void mav_param_request_read(mavlink_message_t *msg, mavlink_status_t *status, void *d)
{
unsigned char sys, comp;
mavlink_message_t msg2;
char param_name[17];
float param_value;
int idx;
sys = mavlink_msg_param_request_read_get_target_system(msg);
comp = mavlink_msg_param_request_read_get_target_component(msg);
//console_printf("get_param_start %d,%d\n", sys, comp);
if ((comp != MAV_COMP_ID_ALCEOSD) || (sys != osd_sysid))
return;
idx = mavlink_msg_param_request_read_get_param_index(msg);
if (idx == -1) {
mavlink_msg_param_request_read_get_param_id(msg, param_name);
param_name[16]= '\0';
}
param_value = params_get_value(idx, param_name);
mavlink_msg_param_value_pack(osd_sysid, MAV_COMP_ID_ALCEOSD, &msg2,
param_name, param_value, MAVLINK_TYPE_FLOAT,
total_params, idx);
mavlink_send_msg(&msg2);
console_printf("param_req_read %d %s=%f\n", idx, param_name, param_value);
}
Json::Value getMavlinkParams(mavlink_message_t msg) {
Json::Value content;
switch (msg.msgid) {
case 0: { //HEARTBEAT
content["type"] = mavlink_msg_heartbeat_get_type(&msg);
content["autopilot"] = mavlink_msg_heartbeat_get_autopilot(&msg);
content["base_mode"] = mavlink_msg_heartbeat_get_base_mode(&msg);
content["custom_mode"] = mavlink_msg_heartbeat_get_custom_mode(&msg);
content["system_status"] = mavlink_msg_heartbeat_get_system_status(&msg);
content["mavlink_version"] = mavlink_msg_heartbeat_get_mavlink_version(&msg);
break;
}
case 1: { //SYS_STATUS
content["onboard_control_sensors_present"] = mavlink_msg_sys_status_get_onboard_control_sensors_present(&msg);
content["onboard_control_sensors_enabled"] = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(&msg);
content["onboard_control_sensors_health"] = mavlink_msg_sys_status_get_onboard_control_sensors_health(&msg);
content["load"] = mavlink_msg_sys_status_get_load(&msg);
content["voltage_battery"] = mavlink_msg_sys_status_get_voltage_battery(&msg);
content["current_battery"] = mavlink_msg_sys_status_get_current_battery(&msg);
content["battery_remaining"] = mavlink_msg_sys_status_get_battery_remaining(&msg);
content["drop_rate_comm"] = mavlink_msg_sys_status_get_drop_rate_comm(&msg);
content["errors_comm"] = mavlink_msg_sys_status_get_errors_comm(&msg);
content["errors_count1"] = mavlink_msg_sys_status_get_errors_count1(&msg);
content["errors_count2"] = mavlink_msg_sys_status_get_errors_count2(&msg);
content["errors_count3"] = mavlink_msg_sys_status_get_errors_count3(&msg);
content["errors_count4"] = mavlink_msg_sys_status_get_errors_count4(&msg);
break;
}
case 2: { //SYSTEM_TIME
content["time_unix_usec"] = mavlink_msg_system_time_get_time_unix_usec(&msg);
content["time_boot_ms"] = mavlink_msg_system_time_get_time_boot_ms(&msg);
break;
}
case 4: { //PING
content["time_usec"] = mavlink_msg_ping_get_time_usec(&msg);
content["seq"] = mavlink_msg_ping_get_seq(&msg);
content["target_system"] = mavlink_msg_ping_get_target_system(&msg);
content["target_component"] = mavlink_msg_ping_get_target_component(&msg);
break;
}
case 5: { //CHANGE_OPERATOR_CONTROL
content["target_system"] = mavlink_msg_change_operator_control_get_target_system(&msg);
content["control_request"] = mavlink_msg_change_operator_control_get_control_request(&msg);
content["version"] = mavlink_msg_change_operator_control_get_version(&msg);
char arr_passkey[25]; mavlink_msg_change_operator_control_get_passkey(&msg, arr_passkey);
content["passkey"] = std::string(arr_passkey, 25);
break;
}
case 6: { //CHANGE_OPERATOR_CONTROL_ACK
content["gcs_system_id"] = mavlink_msg_change_operator_control_ack_get_gcs_system_id(&msg);
content["control_request"] = mavlink_msg_change_operator_control_ack_get_control_request(&msg);
content["ack"] = mavlink_msg_change_operator_control_ack_get_ack(&msg);
break;
}
case 7: { //AUTH_KEY
char arr_key[32]; mavlink_msg_auth_key_get_key(&msg, arr_key);
content["key"] = std::string(arr_key, 32);
break;
}
case 11: { //SET_MODE
content["target_system"] = mavlink_msg_set_mode_get_target_system(&msg);
content["base_mode"] = mavlink_msg_set_mode_get_base_mode(&msg);
content["custom_mode"] = mavlink_msg_set_mode_get_custom_mode(&msg);
break;
}
case 20: { //PARAM_REQUEST_READ
content["target_system"] = mavlink_msg_param_request_read_get_target_system(&msg);
content["target_component"] = mavlink_msg_param_request_read_get_target_component(&msg);
char arr_param_id[16]; mavlink_msg_param_request_read_get_param_id(&msg, arr_param_id);
content["param_id"] = std::string(arr_param_id, 16);
content["param_index"] = mavlink_msg_param_request_read_get_param_index(&msg);
break;
}
case 21: { //PARAM_REQUEST_LIST
content["target_system"] = mavlink_msg_param_request_list_get_target_system(&msg);
content["target_component"] = mavlink_msg_param_request_list_get_target_component(&msg);
break;
}
case 22: { //PARAM_VALUE
char arr_param_id[16]; mavlink_msg_param_value_get_param_id(&msg, arr_param_id);
content["param_id"] = std::string(arr_param_id, 16);
content["param_value"] = mavlink_msg_param_value_get_param_value(&msg);
content["param_type"] = mavlink_msg_param_value_get_param_type(&msg);
content["param_count"] = mavlink_msg_param_value_get_param_count(&msg);
content["param_index"] = mavlink_msg_param_value_get_param_index(&msg);
break;
}
case 23: { //PARAM_SET
content["target_system"] = mavlink_msg_param_set_get_target_system(&msg);
content["target_component"] = mavlink_msg_param_set_get_target_component(&msg);
char arr_param_id[16]; mavlink_msg_param_set_get_param_id(&msg, arr_param_id);
content["param_id"] = std::string(arr_param_id, 16);
content["param_value"] = mavlink_msg_param_set_get_param_value(&msg);
content["param_type"] = mavlink_msg_param_set_get_param_type(&msg);
break;
}
case 24: { //GPS_RAW_INT
content["time_usec"] = mavlink_msg_gps_raw_int_get_time_usec(&msg);
content["fix_type"] = mavlink_msg_gps_raw_int_get_fix_type(&msg);
content["lat"] = mavlink_msg_gps_raw_int_get_lat(&msg);
content["lon"] = mavlink_msg_gps_raw_int_get_lon(&msg);
content["alt"] = mavlink_msg_gps_raw_int_get_alt(&msg);
content["eph"] = mavlink_msg_gps_raw_int_get_eph(&msg);
content["epv"] = mavlink_msg_gps_raw_int_get_epv(&msg);
content["vel"] = mavlink_msg_gps_raw_int_get_vel(&msg);
content["cog"] = mavlink_msg_gps_raw_int_get_cog(&msg);
content["satellites_visible"] = mavlink_msg_gps_raw_int_get_satellites_visible(&msg);
