// ------------------------------------------------------------------------------
// Read Messages
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
read_messages()
{
bool success; // receive success flag
bool received_all = false; // receive only one message
Time_Stamps this_timestamps;
// Blocking wait for new data
while ( not received_all and not time_to_exit )
{
// ----------------------------------------------------------------------
// READ MESSAGE
// ----------------------------------------------------------------------
mavlink_message_t message;
success = serial_port->read_message(message);
// ----------------------------------------------------------------------
// HANDLE MESSAGE
// ----------------------------------------------------------------------
if( success )
{
// Store message sysid and compid.
// Note this doesn't handle multiple message sources.
current_messages.sysid = message.sysid;
current_messages.compid = message.compid;
// Handle Message ID
switch (message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
std::cout << "MAVLINK_MSG_ID_HEARTBEAT" << std::endl;
mavlink_msg_heartbeat_decode(&message, &(current_messages.heartbeat));
current_messages.time_stamps.heartbeat = get_time_usec();
this_timestamps.heartbeat = current_messages.time_stamps.heartbeat;
break;
}
case MAVLINK_MSG_ID_SYS_STATUS:
{
//std::cout << "MAVLINK_MSG_ID_SYS_STATUS" << std::endl;
mavlink_msg_sys_status_decode(&message, &(current_messages.sys_status));
current_messages.time_stamps.sys_status = get_time_usec();
this_timestamps.sys_status = current_messages.time_stamps.sys_status;
break;
}
case MAVLINK_MSG_ID_BATTERY_STATUS:
{
std::cout << "MAVLINK_MSG_ID_BATTERY_STATUS" << std::endl;
mavlink_msg_battery_status_decode(&message, &(current_messages.battery_status));
current_messages.time_stamps.battery_status = get_time_usec();
this_timestamps.battery_status = current_messages.time_stamps.battery_status;
break;
}
case MAVLINK_MSG_ID_RADIO_STATUS:
{
std::cout << "MAVLINK_MSG_ID_RADIO_STATUS" << std::endl;
mavlink_msg_radio_status_decode(&message, &(current_messages.radio_status));
current_messages.time_stamps.radio_status = get_time_usec();
this_timestamps.radio_status = current_messages.time_stamps.radio_status;
break;
}
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
{
std::cout << "MAVLINK_MSG_ID_LOCAL_POSITION_NED" << std::endl;
mavlink_msg_local_position_ned_decode(&message, &(current_messages.local_position_ned));
current_messages.time_stamps.local_position_ned = get_time_usec();
this_timestamps.local_position_ned = current_messages.time_stamps.local_position_ned;
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
std::cout << "MAVLINK_MSG_ID_GLOBAL_POSITION_INT" << std::endl;
mavlink_msg_global_position_int_decode(&message, &(current_messages.global_position_int));
current_messages.time_stamps.global_position_int = get_time_usec();
this_timestamps.global_position_int = current_messages.time_stamps.global_position_int;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
{
std::cout << "MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED" << std::endl;
mavlink_msg_position_target_local_ned_decode(&message, &(current_messages.position_target_local_ned));
current_messages.time_stamps.position_target_local_ned = get_time_usec();
