cam);
shutter_set(cam.interval, cam.exposure);
debug_message_buffer_sprintf("set_cam_shutter. interval %i",
cam.interval);
}
break;
case MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL:
{
uint8_t enable = mavlink_msg_image_trigger_control_get_enable(msg);
shutter_control(enable);
if (enable)
{
debug_message_buffer("CAM: Enabling hardware trigger");
}
else
{
debug_message_buffer("CAM: Disabling hardware trigger");
}
}
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
vision_buffer_handle_data(&pos);
// Update validity time is done in vision buffer
}
break;
case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
{
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
global_data.vicon_data.x = pos.x;
global_data.vicon_data.y = pos.y;
global_data.vicon_data.z = pos.z;
global_data.state.vicon_new_data=1;
// Update validity time
global_data.vicon_last_valid = sys_time_clock_get_time_usec();
global_data.state.vicon_ok=1;
// //Set data from Vicon into vision filter
// global_data.vision_data.ang.x = pos.roll;
// global_data.vision_data.ang.y = pos.pitch;
// global_data.vision_data.ang.z = pos.yaw;
//
// global_data.vision_data.pos.x = pos.x;
// global_data.vision_data.pos.y = pos.y;
// global_data.vision_data.pos.z = pos.z;
//
// global_data.vision_data.new_data = 1;
if (!global_data.state.vision_ok)
{
//Correct YAW
global_data.attitude.z = pos.yaw;
//If yaw goes to infy (no idea why) set it to setpoint, next time will be better
if (global_data.attitude.z > 18.8495559 || global_data.attitude.z
< -18.8495559)
{
global_data.attitude.z = global_data.yaw_pos_setpoint;
debug_message_buffer(
"vicon CRITICAL FAULT yaw was bigger than 6 PI! prevented crash");
}
}
//send the vicon message to UART0 with new timestamp
mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_0, global_data.vicon_last_valid, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
}
break;
case MAVLINK_MSG_ID_PING:
{
mavlink_ping_t ping;
mavlink_msg_ping_decode(msg, &ping);
if (ping.target_system == 0 && ping.target_component == 0)
{
// Respond to ping
uint64_t r_timestamp = sys_time_clock_get_unix_time();
mavlink_msg_ping_send(chan, ping.seq, msg->sysid, msg->compid, r_timestamp);
}
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
{
mavlink_local_position_setpoint_set_t sp;
mavlink_msg_local_position_setpoint_set_decode(msg, &sp);
if (sp.target_system == global_data.param[PARAM_SYSTEM_ID])
{
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1)
{
if (sp.x >= global_data.position_setpoint_min.x && sp.y
>= global_data.position_setpoint_min.y && sp.z
>= global_data.position_setpoint_min.z && sp.x
<= global_data.position_setpoint_max.x && sp.y
<= global_data.position_setpoint_max.y && sp.z
<= global_data.position_setpoint_max.z)
{
debug_message_buffer("Setpoint accepted and set.");
global_data.param[PARAM_POSITION_SETPOINT_X] = sp.x;
global_data.param[PARAM_POSITION_SETPOINT_Y] = sp.y;
global_data.param[PARAM_POSITION_SETPOINT_Z] = sp.z;
if (global_data.param[PARAM_POSITION_YAW_TRACKING] == 0)
{
// Only update yaw if we are not tracking ball.
global_data.param[PARAM_POSITION_SETPOINT_YAW] = sp.yaw;
}
//check if we want to start or land
if (global_data.state.status == MAV_STATE_ACTIVE
|| global_data.state.status == MAV_STATE_CRITICAL)
{
if (sp.z > -0.1)
{
if (!(global_data.state.fly == FLY_GROUNDED
|| global_data.state.fly == FLY_SINKING
|| global_data.state.fly
== FLY_WAIT_LANDING
|| global_data.state.fly == FLY_LANDING
|| global_data.state.fly == FLY_RAMP_DOWN))
{
//if setpoint is lower that ground iate landing
global_data.state.fly = FLY_SINKING;
global_data.param[PARAM_POSITION_SETPOINT_Z]
= -0.2;//with lowpass
debug_message_buffer(
"Sinking for LANDING. (z-sp lower than 10cm)");
}
else if (!(global_data.state.fly == FLY_GROUNDED))
{
global_data.param[PARAM_POSITION_SETPOINT_Z]
= -0.2;//with lowpass
}
}
else if (global_data.state.fly == FLY_GROUNDED && sp.z
< -0.50)
{
//start if we were grounded and get a sp over 0.5m
global_data.state.fly = FLY_WAIT_MOTORS;
debug_message_buffer(
"STARTING wait motors. (z-sp higher than 50cm)");
//set point changed with lowpass, after 5s it will be ok.
}
}
//SINK TO 0.7m if we are critical or emergency
if (global_data.state.status == MAV_STATE_EMERGENCY
|| global_data.state.status == MAV_STATE_CRITICAL)
{
global_data.param[PARAM_POSITION_SETPOINT_Z] = -0.7;//with lowpass
}
}
else
{
debug_message_buffer("Setpoint refused. Out of range.");
}
}
else
{
debug_message_buffer("Setpoint refused. Param setpoint accept=0.");
}
}
}
break;
default:
break;
}
}