break;
}
case 25: { //GPS_STATUS
content["satellites_visible"] = mavlink_msg_gps_status_get_satellites_visible(&msg);
uint8_t arr_satellite_prn[20]; mavlink_msg_gps_status_get_satellite_prn(&msg, arr_satellite_prn);
content["satellite_prn"] = Json::Value(Json::arrayValue);
for(uint8_t i : arr_satellite_prn) {
content["satellite_prn"].append(i);
}
uint8_t arr_satellite_used[20]; mavlink_msg_gps_status_get_satellite_used(&msg, arr_satellite_used);
content["satellite_used"] = Json::Value(Json::arrayValue);
for(uint8_t i : arr_satellite_used) {
content["satellite_used"].append(i);
}
uint8_t arr_satellite_elevation[20]; mavlink_msg_gps_status_get_satellite_elevation(&msg, arr_satellite_elevation);
content["satellite_elevation"] = Json::Value(Json::arrayValue);
for(uint8_t i : arr_satellite_elevation) {
content["satellite_elevation"].append(i);
}
uint8_t arr_satellite_azimuth[20]; mavlink_msg_gps_status_get_satellite_azimuth(&msg, arr_satellite_azimuth);
content["satellite_azimuth"] = Json::Value(Json::arrayValue);
for(uint8_t i : arr_satellite_azimuth) {
content["satellite_azimuth"].append(i);
}
uint8_t arr_satellite_snr[20]; mavlink_msg_gps_status_get_satellite_snr(&msg, arr_satellite_snr);
content["satellite_snr"] = Json::Value(Json::arrayValue);
for(uint8_t i : arr_satellite_snr) {
content["satellite_snr"].append(i);
}
break;
}
case 26: { //SCALED_IMU
content["time_boot_ms"] = mavlink_msg_scaled_imu_get_time_boot_ms(&msg);
content["xacc"] = mavlink_msg_scaled_imu_get_xacc(&msg);
content["yacc"] = mavlink_msg_scaled_imu_get_yacc(&msg);
content["zacc"] = mavlink_msg_scaled_imu_get_zacc(&msg);
content["xgyro"] = mavlink_msg_scaled_imu_get_xgyro(&msg);
content["ygyro"] = mavlink_msg_scaled_imu_get_ygyro(&msg);
content["zgyro"] = mavlink_msg_scaled_imu_get_zgyro(&msg);
content["xmag"] = mavlink_msg_scaled_imu_get_xmag(&msg);
content["ymag"] = mavlink_msg_scaled_imu_get_ymag(&msg);
content["zmag"] = mavlink_msg_scaled_imu_get_zmag(&msg);
break;
}
case 27: { //RAW_IMU
content["time_usec"] = mavlink_msg_raw_imu_get_time_usec(&msg);
content["xacc"] = mavlink_msg_raw_imu_get_xacc(&msg);
content["yacc"] = mavlink_msg_raw_imu_get_yacc(&msg);
content["zacc"] = mavlink_msg_raw_imu_get_zacc(&msg);
content["xgyro"] = mavlink_msg_raw_imu_get_xgyro(&msg);
content["ygyro"] = mavlink_msg_raw_imu_get_ygyro(&msg);
content["zgyro"] = mavlink_msg_raw_imu_get_zgyro(&msg);
content["xmag"] = mavlink_msg_raw_imu_get_xmag(&msg);
content["ymag"] = mavlink_msg_raw_imu_get_ymag(&msg);
content["zmag"] = mavlink_msg_raw_imu_get_zmag(&msg);
break;
}
case 28: { //RAW_PRESSURE
content["time_usec"] = mavlink_msg_raw_pressure_get_time_usec(&msg);
content["press_abs"] = mavlink_msg_raw_pressure_get_press_abs(&msg);
content["press_diff1"] = mavlink_msg_raw_pressure_get_press_diff1(&msg);
content["press_diff2"] = mavlink_msg_raw_pressure_get_press_diff2(&msg);
content["temperature"] = mavlink_msg_raw_pressure_get_temperature(&msg);
break;
}
case 29: { //SCALED_PRESSURE
content["time_boot_ms"] = mavlink_msg_scaled_pressure_get_time_boot_ms(&msg);
content["press_abs"] = mavlink_msg_scaled_pressure_get_press_abs(&msg);
content["press_diff"] = mavlink_msg_scaled_pressure_get_press_diff(&msg);
content["temperature"] = mavlink_msg_scaled_pressure_get_temperature(&msg);
break;
}
case 30: { //ATTITUDE
content["time_boot_ms"] = mavlink_msg_attitude_get_time_boot_ms(&msg);
content["roll"] = mavlink_msg_attitude_get_roll(&msg);
content["pitch"] = mavlink_msg_attitude_get_pitch(&msg);
content["yaw"] = mavlink_msg_attitude_get_yaw(&msg);
content["rollspeed"] = mavlink_msg_attitude_get_rollspeed(&msg);
content["pitchspeed"] = mavlink_msg_attitude_get_pitchspeed(&msg);
content["yawspeed"] = mavlink_msg_attitude_get_yawspeed(&msg);
break;
}
case 31: { //ATTITUDE_QUATERNION
content["time_boot_ms"] = mavlink_msg_attitude_quaternion_get_time_boot_ms(&msg);
content["q1"] = mavlink_msg_attitude_quaternion_get_q1(&msg);
content["q2"] = mavlink_msg_attitude_quaternion_get_q2(&msg);
content["q3"] = mavlink_msg_attitude_quaternion_get_q3(&msg);
content["q4"] = mavlink_msg_attitude_quaternion_get_q4(&msg);
content["rollspeed"] = mavlink_msg_attitude_quaternion_get_rollspeed(&msg);
content["pitchspeed"] = mavlink_msg_attitude_quaternion_get_pitchspeed(&msg);
content["yawspeed"] = mavlink_msg_attitude_quaternion_get_yawspeed(&msg);
break;
}
case 32: { //LOCAL_POSITION_NED
content["time_boot_ms"] = mavlink_msg_local_position_ned_get_time_boot_ms(&msg);
content["x"] = mavlink_msg_local_position_ned_get_x(&msg);
content["y"] = mavlink_msg_local_position_ned_get_y(&msg);
content["z"] = mavlink_msg_local_position_ned_get_z(&msg);
content["vx"] = mavlink_msg_local_position_ned_get_vx(&msg);
content["vy"] = mavlink_msg_local_position_ned_get_vy(&msg);
content["vz"] = mavlink_msg_local_position_ned_get_vz(&msg);
break;
}
case 33: { //GLOBAL_POSITION_INT
content["time_boot_ms"] = mavlink_msg_global_position_int_get_time_boot_ms(&msg);
content["lat"] = mavlink_msg_global_position_int_get_lat(&msg);
content["lon"] = mavlink_msg_global_position_int_get_lon(&msg);
content["alt"] = mavlink_msg_global_position_int_get_alt(&msg);
content["relative_alt"] = mavlink_msg_global_position_int_get_relative_alt(&msg);
content["vx"] = mavlink_msg_global_position_int_get_vx(&msg);
content["vy"] = mavlink_msg_global_position_int_get_vy(&msg);
content["vz"] = mavlink_msg_global_position_int_get_vz(&msg);
content["hdg"] = mavlink_msg_global_position_int_get_hdg(&msg);
break;
}
case 34: { //RC_CHANNELS_SCALED
content["time_boot_ms"] = mavlink_msg_rc_channels_scaled_get_time_boot_ms(&msg);
content["port"] = mavlink_msg_rc_channels_scaled_get_port(&msg);
content["chan1_scaled"] = mavlink_msg_rc_channels_scaled_get_chan1_scaled(&msg);
content["chan2_scaled"] = mavlink_msg_rc_channels_scaled_get_chan2_scaled(&msg);
content["chan3_scaled"] = mavlink_msg_rc_channels_scaled_get_chan3_scaled(&msg);
content["chan4_scaled"] = mavlink_msg_rc_channels_scaled_get_chan4_scaled(&msg);
content["chan5_scaled"] = mavlink_msg_rc_channels_scaled_get_chan5_scaled(&msg);
content["chan6_scaled"] = mavlink_msg_rc_channels_scaled_get_chan6_scaled(&msg);
content["chan7_scaled"] = mavlink_msg_rc_channels_scaled_get_chan7_scaled(&msg);
content["chan8_scaled"] = mavlink_msg_rc_channels_scaled_get_chan8_scaled(&msg);