this_timestamps.position_target_local_ned = current_messages.time_stamps.position_target_local_ned;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT:
{
std::cout << "MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT" << std::endl;
mavlink_msg_position_target_global_int_decode(&message, &(current_messages.position_target_global_int));
current_messages.time_stamps.position_target_global_int = get_time_usec();
this_timestamps.position_target_global_int = current_messages.time_stamps.position_target_global_int;
break;
}
case MAVLINK_MSG_ID_HIGHRES_IMU:
{
std::cout << "MAVLINK_MSG_ID_HIGHRES_IMU" << std::endl;
mavlink_msg_highres_imu_decode(&message, &(current_messages.highres_imu));
current_messages.time_stamps.highres_imu = get_time_usec();
this_timestamps.highres_imu = current_messages.time_stamps.highres_imu;
break;
}
case MAVLINK_MSG_ID_ATTITUDE:
{
vector4d quaternion;
std::cout << "MAVLINK_MSG_ID_ATTITUDE" << std::endl;
mavlink_msg_attitude_decode(&message, &(current_messages.attitude));
current_messages.time_stamps.attitude = get_time_usec();
this_timestamps.attitude = current_messages.time_stamps.attitude;
quaternion_from_euler(&quaternion, current_messages.attitude.roll,
current_messages.attitude.pitch, current_messages.attitude.yaw);
std::cout <<
"\troll: " << current_messages.attitude.roll <<
"\tpitch: " << current_messages.attitude.pitch <<
"\tyaw: " << current_messages.attitude.yaw <<
std::endl;
std::cout <<
"\trollspeed: " << current_messages.attitude.rollspeed <<
"\tpitchspeed: " << current_messages.attitude.pitchspeed <<
"\tyawspeed: " << current_messages.attitude.yawspeed <<
std::endl;
std::cout <<
"\tqx: " << quaternion.x <<
"\tqy: " << quaternion.y <<
"\tqz: " << quaternion.z <<
"\tqw: " << quaternion.w <<
std::endl;
break;
}
case MAVLINK_MSG_ID_DEBUG:
{
std::cout << "MAVLINK_MSG_ID_DEBUG" << std::endl;
/* mavlink_msg_debug_decode(&message, &(current_messages.attitude));
current_messages.time_stamps.attitude = get_time_usec();
this_timestamps.attitude = current_messages.time_stamps.attitude;*/
break;
}
case MAVLINK_MSG_ID_STATUSTEXT:
{
std::cout << "MAVLINK_MSG_ID_STATUSTEXT: ";
mavlink_msg_statustext_decode(&message, &(current_messages.statustext));
current_messages.statustext.text[50] = 0;
printf("%d - '%s'\n", current_messages.statustext.severity, current_messages.statustext.text);
current_messages.time_stamps.statustext = get_time_usec();
this_timestamps.statustext = current_messages.time_stamps.statustext;
break;
}
case MAVLINK_MSG_ID_RAW_IMU:
{
std::cout << "MAVLINK_MSG_ID_RAW_IMU:" << std::endl;
mavlink_msg_raw_imu_decode(&message, &(current_messages.raw_imu));
std::cout << "\tacc :\t" << current_messages.raw_imu.xacc <<
"\t" << current_messages.raw_imu.yacc <<
"\t" << current_messages.raw_imu.zacc <<
std::endl;
std::cout << "\tgyro:\t" << current_messages.raw_imu.xgyro <<
"\t" << current_messages.raw_imu.ygyro <<
"\t" << current_messages.raw_imu.zgyro <<
std::endl;
std::cout << "\tmag:\t" << current_messages.raw_imu.xmag <<
"\t" << current_messages.raw_imu.ymag <<
"\t" << current_messages.raw_imu.zmag <<
std::endl;
current_messages.time_stamps.raw_imu = get_time_usec();
this_timestamps.raw_imu = current_messages.time_stamps.raw_imu;
break;
}
case MAVLINK_MSG_ID_GPS_RAW_INT:
{
std::cout << "MAVLINK_MSG_ID_GPS_RAW_INT:" << std::endl;
mavlink_msg_gps_raw_int_decode(&message, &(current_messages.gps_raw_int));