content["rssi"] = mavlink_msg_rc_channels_scaled_get_rssi(&msg);
break;
}
case 35: { //RC_CHANNELS_RAW
content["time_boot_ms"] = mavlink_msg_rc_channels_raw_get_time_boot_ms(&msg);
content["port"] = mavlink_msg_rc_channels_raw_get_port(&msg);
content["chan1_raw"] = mavlink_msg_rc_channels_raw_get_chan1_raw(&msg);
content["chan2_raw"] = mavlink_msg_rc_channels_raw_get_chan2_raw(&msg);
content["chan3_raw"] = mavlink_msg_rc_channels_raw_get_chan3_raw(&msg);
content["chan4_raw"] = mavlink_msg_rc_channels_raw_get_chan4_raw(&msg);
content["chan5_raw"] = mavlink_msg_rc_channels_raw_get_chan5_raw(&msg);
content["chan6_raw"] = mavlink_msg_rc_channels_raw_get_chan6_raw(&msg);
content["chan7_raw"] = mavlink_msg_rc_channels_raw_get_chan7_raw(&msg);
content["chan8_raw"] = mavlink_msg_rc_channels_raw_get_chan8_raw(&msg);
content["rssi"] = mavlink_msg_rc_channels_raw_get_rssi(&msg);
break;
}
case 36: { //SERVO_OUTPUT_RAW
content["time_usec"] = mavlink_msg_servo_output_raw_get_time_usec(&msg);
content["port"] = mavlink_msg_servo_output_raw_get_port(&msg);
content["servo1_raw"] = mavlink_msg_servo_output_raw_get_servo1_raw(&msg);
content["servo2_raw"] = mavlink_msg_servo_output_raw_get_servo2_raw(&msg);
content["servo3_raw"] = mavlink_msg_servo_output_raw_get_servo3_raw(&msg);
content["servo4_raw"] = mavlink_msg_servo_output_raw_get_servo4_raw(&msg);
content["servo5_raw"] = mavlink_msg_servo_output_raw_get_servo5_raw(&msg);
content["servo6_raw"] = mavlink_msg_servo_output_raw_get_servo6_raw(&msg);
content["servo7_raw"] = mavlink_msg_servo_output_raw_get_servo7_raw(&msg);
content["servo8_raw"] = mavlink_msg_servo_output_raw_get_servo8_raw(&msg);
break;
}
case 37: { //MISSION_REQUEST_PARTIAL_LIST
content["target_system"] = mavlink_msg_mission_request_partial_list_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_request_partial_list_get_target_component(&msg);
content["start_index"] = mavlink_msg_mission_request_partial_list_get_start_index(&msg);
content["end_index"] = mavlink_msg_mission_request_partial_list_get_end_index(&msg);
break;
}
case 38: { //MISSION_WRITE_PARTIAL_LIST
content["target_system"] = mavlink_msg_mission_write_partial_list_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_write_partial_list_get_target_component(&msg);
content["start_index"] = mavlink_msg_mission_write_partial_list_get_start_index(&msg);
content["end_index"] = mavlink_msg_mission_write_partial_list_get_end_index(&msg);
break;
}
case 39: { //MISSION_ITEM
content["target_system"] = mavlink_msg_mission_item_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_item_get_target_component(&msg);
content["seq"] = mavlink_msg_mission_item_get_seq(&msg);
content["frame"] = mavlink_msg_mission_item_get_frame(&msg);
content["command"] = mavlink_msg_mission_item_get_command(&msg);
content["current"] = mavlink_msg_mission_item_get_current(&msg);
content["autocontinue"] = mavlink_msg_mission_item_get_autocontinue(&msg);
content["param1"] = mavlink_msg_mission_item_get_param1(&msg);
content["param2"] = mavlink_msg_mission_item_get_param2(&msg);
content["param3"] = mavlink_msg_mission_item_get_param3(&msg);
content["param4"] = mavlink_msg_mission_item_get_param4(&msg);
content["x"] = mavlink_msg_mission_item_get_x(&msg);
content["y"] = mavlink_msg_mission_item_get_y(&msg);
content["z"] = mavlink_msg_mission_item_get_z(&msg);
break;
}
case 40: { //MISSION_REQUEST
content["target_system"] = mavlink_msg_mission_request_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_request_get_target_component(&msg);
content["seq"] = mavlink_msg_mission_request_get_seq(&msg);
break;
}
case 41: { //MISSION_SET_CURRENT
content["target_system"] = mavlink_msg_mission_set_current_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_set_current_get_target_component(&msg);
content["seq"] = mavlink_msg_mission_set_current_get_seq(&msg);
break;
}
case 42: { //MISSION_CURRENT
content["seq"] = mavlink_msg_mission_current_get_seq(&msg);
break;
}
case 43: { //MISSION_REQUEST_LIST
content["target_system"] = mavlink_msg_mission_request_list_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_request_list_get_target_component(&msg);
break;
}
case 44: { //MISSION_COUNT
content["target_system"] = mavlink_msg_mission_count_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_count_get_target_component(&msg);
content["count"] = mavlink_msg_mission_count_get_count(&msg);
break;
}
case 45: { //MISSION_CLEAR_ALL
content["target_system"] = mavlink_msg_mission_clear_all_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_clear_all_get_target_component(&msg);
break;
}
case 46: { //MISSION_ITEM_REACHED
content["seq"] = mavlink_msg_mission_item_reached_get_seq(&msg);
break;
}
case 47: { //MISSION_ACK
content["target_system"] = mavlink_msg_mission_ack_get_target_system(&msg);
content["target_component"] = mavlink_msg_mission_ack_get_target_component(&msg);
content["type"] = mavlink_msg_mission_ack_get_type(&msg);
break;
}
case 48: { //SET_GPS_GLOBAL_ORIGIN
content["target_system"] = mavlink_msg_set_gps_global_origin_get_target_system(&msg);
content["latitude"] = mavlink_msg_set_gps_global_origin_get_latitude(&msg);
content["longitude"] = mavlink_msg_set_gps_global_origin_get_longitude(&msg);
content["altitude"] = mavlink_msg_set_gps_global_origin_get_altitude(&msg);
break;
}
case 49: { //GPS_GLOBAL_ORIGIN
content["latitude"] = mavlink_msg_gps_global_origin_get_latitude(&msg);
content["longitude"] = mavlink_msg_gps_global_origin_get_longitude(&msg);
content["altitude"] = mavlink_msg_gps_global_origin_get_altitude(&msg);
break;
}
case 50: { //SET_LOCAL_POSITION_SETPOINT
content["target_system"] = mavlink_msg_set_local_position_setpoint_get_target_system(&msg);
content["target_component"] = mavlink_msg_set_local_position_setpoint_get_target_component(&msg);
content["coordinate_frame"] = mavlink_msg_set_local_position_setpoint_get_coordinate_frame(&msg);
content["x"] = mavlink_msg_set_local_position_setpoint_get_x(&msg);
content["y"] = mavlink_msg_set_local_position_setpoint_get_y(&msg);
content["z"] = mavlink_msg_set_local_position_setpoint_get_z(&msg);
content["yaw"] = mavlink_msg_set_local_position_setpoint_get_yaw(&msg);
break;
}
case 51: { //LOCAL_POSITION_SETPOINT
content["coordinate_frame"] = mavlink_msg_local_position_setpoint_get_coordinate_frame(&msg);