current_messages.time_stamps.gps_raw_int = get_time_usec();
this_timestamps.gps_raw_int = current_messages.time_stamps.gps_raw_int;
std::cout <<
"\tlat: " << current_messages.gps_raw_int.lat <<
"\tlon: " << current_messages.gps_raw_int.lon <<
"\talt: " << current_messages.gps_raw_int.alt <<
std::endl;
std::cout <<
"\teph: " << current_messages.gps_raw_int.eph <<
"\tepv: " << current_messages.gps_raw_int.epv <<
std::endl;
std::cout <<
"\tvel: " << current_messages.gps_raw_int.vel <<
"\tcog: " << current_messages.gps_raw_int.cog <<
std::endl;
std::cout <<
"\tfix: " << (int)current_messages.gps_raw_int.fix_type <<
"\tsat: " << (int)current_messages.gps_raw_int.satellites_visible <<
std::endl;
break;
}
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
{
vector4d quaternion;
std::cout << "MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:" << std::endl;
mavlink_msg_nav_controller_output_decode(&message, &(current_messages.nav_controller_output));
current_messages.time_stamps.nav_controller_output = get_time_usec();
this_timestamps.nav_controller_output = current_messages.time_stamps.nav_controller_output;
quaternion_from_euler(&quaternion, current_messages.nav_controller_output.nav_roll,
current_messages.nav_controller_output.nav_pitch, current_messages.nav_controller_output.nav_bearing);
std::cout <<
"\tnav_roll: " << current_messages.nav_controller_output.nav_roll <<
"\tnav_pitch: " << current_messages.nav_controller_output.nav_pitch <<
"\tnav_bearing: " << current_messages.nav_controller_output.nav_bearing <<
std::endl;
std::cout <<
"\tqx: " << quaternion.x <<
"\tqy: " << quaternion.y <<
"\tqz: " << quaternion.z <<
"\tqw: " << quaternion.w <<
std::endl;
std::cout <<
"\ttarget_bearing: " << current_messages.nav_controller_output.target_bearing <<
"\twp_dist: " << current_messages.nav_controller_output.wp_dist <<
std::endl;
std::cout <<
"\talt_error: " << current_messages.nav_controller_output.alt_error <<
"\taspd_error: " << current_messages.nav_controller_output.aspd_error <<
"\txtrack_error: " << current_messages.nav_controller_output.xtrack_error <<
std::endl;
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
std::cout << "MAVLINK_MSG_ID_SCALED_PRESSURE:" << std::endl;
mavlink_msg_scaled_pressure_decode(&message, &(current_messages.scaled_pressure));
current_messages.time_stamps.scaled_pressure = get_time_usec();
this_timestamps.scaled_pressure = current_messages.time_stamps.scaled_pressure;
std::cout <<
"\tpress_abs: " << current_messages.scaled_pressure.press_abs <<
"\tpress_diff: " << current_messages.scaled_pressure.press_diff <<
"\ttemperature: " << ((double)current_messages.scaled_pressure.temperature / 100.0) <<
std::endl;
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
std::cout << "MAVLINK_MSG_ID_RC_CHANNELS_RAW:" << std::endl;
mavlink_msg_rc_channels_raw_decode(&message, &(current_messages.rc_channels_raw));
current_messages.time_stamps.rc_channels_raw = get_time_usec();
this_timestamps.rc_channels_raw = current_messages.time_stamps.rc_channels_raw;
std::cout <<
"\tport: " << (int)current_messages.rc_channels_raw.port <<
"\tchan1_raw: " << current_messages.rc_channels_raw.chan1_raw <<
"\tchan2_raw: " << current_messages.rc_channels_raw.chan2_raw <<
"\tchan3_raw: " << current_messages.rc_channels_raw.chan3_raw <<