content["x"] = mavlink_msg_local_position_setpoint_get_x(&msg);
content["y"] = mavlink_msg_local_position_setpoint_get_y(&msg);
content["z"] = mavlink_msg_local_position_setpoint_get_z(&msg);
content["yaw"] = mavlink_msg_local_position_setpoint_get_yaw(&msg);
break;
}
case 52: { //GLOBAL_POSITION_SETPOINT_INT
content["coordinate_frame"] = mavlink_msg_global_position_setpoint_int_get_coordinate_frame(&msg);
content["latitude"] = mavlink_msg_global_position_setpoint_int_get_latitude(&msg);
content["longitude"] = mavlink_msg_global_position_setpoint_int_get_longitude(&msg);
content["altitude"] = mavlink_msg_global_position_setpoint_int_get_altitude(&msg);
content["yaw"] = mavlink_msg_global_position_setpoint_int_get_yaw(&msg);
break;
}
case 53: { //SET_GLOBAL_POSITION_SETPOINT_INT
content["coordinate_frame"] = mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(&msg);
content["latitude"] = mavlink_msg_set_global_position_setpoint_int_get_latitude(&msg);
content["longitude"] = mavlink_msg_set_global_position_setpoint_int_get_longitude(&msg);
content["altitude"] = mavlink_msg_set_global_position_setpoint_int_get_altitude(&msg);
content["yaw"] = mavlink_msg_set_global_position_setpoint_int_get_yaw(&msg);
break;
}
case 54: { //SAFETY_SET_ALLOWED_AREA
content["target_system"] = mavlink_msg_safety_set_allowed_area_get_target_system(&msg);
content["target_component"] = mavlink_msg_safety_set_allowed_area_get_target_component(&msg);
content["frame"] = mavlink_msg_safety_set_allowed_area_get_frame(&msg);
content["p1x"] = mavlink_msg_safety_set_allowed_area_get_p1x(&msg);
content["p1y"] = mavlink_msg_safety_set_allowed_area_get_p1y(&msg);
content["p1z"] = mavlink_msg_safety_set_allowed_area_get_p1z(&msg);
content["p2x"] = mavlink_msg_safety_set_allowed_area_get_p2x(&msg);
content["p2y"] = mavlink_msg_safety_set_allowed_area_get_p2y(&msg);
content["p2z"] = mavlink_msg_safety_set_allowed_area_get_p2z(&msg);
break;
}
case 55: { //SAFETY_ALLOWED_AREA
content["frame"] = mavlink_msg_safety_allowed_area_get_frame(&msg);
content["p1x"] = mavlink_msg_safety_allowed_area_get_p1x(&msg);
content["p1y"] = mavlink_msg_safety_allowed_area_get_p1y(&msg);
content["p1z"] = mavlink_msg_safety_allowed_area_get_p1z(&msg);
content["p2x"] = mavlink_msg_safety_allowed_area_get_p2x(&msg);
content["p2y"] = mavlink_msg_safety_allowed_area_get_p2y(&msg);
content["p2z"] = mavlink_msg_safety_allowed_area_get_p2z(&msg);
break;
}
case 56: { //SET_ROLL_PITCH_YAW_THRUST
content["target_system"] = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(&msg);
content["target_component"] = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(&msg);
content["roll"] = mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(&msg);
content["pitch"] = mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(&msg);
content["yaw"] = mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(&msg);
content["thrust"] = mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(&msg);
break;
}
case 57: { //SET_ROLL_PITCH_YAW_SPEED_THRUST
content["target_system"] = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(&msg);
content["target_component"] = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(&msg);
content["roll_speed"] = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(&msg);
content["pitch_speed"] = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(&msg);
content["yaw_speed"] = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(&msg);
content["thrust"] = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(&msg);
break;
}
case 58: { //ROLL_PITCH_YAW_THRUST_SETPOINT
content["time_boot_ms"] = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(&msg);
content["roll"] = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(&msg);
content["pitch"] = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(&msg);
content["yaw"] = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(&msg);
content["thrust"] = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(&msg);
break;
}
case 59: { //ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT
content["time_boot_ms"] = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(&msg);
content["roll_speed"] = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(&msg);
content["pitch_speed"] = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(&msg);
content["yaw_speed"] = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(&msg);
content["thrust"] = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(&msg);
break;
}
case 60: { //SET_QUAD_MOTORS_SETPOINT
content["target_system"] = mavlink_msg_set_quad_motors_setpoint_get_target_system(&msg);
content["motor_front_nw"] = mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(&msg);
content["motor_right_ne"] = mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(&msg);
content["motor_back_se"] = mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(&msg);
content["motor_left_sw"] = mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(&msg);
break;
}
case 61: { //SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST
uint8_t arr_target_systems[6]; mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_target_systems(&msg, arr_target_systems);
content["target_systems"] = Json::Value(Json::arrayValue);
for(uint8_t i : arr_target_systems) {
content["target_systems"].append(i);
}
int16_t arr_roll[6]; mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(&msg, arr_roll);
content["roll"] = Json::Value(Json::arrayValue);
for(int16_t i : arr_roll) {
content["roll"].append(i);
}
int16_t arr_pitch[6]; mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(&msg, arr_pitch);
content["pitch"] = Json::Value(Json::arrayValue);
for(int16_t i : arr_pitch) {
content["pitch"].append(i);
}
int16_t arr_yaw[6]; mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(&msg, arr_yaw);
content["yaw"] = Json::Value(Json::arrayValue);
for(int16_t i : arr_yaw) {
content["yaw"].append(i);
}
int16_t arr_thrust[6]; mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(&msg, arr_thrust);
content["thrust"] = Json::Value(Json::arrayValue);
for(int16_t i : arr_thrust) {
content["thrust"].append(i);
}
break;
}
case 62: { //NAV_CONTROLLER_OUTPUT
content["nav_roll"] = mavlink_msg_nav_controller_output_get_nav_roll(&msg);