"\tchan4_raw: " << current_messages.rc_channels_raw.chan4_raw <<
"\tchan5_raw: " << current_messages.rc_channels_raw.chan5_raw <<
"\tchan6_raw: " << current_messages.rc_channels_raw.chan6_raw <<
"\tchan7_raw: " << current_messages.rc_channels_raw.chan7_raw <<
"\tchan8_raw: " << current_messages.rc_channels_raw.chan8_raw <<
"\trssi: " << (int)current_messages.rc_channels_raw.rssi <<
std::endl;
break;
}
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
{
std::cout << "MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:" << std::endl;
mavlink_msg_servo_output_raw_decode(&message, &(current_messages.servo_output_raw));
current_messages.time_stamps.servo_output_raw = get_time_usec();
this_timestamps.servo_output_raw = current_messages.time_stamps.servo_output_raw;
std::cout <<
"\tport: " << (int)current_messages.servo_output_raw.port <<
"\tservo1_raw: " << current_messages.servo_output_raw.servo1_raw <<
"\tservo2_raw: " << current_messages.servo_output_raw.servo2_raw <<
"\tservo3_raw: " << current_messages.servo_output_raw.servo3_raw <<
"\tservo4_raw: " << current_messages.servo_output_raw.servo4_raw <<
"\tservo5_raw: " << current_messages.servo_output_raw.servo5_raw <<
"\tservo6_raw: " << current_messages.servo_output_raw.servo6_raw <<
"\tservo7_raw: " << current_messages.servo_output_raw.servo7_raw <<
"\tservo8_raw: " << current_messages.servo_output_raw.servo8_raw <<
std::endl;
break;
}
case MAVLINK_MSG_ID_VFR_HUD:
{
std::cout << "MAVLINK_MSG_ID_VFR_HUD:" << std::endl;
mavlink_msg_vfr_hud_decode(&message, &(current_messages.vfr_hud));
current_messages.time_stamps.vfr_hud = get_time_usec();
this_timestamps.vfr_hud = current_messages.time_stamps.vfr_hud;
std::cout <<
"\tairspeed: " << current_messages.vfr_hud.airspeed <<
"\tgroundspeed: " << current_messages.vfr_hud.groundspeed <<
"\theading: " << current_messages.vfr_hud.heading <<
std::endl;
std::cout <<
"\tthrottle: " << current_messages.vfr_hud.throttle <<
"\talt: " << current_messages.vfr_hud.alt <<
"\tclimb: " << current_messages.vfr_hud.climb <<
std::endl;
break;
}
case MAVLINK_MSG_ID_MISSION_CURRENT:
{
std::cout << "MAVLINK_MSG_ID_MISSION_CURRENT: ";
mavlink_msg_mission_current_decode(&message, &(current_messages.mission_current));
current_messages.time_stamps.mission_current = get_time_usec();
this_timestamps.mission_current = current_messages.time_stamps.mission_current;
std::cout <<
"seq: " << current_messages.mission_current.seq <<
std::endl;
break;
}
default:
{
printf("Warning, did not handle message id %i\n",message.msgid);
break;
}
} // end: switch msgid
} // end: if read message
// Check for receipt of all items
received_all =
this_timestamps.heartbeat &&
this_timestamps.sys_status &&
// this_timestamps.battery_status &&
// this_timestamps.radio_status &&
this_timestamps.local_position_ned &&
// this_timestamps.global_position_int &&
// this_timestamps.position_target_local_ned &&
this_timestamps.position_target_global_int &&
this_timestamps.highres_imu &&
this_timestamps.attitude ;
// give the write thread time to use the port
if ( writing_status > false )
usleep(100); // look for components of batches at 10kHz
} // end: while not received all
return;
}
//42
void MavSerialPort::mission_current_handler(){
// qDebug() << "MAVLINK_MSG_ID_MISSION_CURRENT\n";
mavlink_msg_mission_current_decode(&message, &mission_current);
}
void mavlink_handleMessage(mavlink_message_t* msg) {
mavlink_message_t msg2;
char sysmsg_str[1024];
switch (msg->msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_heartbeat_t packet;
mavlink_msg_heartbeat_decode(msg, &packet);
droneType = packet.type;
autoPilot = packet.autopilot;
if (packet.base_mode == MAV_MODE_MANUAL_ARMED) {
ModelData.mode = MODEL_MODE_MANUAL;
} else if (packet.base_mode == 128 + 64 + 16) {
ModelData.mode = MODEL_MODE_RTL;
} else if (packet.base_mode == 128 + 16) {
ModelData.mode = MODEL_MODE_POSHOLD;
} else if (packet.base_mode == 128 + 4) {
ModelData.mode = MODEL_MODE_MISSION;
}
if (packet.system_status == MAV_STATE_ACTIVE) {
ModelData.armed = MODEL_ARMED;
} else {
ModelData.armed = MODEL_DISARMED;
}
// SDL_Log("Heartbeat: %i, %i, %i\n", ModelData.armed, ModelData.mode, ModelData.status);
ModelData.heartbeat = 100;
// sprintf(sysmsg_str, "Heartbeat: %i", (int)time(0));
if ((*msg).sysid != 0xff) {
ModelData.sysid = (*msg).sysid;
ModelData.compid = (*msg).compid;
if (mavlink_maxparam == 0) {
mavlink_start_feeds();
}
}
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED: {
mavlink_rc_channels_scaled_t packet;
mavlink_msg_rc_channels_scaled_decode(msg, &packet);
// SDL_Log("Radio: %i,%i,%i\n", packet.chan1_scaled, packet.chan2_scaled, packet.chan3_scaled);
/* if ((int)packet.chan6_scaled > 1000) {
mode = MODE_MISSION;
} else if ((int)packet.chan6_scaled < -1000) {
mode = MODE_MANUEL;
} else {
mode = MODE_POSHOLD;
}
if ((int)packet.chan7_scaled > 1000) {
mode = MODE_RTL;
} else if ((int)packet.chan7_scaled < -1000) {
mode = MODE_SETHOME;
}
*/
ModelData.radio[0] = (int)packet.chan1_scaled / 100.0;
ModelData.radio[1] = (int)packet.chan2_scaled / 100.0;
ModelData.radio[2] = (int)packet.chan3_scaled / 100.0;
ModelData.radio[3] = (int)packet.chan4_scaled / 100.0;
ModelData.radio[4] = (int)packet.chan5_scaled / 100.0;
ModelData.radio[5] = (int)packet.chan6_scaled / 100.0;
ModelData.radio[6] = (int)packet.chan7_scaled / 100.0;
ModelData.radio[7] = (int)packet.chan8_scaled / 100.0;
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE: {
mavlink_scaled_pressure_t packet;
mavlink_msg_scaled_pressure_decode(msg, &packet);
// SDL_Log("BAR;%i;%0.2f;%0.2f;%0.2f\n", time(0), packet.press_abs, packet.press_diff, packet.temperature / 100.0);
// redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_ATTITUDE: {
mavlink_attitude_t packet;
mavlink_msg_attitude_decode(msg, &packet);
ModelData.roll = toDeg(packet.roll);
ModelData.pitch = toDeg(packet.pitch);
if (toDeg(packet.yaw) < 0.0) {
ModelData.yaw = 360.0 + toDeg(packet.yaw);
} else {
ModelData.yaw = toDeg(packet.yaw);
}
mavlink_update_yaw = 1;
// SDL_Log("ATT;%i;%0.2f;%0.2f;%0.2f\n", time(0), toDeg(packet.roll), toDeg(packet.pitch), toDeg(packet.yaw));
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_SCALED_IMU: {
// SDL_Log("SCALED_IMU\n");
break;
}
case MAVLINK_MSG_ID_GPS_RAW_INT: {
mavlink_gps_raw_int_t packet;
mavlink_msg_gps_raw_int_decode(msg, &packet);
if (packet.lat != 0.0) {
GPS_found = 1;
ModelData.p_lat = (float)packet.lat / 10000000.0;
ModelData.p_long = (float)packet.lon / 10000000.0;
ModelData.p_alt = (float)packet.alt / 1000.0;
ModelData.speed = (float)packet.vel / 100.0;
ModelData.numSat = packet.satellites_visible;
ModelData.gpsfix = packet.fix_type;
redraw_flag = 1;
}
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_RAW: {