content["nav_pitch"] = mavlink_msg_nav_controller_output_get_nav_pitch(&msg);
content["nav_bearing"] = mavlink_msg_nav_controller_output_get_nav_bearing(&msg);
content["target_bearing"] = mavlink_msg_nav_controller_output_get_target_bearing(&msg);
content["wp_dist"] = mavlink_msg_nav_controller_output_get_wp_dist(&msg);
content["alt_error"] = mavlink_msg_nav_controller_output_get_alt_error(&msg);
content["aspd_error"] = mavlink_msg_nav_controller_output_get_aspd_error(&msg);
content["xtrack_error"] = mavlink_msg_nav_controller_output_get_xtrack_error(&msg);
break;
}
case 64: { //STATE_CORRECTION
content["xErr"] = mavlink_msg_state_correction_get_xErr(&msg);
content["yErr"] = mavlink_msg_state_correction_get_yErr(&msg);
content["zErr"] = mavlink_msg_state_correction_get_zErr(&msg);
content["rollErr"] = mavlink_msg_state_correction_get_rollErr(&msg);
content["pitchErr"] = mavlink_msg_state_correction_get_pitchErr(&msg);
content["yawErr"] = mavlink_msg_state_correction_get_yawErr(&msg);
content["vxErr"] = mavlink_msg_state_correction_get_vxErr(&msg);
content["vyErr"] = mavlink_msg_state_correction_get_vyErr(&msg);
content["vzErr"] = mavlink_msg_state_correction_get_vzErr(&msg);
break;
}
case 66: { //REQUEST_DATA_STREAM
content["target_system"] = mavlink_msg_request_data_stream_get_target_system(&msg);
content["target_component"] = mavlink_msg_request_data_stream_get_target_component(&msg);
content["req_stream_id"] = mavlink_msg_request_data_stream_get_req_stream_id(&msg);
content["req_message_rate"] = mavlink_msg_request_data_stream_get_req_message_rate(&msg);
content["start_stop"] = mavlink_msg_request_data_stream_get_start_stop(&msg);
break;
}
case 67: { //DATA_STREAM
content["stream_id"] = mavlink_msg_data_stream_get_stream_id(&msg);
content["message_rate"] = mavlink_msg_data_stream_get_message_rate(&msg);
content["on_off"] = mavlink_msg_data_stream_get_on_off(&msg);
break;
}
case 69: { //MANUAL_CONTROL
content["target"] = mavlink_msg_manual_control_get_target(&msg);
content["roll"] = mavlink_msg_manual_control_get_roll(&msg);
content["pitch"] = mavlink_msg_manual_control_get_pitch(&msg);
content["yaw"] = mavlink_msg_manual_control_get_yaw(&msg);
content["thrust"] = mavlink_msg_manual_control_get_thrust(&msg);
content["roll_manual"] = mavlink_msg_manual_control_get_roll_manual(&msg);
content["pitch_manual"] = mavlink_msg_manual_control_get_pitch_manual(&msg);
content["yaw_manual"] = mavlink_msg_manual_control_get_yaw_manual(&msg);
content["thrust_manual"] = mavlink_msg_manual_control_get_thrust_manual(&msg);
break;
}
case 70: { //RC_CHANNELS_OVERRIDE
content["target_system"] = mavlink_msg_rc_channels_override_get_target_system(&msg);
content["target_component"] = mavlink_msg_rc_channels_override_get_target_component(&msg);
content["chan1_raw"] = mavlink_msg_rc_channels_override_get_chan1_raw(&msg);
content["chan2_raw"] = mavlink_msg_rc_channels_override_get_chan2_raw(&msg);
content["chan3_raw"] = mavlink_msg_rc_channels_override_get_chan3_raw(&msg);
content["chan4_raw"] = mavlink_msg_rc_channels_override_get_chan4_raw(&msg);
content["chan5_raw"] = mavlink_msg_rc_channels_override_get_chan5_raw(&msg);
content["chan6_raw"] = mavlink_msg_rc_channels_override_get_chan6_raw(&msg);
content["chan7_raw"] = mavlink_msg_rc_channels_override_get_chan7_raw(&msg);
content["chan8_raw"] = mavlink_msg_rc_channels_override_get_chan8_raw(&msg);
break;
}
case 74: { //VFR_HUD
content["airspeed"] = mavlink_msg_vfr_hud_get_airspeed(&msg);
content["groundspeed"] = mavlink_msg_vfr_hud_get_groundspeed(&msg);
content["heading"] = mavlink_msg_vfr_hud_get_heading(&msg);
content["throttle"] = mavlink_msg_vfr_hud_get_throttle(&msg);
content["alt"] = mavlink_msg_vfr_hud_get_alt(&msg);
content["climb"] = mavlink_msg_vfr_hud_get_climb(&msg);
break;
}
case 76: { //COMMAND_LONG
content["target_system"] = mavlink_msg_command_long_get_target_system(&msg);
content["target_component"] = mavlink_msg_command_long_get_target_component(&msg);
content["command"] = mavlink_msg_command_long_get_command(&msg);
content["confirmation"] = mavlink_msg_command_long_get_confirmation(&msg);
content["param1"] = mavlink_msg_command_long_get_param1(&msg);
content["param2"] = mavlink_msg_command_long_get_param2(&msg);
content["param3"] = mavlink_msg_command_long_get_param3(&msg);
content["param4"] = mavlink_msg_command_long_get_param4(&msg);
content["param5"] = mavlink_msg_command_long_get_param5(&msg);
content["param6"] = mavlink_msg_command_long_get_param6(&msg);
content["param7"] = mavlink_msg_command_long_get_param7(&msg);
break;
}
case 77: { //COMMAND_ACK
content["command"] = mavlink_msg_command_ack_get_command(&msg);
content["result"] = mavlink_msg_command_ack_get_result(&msg);
break;
}
case 89: { //LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET
content["time_boot_ms"] = mavlink_msg_local_position_ned_system_global_offset_get_time_boot_ms(&msg);
content["x"] = mavlink_msg_local_position_ned_system_global_offset_get_x(&msg);
content["y"] = mavlink_msg_local_position_ned_system_global_offset_get_y(&msg);
content["z"] = mavlink_msg_local_position_ned_system_global_offset_get_z(&msg);
content["roll"] = mavlink_msg_local_position_ned_system_global_offset_get_roll(&msg);
content["pitch"] = mavlink_msg_local_position_ned_system_global_offset_get_pitch(&msg);
content["yaw"] = mavlink_msg_local_position_ned_system_global_offset_get_yaw(&msg);
break;
}
case 90: { //HIL_STATE
content["time_usec"] = mavlink_msg_hil_state_get_time_usec(&msg);
content["roll"] = mavlink_msg_hil_state_get_roll(&msg);
content["pitch"] = mavlink_msg_hil_state_get_pitch(&msg);
content["yaw"] = mavlink_msg_hil_state_get_yaw(&msg);
content["rollspeed"] = mavlink_msg_hil_state_get_rollspeed(&msg);
content["pitchspeed"] = mavlink_msg_hil_state_get_pitchspeed(&msg);
content["yawspeed"] = mavlink_msg_hil_state_get_yawspeed(&msg);
content["lat"] = mavlink_msg_hil_state_get_lat(&msg);
content["lon"] = mavlink_msg_hil_state_get_lon(&msg);
content["alt"] = mavlink_msg_hil_state_get_alt(&msg);
content["vx"] = mavlink_msg_hil_state_get_vx(&msg);
content["vy"] = mavlink_msg_hil_state_get_vy(&msg);
content["vz"] = mavlink_msg_hil_state_get_vz(&msg);
content["xacc"] = mavlink_msg_hil_state_get_xacc(&msg);
content["yacc"] = mavlink_msg_hil_state_get_yacc(&msg);
content["zacc"] = mavlink_msg_hil_state_get_zacc(&msg);
break;
}
case 91: { //HIL_CONTROLS
content["time_usec"] = mavlink_msg_hil_controls_get_time_usec(&msg);
content["roll_ailerons"] = mavlink_msg_hil_controls_get_roll_ailerons(&msg);
content["pitch_elevator"] = mavlink_msg_hil_controls_get_pitch_elevator(&msg);
content["yaw_rudder"] = mavlink_msg_hil_controls_get_yaw_rudder(&msg);
content["throttle"] = mavlink_msg_hil_controls_get_throttle(&msg);
content["aux1"] = mavlink_msg_hil_controls_get_aux1(&msg);
content["aux2"] = mavlink_msg_hil_controls_get_aux2(&msg);
content["aux3"] = mavlink_msg_hil_controls_get_aux3(&msg);
content["aux4"] = mavlink_msg_hil_controls_get_aux4(&msg);
content["mode"] = mavlink_msg_hil_controls_get_mode(&msg);
content["nav_mode"] = mavlink_msg_hil_controls_get_nav_mode(&msg);
break;
}
case 92: { //HIL_RC_INPUTS_RAW
content["time_usec"] = mavlink_msg_hil_rc_inputs_raw_get_time_usec(&msg);
content["chan1_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan1_raw(&msg);
content["chan2_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan2_raw(&msg);
content["chan3_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan3_raw(&msg);
content["chan4_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan4_raw(&msg);
content["chan5_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan5_raw(&msg);
content["chan6_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan6_raw(&msg);
content["chan7_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan7_raw(&msg);
content["chan8_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan8_raw(&msg);
content["chan9_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan9_raw(&msg);
content["chan10_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan10_raw(&msg);
content["chan11_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan11_raw(&msg);
content["chan12_raw"] = mavlink_msg_hil_rc_inputs_raw_get_chan12_raw(&msg);
content["rssi"] = mavlink_msg_hil_rc_inputs_raw_get_rssi(&msg);
break;
}
case 100: { //OPTICAL_FLOW
content["time_usec"] = mavlink_msg_optical_flow_get_time_usec(&msg);
content["sensor_id"] = mavlink_msg_optical_flow_get_sensor_id(&msg);
content["flow_x"] = mavlink_msg_optical_flow_get_flow_x(&msg);
content["flow_y"] = mavlink_msg_optical_flow_get_flow_y(&msg);
content["flow_comp_m_x"] = mavlink_msg_optical_flow_get_flow_comp_m_x(&msg);
content["flow_comp_m_y"] = mavlink_msg_optical_flow_get_flow_comp_m_y(&msg);
content["quality"] = mavlink_msg_optical_flow_get_quality(&msg);
content["ground_distance"] = mavlink_msg_optical_flow_get_ground_distance(&msg);
break;
}
case 101: { //GLOBAL_VISION_POSITION_ESTIMATE
content["usec"] = mavlink_msg_global_vision_position_estimate_get_usec(&msg);
content["x"] = mavlink_msg_global_vision_position_estimate_get_x(&msg);
content["y"] = mavlink_msg_global_vision_position_estimate_get_y(&msg);
content["z"] = mavlink_msg_global_vision_position_estimate_get_z(&msg);
content["roll"] = mavlink_msg_global_vision_position_estimate_get_roll(&msg);
content["pitch"] = mavlink_msg_global_vision_position_estimate_get_pitch(&msg);
content["yaw"] = mavlink_msg_global_vision_position_estimate_get_yaw(&msg);
break;
}
case 102: { //VISION_POSITION_ESTIMATE
content["usec"] = mavlink_msg_vision_position_estimate_get_usec(&msg);
content["x"] = mavlink_msg_vision_position_estimate_get_x(&msg);
content["y"] = mavlink_msg_vision_position_estimate_get_y(&msg);
content["z"] = mavlink_msg_vision_position_estimate_get_z(&msg);
content["roll"] = mavlink_msg_vision_position_estimate_get_roll(&msg);
content["pitch"] = mavlink_msg_vision_position_estimate_get_pitch(&msg);
content["yaw"] = mavlink_msg_vision_position_estimate_get_yaw(&msg);
break;
}
case 103: { //VISION_SPEED_ESTIMATE
content["usec"] = mavlink_msg_vision_speed_estimate_get_usec(&msg);
content["x"] = mavlink_msg_vision_speed_estimate_get_x(&msg);
content["y"] = mavlink_msg_vision_speed_estimate_get_y(&msg);
content["z"] = mavlink_msg_vision_speed_estimate_get_z(&msg);
break;
}
case 104: { //VICON_POSITION_ESTIMATE
content["usec"] = mavlink_msg_vicon_position_estimate_get_usec(&msg);
content["x"] = mavlink_msg_vicon_position_estimate_get_x(&msg);
content["y"] = mavlink_msg_vicon_position_estimate_get_y(&msg);
content["z"] = mavlink_msg_vicon_position_estimate_get_z(&msg);
content["roll"] = mavlink_msg_vicon_position_estimate_get_roll(&msg);
content["pitch"] = mavlink_msg_vicon_position_estimate_get_pitch(&msg);
content["yaw"] = mavlink_msg_vicon_position_estimate_get_yaw(&msg);
break;
}
case 249: { //MEMORY_VECT
content["address"] = mavlink_msg_memory_vect_get_address(&msg);
content["ver"] = mavlink_msg_memory_vect_get_ver(&msg);
content["type"] = mavlink_msg_memory_vect_get_type(&msg);
content["value"] = mavlink_msg_memory_vect_get_value(&msg);
break;
}
case 250: { //DEBUG_VECT
char arr_name[10]; mavlink_msg_debug_vect_get_name(&msg, arr_name);
content["name"] = std::string(arr_name, 10);
content["time_usec"] = mavlink_msg_debug_vect_get_time_usec(&msg);
content["x"] = mavlink_msg_debug_vect_get_x(&msg);
content["y"] = mavlink_msg_debug_vect_get_y(&msg);
content["z"] = mavlink_msg_debug_vect_get_z(&msg);
break;
}
case 251: { //NAMED_VALUE_FLOAT
content["time_boot_ms"] = mavlink_msg_named_value_float_get_time_boot_ms(&msg);
char arr_name[10]; mavlink_msg_named_value_float_get_name(&msg, arr_name);
content["name"] = std::string(arr_name, 10);
content["value"] = mavlink_msg_named_value_float_get_value(&msg);
break;
}
case 252: { //NAMED_VALUE_INT
content["time_boot_ms"] = mavlink_msg_named_value_int_get_time_boot_ms(&msg);
char arr_name[10]; mavlink_msg_named_value_int_get_name(&msg, arr_name);
content["name"] = std::string(arr_name, 10);
content["value"] = mavlink_msg_named_value_int_get_value(&msg);
break;
}
case 253: { //STATUSTEXT
content["severity"] = mavlink_msg_statustext_get_severity(&msg);
char arr_text[50]; mavlink_msg_statustext_get_text(&msg, arr_text);
content["text"] = std::string(arr_text, 50);
break;
}
case 254: { //DEBUG
content["time_boot_ms"] = mavlink_msg_debug_get_time_boot_ms(&msg);
content["ind"] = mavlink_msg_debug_get_ind(&msg);
content["value"] = mavlink_msg_debug_get_value(&msg);
break;
}
}
return content;
}
/**
* @brief Receive communication packets and handle them. Should be called at the system sample rate.