// SDL_Log("RC_CHANNELS_RAW\n");
break;
}
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
// SDL_Log("SERVO_OUTPUT_RAW\n");
break;
}
case MAVLINK_MSG_ID_SYS_STATUS: {
mavlink_sys_status_t packet;
mavlink_msg_sys_status_decode(msg, &packet);
// SDL_Log("%0.1f %%, %0.3f V)\n", packet.load / 10.0, packet.voltage_battery / 1000.0);
ModelData.voltage = packet.voltage_battery / 1000.0;
ModelData.load = packet.load / 10.0;
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_STATUSTEXT: {
mavlink_statustext_t packet;
mavlink_msg_statustext_decode(msg, &packet);
SDL_Log("mavlink: ## %s ##\n", packet.text);
sys_message((char *)packet.text);
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_PARAM_VALUE: {
mavlink_param_value_t packet;
mavlink_msg_param_value_decode(msg, &packet);
char var[101];
uint16_t n1 = 0;
uint16_t n2 = 0;
for (n1 = 0; n1 < strlen(packet.param_id); n1++) {
if (packet.param_id[n1] != 9 && packet.param_id[n1] != ' ' && packet.param_id[n1] != '\t') {
var[n2++] = packet.param_id[n1];
}
}
var[n2++] = 0;
// MAV_VAR_FLOAT=0, /* 32 bit float | */
// MAV_VAR_UINT8=1, /* 8 bit unsigned integer | */
// MAV_VAR_INT8=2, /* 8 bit signed integer | */
// MAV_VAR_UINT16=3, /* 16 bit unsigned integer | */
// MAV_VAR_INT16=4, /* 16 bit signed integer | */
// MAV_VAR_UINT32=5, /* 32 bit unsigned integer | */
// MAV_VAR_INT32=6, /* 32 bit signed integer | */
sprintf(sysmsg_str, "PARAM_VALUE (%i/%i): #%s# = %f (Type: %i)", packet.param_index + 1, packet.param_count, var, packet.param_value, packet.param_type);
SDL_Log("mavlink: %s\n", sysmsg_str);
sys_message(sysmsg_str);
mavlink_maxparam = packet.param_count;
mavlink_timeout = 0;
mavlink_set_value(var, packet.param_value, packet.param_type, packet.param_index);
if (packet.param_index + 1 == packet.param_count || packet.param_index % 10 == 0) {
mavlink_param_xml_meta_load();
}
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT: {
mavlink_mission_count_t packet;
mavlink_msg_mission_count_decode(msg, &packet);
sprintf(sysmsg_str, "MISSION_COUNT: %i\n", packet.count);
sys_message(sysmsg_str);
mission_max = packet.count;
if (mission_max > 0) {
mavlink_msg_mission_request_pack(127, 0, &msg2, ModelData.sysid, ModelData.compid, 0);
mavlink_send_message(&msg2);
}
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_MISSION_ACK: {
SDL_Log("mavlink: Mission-Transfer ACK\n");
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST: {
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
uint16_t id = packet.seq;
uint16_t id2 = packet.seq;
uint16_t type = 0;
if (ModelData.teletype == TELETYPE_MEGAPIRATE_NG || ModelData.teletype == TELETYPE_ARDUPILOT) {
if (id2 > 0) {
id2 = id2 - 1;
} else {
SDL_Log("mavlink: WORKAROUND: first WP == HOME ?\n");
}
}
sprintf(sysmsg_str, "sending Waypoint (%i): %s\n", id, WayPoints[1 + id2].name);
sys_message(sysmsg_str);
if (strcmp(WayPoints[1 + id2].command, "WAYPOINT") == 0) {
SDL_Log("mavlink: Type: MAV_CMD_NAV_WAYPOINT\n");
type = MAV_CMD_NAV_WAYPOINT;
} else if (strcmp(WayPoints[1 + id2].command, "RTL") == 0) {
SDL_Log("mavlink: Type: MAV_CMD_NAV_RETURN_TO_LAUNCH\n");
type = MAV_CMD_NAV_RETURN_TO_LAUNCH;
} else if (strcmp(WayPoints[1 + id2].command, "LAND") == 0) {
SDL_Log("mavlink: Type: MAV_CMD_NAV_LAND\n");
type = MAV_CMD_NAV_LAND;
} else if (strcmp(WayPoints[1 + id2].command, "TAKEOFF") == 0) {