*
* This function decodes packets on the protocol level and also handles
* their value by calling the appropriate functions.
*/
void MavLinkReceive(void)
{
mavlink_message_t msg;
mavlink_status_t status;
// Track whether we actually handled any data in this function call.
// Used for updating the number of MAVLink messages handled
bool processedData = false;
while (GetLength(&uart1RxBuffer) > 0) {
processedData = true;
uint8_t c;
Read(&uart1RxBuffer, &c);
// Parse another byte and if there's a message found process it.
if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
// Latch the groundstation system and component ID if we haven't yet.
if (!groundStationSystemId && !groundStationComponentId) {
groundStationSystemId = msg.sysid;
groundStationComponentId = msg.compid;
}
switch(msg.msgid) {
// If we are not doing any mission protocol operations, record the size of the incoming mission
// list and transition into the write missions state machine loop.
case MAVLINK_MSG_ID_MISSION_COUNT: {
uint8_t mavlinkNewMissionListSize = mavlink_msg_mission_count_get_count(&msg);
MavLinkEvaluateMissionState(MISSION_EVENT_COUNT_RECEIVED, &mavlinkNewMissionListSize);
} break;
// Handle receiving a mission.
case MAVLINK_MSG_ID_MISSION_ITEM: {
mavlink_mission_item_t currentMission;
mavlink_msg_mission_item_decode(&msg, ¤tMission);
MavLinkEvaluateMissionState(MISSION_EVENT_ITEM_RECEIVED, ¤tMission);
} break;
// Responding to a mission request entails moving into the first active state and scheduling a MISSION_COUNT message
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
MavLinkEvaluateMissionState(MISSION_EVENT_REQUEST_LIST_RECEIVED, NULL);
break;
// When a mission request message is received, respond with that mission information from the MissionManager
case MAVLINK_MSG_ID_MISSION_REQUEST: {
uint8_t receivedMissionIndex = mavlink_msg_mission_request_get_seq(&msg);
MavLinkEvaluateMissionState(MISSION_EVENT_REQUEST_RECEIVED, &receivedMissionIndex);
} break;
// Allow for clearing waypoints. Here we respond simply with an ACK message if we successfully
// cleared the mission list.
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
MavLinkEvaluateMissionState(MISSION_EVENT_CLEAR_ALL_RECEIVED, NULL);
break;
// Allow for the groundstation to set the current mission. This requires a WAYPOINT_CURRENT response message agreeing with the received current message index.
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
uint8_t newCurrentMission = mavlink_msg_mission_set_current_get_seq(&msg);
MavLinkEvaluateMissionState(MISSION_EVENT_SET_CURRENT_RECEIVED, &newCurrentMission);
} break;
case MAVLINK_MSG_ID_MISSION_ACK: {
mavlink_msg_mission_ack_get_type(&msg);
MavLinkEvaluateMissionState(MISSION_EVENT_ACK_RECEIVED, NULL);
} break;
// If they're requesting a list of all parameters, call a separate function that'll track the state and transmit the necessary messages.
// This reason that this is an external function is so that it can be run separately at 20Hz.
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
MavLinkEvaluateParameterState(PARAM_EVENT_REQUEST_LIST_RECEIVED, NULL);
} break;
// If a request comes for a single parameter then set that to be the current parameter and move into the proper state.
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
uint16_t currentParameter = mavlink_msg_param_request_read_get_param_index(&msg);
MavLinkEvaluateParameterState(PARAM_EVENT_REQUEST_READ_RECEIVED, ¤tParameter);
} break;
case MAVLINK_MSG_ID_PARAM_SET: {
mavlink_param_set_t x;
mavlink_msg_param_set_decode(&msg, &x);
MavLinkEvaluateParameterState(PARAM_EVENT_SET_RECEIVED, &x);
} break;
default: break;
}
}
}
// Update the number of messages received, both successful and not. Note that the 'status' variable
// will be updated on every call to *_parse_char(), so this will always be a valid value.
if (processedData) {
mavLinkMessagesReceived = status.packet_rx_success_count;
mavLinkMessagesFailedParsing = status.packet_rx_drop_count;
}
}
void protDecodeMavlink(void) {
uint8_t indx, writeSuccess, commChannel = 1;
mavlink_param_set_t set;
mavlink_message_t msg;
mavlink_status_t status;
// uint8_t* dataIn;
// fix the data length so if the interrupt adds data
// during execution of this block, it will be read
// until the next gsRead
unsigned int tmpLen = getLength(uartMavlinkInBuffer), i = 0;
// if the buffer has more data than the max size, set it to max,
// otherwise set it to the length
//DatafromGSmavlink[0] = (tmpLen > MAXINLEN) ? MAXINLEN : tmpLen;
// read the data
//for (i = 1; i <= DatafromGSmavlink[0]; i += 1) {
//mavlink_parse_char(commChannel, readFront(uartBufferInMavlink), &msg, &status);
//DatafromGSmavlink[i] = readFront(uartMavlinkInBuffer);
//}
//dataIn = DatafromGSmavlink;
// increment the age of heartbeat
mlPending.heartbeatAge++;
for (i = 0; i <= tmpLen; i++) {
// Try to get a new message
if (mavlink_parse_char(commChannel, readFront(uartMavlinkInBuffer), &msg, &status)) {
// Handle message
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
mavlink_msg_heartbeat_decode(&msg, &mlHeartbeat);
// Reset the heartbeat
mlPending.heartbeatAge = 0;
break;
//AM DBG
case MAVLINK_MSG_ID_MISSION_COUNT:
if (!mlPending.wpTransaction && (mlPending.wpProtState == WP_PROT_IDLE)) {
mavlink_msg_mission_count_decode(&msg, &mlWpCount);
// Start the transaction
mlPending.wpTransaction = 1;
// change the state
mlPending.wpProtState = WP_PROT_GETTING_WP_IDLE;
// reset the rest of the state machine
mlPending.wpTotalWps = mlWpCount.count;
mlPending.wpCurrentWpInTransaction = 0;
mlPending.wpTimeOut = 0;
}
break;
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
// if there is no transaction going on
if (!mlPending.wpTransaction && (mlPending.wpProtState == WP_PROT_IDLE)) {
// Start the transaction
mlPending.wpTransaction = 1;
// change the state
mlPending.wpProtState = WP_PROT_LIST_REQUESTED;
// reset the rest of the state machine
mlPending.wpCurrentWpInTransaction = 0;
mlPending.wpTimeOut = 0;
}
break;
case MAVLINK_MSG_ID_MISSION_REQUEST:
mavlink_msg_mission_request_decode(&msg, &mlWpRequest);
if (mlPending.wpTransaction && (mlWpRequest.seq < mlWpValues.wpCount)) {
// change the state
mlPending.wpProtState = WP_PROT_TX_WP;
// reset the rest of the state machine
mlPending.wpCurrentWpInTransaction = mlWpRequest.seq;
mlPending.wpTimeOut = 0;
} else {
// TODO: put here a report for a single WP, i.e. not inside a transaction
}
break;
case MAVLINK_MSG_ID_MISSION_ACK:
mavlink_msg_mission_ack_decode(&msg, &mlWpAck);
if (mlPending.wpTransaction) {
// End the transaction
mlPending.wpTransaction = 0;
// change the state
mlPending.wpProtState = WP_PROT_IDLE;
// reset the rest of the state machine
mlPending.wpCurrentWpInTransaction = 0;
mlPending.wpTimeOut = 0;
// send current waypoint index
mlPending.wpSendCurrent = TRUE;
}
break;
case MAVLINK_MSG_ID_MISSION_ITEM:
writeSuccess = SUCCESS;
mavlink_msg_mission_item_decode(&msg, &mlSingleWp);
if (mlPending.wpTransaction && (mlPending.wpProtState == WP_PROT_RX_WP)) {
mlPending.wpProtState = WP_PROT_GETTING_WP_IDLE;
}
indx = (uint8_t) mlSingleWp.seq;
mlWpValues.lat[indx] = mlSingleWp.x;
mlWpValues.lon[indx] = mlSingleWp.y;
mlWpValues.alt[indx] = mlSingleWp.z;
mlWpValues.type[indx] = mlSingleWp.command;
mlWpValues.orbit[indx] = (uint16_t) mlSingleWp.param3;
/*
// Record the data in EEPROM
writeSuccess = storeWaypointInEeprom(&mlSingleWp);
// Set the flag of Aknowledge for the AKN Message
// if the write was not successful
if (writeSuccess != SUCCESS) {
mlPending.wpAck++;
mlWpAck.target_component = MAV_COMP_ID_MISSIONPLANNER;
mlWpAck.type = MAV_MISSION_ERROR;
}
*/
break;
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
writeSuccess = SUCCESS;
// clear the WP values in memory;
memset(&mlWpValues, 0, sizeof (mavlink_mission_item_values_t));
/*
writeSuccess = clearWaypointsFrom(0);
// Set the flag of Aknowledge fail
// if the write was unsuccessful
if (writeSuccess != SUCCESS) {
mlPending.statustext++;
mlStatustext.severity = MAV_SEVERITY_ERROR;
strncpy(mlStatustext.text, "Failed to clear waypoints from EEPROM.", 49);
}
*/
// Update the waypoint count
mlWpValues.wpCount = 0;
// Set the state machine ready to send the WP akn
mlPending.wpCurrentWpInTransaction = 0;
mlPending.wpTotalWps = 0;
mlPending.wpTransaction = 1;
mlPending.wpProtState = WP_PROT_GETTING_WP_IDLE;
break;
case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
writeSuccess = SUCCESS;
memset(&mlSingleWp, 0, sizeof (mavlink_mission_item_t));
mavlink_msg_set_gps_global_origin_decode(&msg, &mlGSLocation);
mlSingleWp.x = (float) (mlGSLocation.latitude);
mlSingleWp.y = (float) (mlGSLocation.longitude);
mlSingleWp.z = (float) (mlGSLocation.altitude);
indx = (uint8_t) MAX_NUM_WPS - 1;
mlWpValues.lat[indx] = mlSingleWp.x;
mlWpValues.lon[indx] = mlSingleWp.y;
mlWpValues.alt[indx] = mlSingleWp.z;
mlWpValues.type[indx] = MAV_CMD_NAV_LAND;
mlWpValues.orbit[indx] = 0;
// Record the data in EEPROM
/*
writeSuccess = storeWaypointInEeprom(&mlSingleWp);
if (writeSuccess != SUCCESS) {
mlPending.statustext++;
mlStatustext.severity = MAV_SEVERITY_ERROR;
strncpy(mlStatustext.text, "Failed to write origin to EEPROM.", 49);
}
else {
mlPending.statustext++;
mlStatustext.severity = MAV_SEVERITY_INFO;
strncpy(mlStatustext.text, "Control DSC GPS origin set.", 49);
}
*/
break;
//AM DBG
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
mlPending.piTransaction = 1;
mlPending.piProtState = PI_SEND_ALL_PARAM;
mlPending.piCurrentParamInTransaction = 0;
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
// If it was in the middle of a list transmission or there is already a param enqueued
mlPending.piTransaction = 1;
switch (mlPending.piProtState) {
case PI_IDLE:
mlPending.piBackToList = 0; // no need to go back
mlPending.piQIdx = -1; // no Index
mlPending.piCurrentParamInTransaction = mavlink_msg_param_request_read_get_param_index(&msg); // assign directly
mlPending.piProtState = PI_SEND_ONE_PARAM;
break;
case PI_SEND_ALL_PARAM:
mlPending.piBackToList = 1; // mark to go back
mlPending.piQIdx++; // done like this because when empty index = -1
mlPending.piQueue[mlPending.piQIdx] = mavlink_msg_param_request_read_get_param_index(&msg); // put in in queue
mlPending.piProtState = PI_SEND_ONE_PARAM;
break;
case PI_SEND_ONE_PARAM:
if (mlPending.piBackToList) {
mlPending.piQIdx++; // done like this because when empty index = -1
mlPending.piQueue[mlPending.piQIdx] = mavlink_msg_param_request_read_get_param_index(&msg); // put in in queue
}
mlPending.piProtState = PI_SEND_ONE_PARAM;
break;
}
break;
case MAVLINK_MSG_ID_PARAM_SET:
mavlink_msg_param_set_decode(&msg, &set);
if ((uint8_t) set.target_system == (uint8_t) SYSTEMID &&
(uint8_t) set.target_component == (uint8_t) COMPID) {
char* key = (char*) set.param_id;
uint8_t i, j;
uint8_t match;
for (i = 0; i < PAR_PARAM_COUNT; i++) {
match = 1;
for (j = 0; j < PARAM_NAME_LENGTH; j++) {
// Compare
if (((char) (mlParamInterface.param_name[i][j]))
!= (char) (key[j])) {
match = 0;
} // if
// End matching if null termination is reached
if (((char) mlParamInterface.param_name[i][j]) == '\0') {
break;
} // if
}// for j
// Check if matched
if (match) {
//sw_debug = 1;
// 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 infinity
if (isFinite(set.param_value)) {
mlParamInterface.param[i] = set.param_value;
// Report back new value
mlPending.piBackToList = 0; // no need to go back
mlPending.piQIdx = -1; // no Index
mlPending.piCurrentParamInTransaction = i; // assign directly
mlPending.piProtState = PI_SEND_ONE_PARAM;
mlPending.piTransaction = 1;
} // if different and not nan and not inf
} // if match
}// for i
} // if addressed to this
break;
default:
break;
}
}
}
}