SDL_Log("mavlink: Type: MAV_CMD_NAV_TAKEOFF\n");
type = MAV_CMD_NAV_TAKEOFF;
} else {
SDL_Log("mavlink: Type: UNKNOWN\n");
type = MAV_CMD_NAV_WAYPOINT;
}
sprintf(sysmsg_str, "SENDING MISSION_ITEM: %i: %f, %f, %f\n", id, WayPoints[1 + id2].p_lat, WayPoints[1 + id2].p_long, WayPoints[1 + id2].p_alt);
SDL_Log("mavlink: %s\n", sysmsg_str);
mavlink_msg_mission_item_pack(127, 0, &msg2, ModelData.sysid, ModelData.compid, id, 0, type, 0.0, 0.0, WayPoints[1 + id2].radius, WayPoints[1 + id2].wait, WayPoints[1 + id2].orbit, WayPoints[1 + id2].yaw, WayPoints[1 + id2].p_lat, WayPoints[1 + id2].p_long, WayPoints[1 + id2].p_alt);
mavlink_send_message(&msg2);
/*
mavlink_msg_mission_item_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
float param1; ///< PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
float param2; ///< PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
float param3; ///< PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
float param4; ///< PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
float x; ///< PARAM5 / local: x position, global: latitude
float y; ///< PARAM6 / y position: global: longitude
float z; ///< PARAM7 / z position: global: altitude
uint16_t seq; ///< Sequence
uint16_t command; ///< The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t frame; ///< The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
uint8_t current; ///< false:0, true:1
uint8_t autocontinue; ///< autocontinue to next wp
*/
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_MISSION_ITEM: {
mavlink_mission_item_t packet;
mavlink_msg_mission_item_decode(msg, &packet);
sprintf(sysmsg_str, "RECEIVED MISSION_ITEM: %i/%i: %f, %f, %f (%i)\n", packet.seq, mission_max, packet.x, packet.y, packet.z, packet.frame);
SDL_Log("mavlink: %s\n", sysmsg_str);
sys_message(sysmsg_str);
if (packet.seq < mission_max - 1) {
mavlink_msg_mission_request_pack(127, 0, &msg2, ModelData.sysid, ModelData.compid, packet.seq + 1);
mavlink_send_message(&msg2);
} else {
mavlink_msg_mission_ack_pack(127, 0, &msg2, ModelData.sysid, ModelData.compid, 15);
mavlink_send_message(&msg2);
}
if (ModelData.teletype == TELETYPE_MEGAPIRATE_NG || ModelData.teletype == TELETYPE_ARDUPILOT) {
if (packet.seq > 0) {
packet.seq = packet.seq - 1;
} else {
SDL_Log("mavlink: WORKAROUND: ignore first WP\n");
break;
}
}
SDL_Log("mavlink: getting WP(%i): %f, %f\n", packet.seq, packet.x, packet.y);
switch (packet.command) {
case MAV_CMD_NAV_WAYPOINT: {
strcpy(WayPoints[1 + packet.seq].command, "WAYPOINT");
break;
}
case MAV_CMD_NAV_LOITER_UNLIM: {
strcpy(WayPoints[1 + packet.seq].command, "LOITER_UNLIM");
break;
}
case MAV_CMD_NAV_LOITER_TURNS: {
strcpy(WayPoints[1 + packet.seq].command, "LOITER_TURNS");
break;
}
case MAV_CMD_NAV_LOITER_TIME: {
strcpy(WayPoints[1 + packet.seq].command, "LOITER_TIME");
break;
}
case MAV_CMD_NAV_RETURN_TO_LAUNCH: {
strcpy(WayPoints[1 + packet.seq].command, "RTL");
break;
}
case MAV_CMD_NAV_LAND: {
strcpy(WayPoints[1 + packet.seq].command, "LAND");
break;
}
case MAV_CMD_NAV_TAKEOFF: {
strcpy(WayPoints[1 + packet.seq].command, "TAKEOFF");
break;
}
default: {
sprintf(WayPoints[1 + packet.seq].command, "CMD:%i", packet.command);
break;
}
}
if (packet.x == 0.0) {
packet.x = 0.00001;
}
if (packet.y == 0.0) {
packet.y = 0.00001;
}
if (packet.z == 0.0) {
packet.z = 0.00001;
}
WayPoints[1 + packet.seq].p_lat = packet.x;
WayPoints[1 + packet.seq].p_long = packet.y;
WayPoints[1 + packet.seq].p_alt = packet.z;
WayPoints[1 + packet.seq].yaw = packet.param4;
sprintf(WayPoints[1 + packet.seq].name, "WP%i", packet.seq + 1);
WayPoints[1 + packet.seq + 1].p_lat = 0.0;
WayPoints[1 + packet.seq + 1].p_long = 0.0;
WayPoints[1 + packet.seq + 1].p_alt = 0.0;
WayPoints[1 + packet.seq + 1].yaw = 0.0;
WayPoints[1 + packet.seq + 1].name[0] = 0;
WayPoints[1 + packet.seq + 1].command[0] = 0;
/*
float param1; ///< PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
float param2; ///< PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
float param3; ///< PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
float param4; ///< PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
float x; ///< PARAM5 / local: x position, global: latitude
float y; ///< PARAM6 / y position: global: longitude
float z; ///< PARAM7 / z position: global: altitude
uint16_t seq; ///< Sequence
uint16_t command; ///< The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
uint8_t frame; ///< The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
uint8_t current; ///< false:0, true:1
uint8_t autocontinue; ///< autocontinue to next wp
GCS_MAVLink/message_definitions_v1.0/common.xml: <entry value="0" name="MAV_FRAME_GLOBAL">
GCS_MAVLink/message_definitions_v1.0/common.xml: <entry value="1" name="MAV_FRAME_LOCAL_NED">
GCS_MAVLink/message_definitions_v1.0/common.xml: <entry value="2" name="MAV_FRAME_MISSION">
GCS_MAVLink/message_definitions_v1.0/common.xml: <entry value="3" name="MAV_FRAME_GLOBAL_RELATIVE_ALT">
GCS_MAVLink/message_definitions_v1.0/common.xml: <entry value="4" name="MAV_FRAME_LOCAL_ENU">
*/
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_MISSION_CURRENT: {
mavlink_mission_current_t packet;
mavlink_msg_mission_current_decode(msg, &packet);
// SDL_Log("mavlink: ## Active_WP %f ##\n", packet.seq);
uav_active_waypoint = (uint8_t)packet.seq;
break;
}
case MAVLINK_MSG_ID_RAW_IMU: {
mavlink_raw_imu_t packet;
mavlink_msg_raw_imu_decode(msg, &packet);
/*
SDL_Log("## IMU_RAW_ACC_X %i ##\n", packet.xacc);
SDL_Log("## IMU_RAW_ACC_Y %i ##\n", packet.yacc);
SDL_Log("## IMU_RAW_ACC_Z %i ##\n", packet.zacc);
SDL_Log("## IMU_RAW_GYRO_X %i ##\n", packet.xgyro);
SDL_Log("## IMU_RAW_GYRO_Y %i ##\n", packet.ygyro);
SDL_Log("## IMU_RAW_GYRO_Z %i ##\n", packet.zgyro);
SDL_Log("## IMU_RAW_MAG_X %i ##\n", packet.xmag);
SDL_Log("## IMU_RAW_MAG_Y %i ##\n", packet.ymag);
SDL_Log("## IMU_RAW_MAG_Z %i ##\n", packet.zmag);
*/
ModelData.acc_x = (float)packet.xacc / 1000.0;
ModelData.acc_y = (float)packet.yacc / 1000.0;
ModelData.acc_z = (float)packet.zacc / 1000.0;
ModelData.gyro_x = (float)packet.zgyro;
ModelData.gyro_y = (float)packet.zgyro;
ModelData.gyro_z = (float)packet.zgyro;
redraw_flag = 1;
break;
}
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: {
mavlink_nav_controller_output_t packet;
mavlink_msg_nav_controller_output_decode(msg, &packet);
/*
nav_roll
nav_pitch
alt_error
aspd_error
xtrack_error
nav_bearing
target_bearing
wp_dist
*/
break;
}
case MAVLINK_MSG_ID_VFR_HUD: {
mavlink_vfr_hud_t packet;
mavlink_msg_vfr_hud_decode(msg, &packet);
// SDL_Log("## pa %f ##\n", packet.airspeed);
// SDL_Log("## pg %f ##\n", packet.groundspeed);
// SDL_Log("## palt %f ##\n", packet.alt);
if (GPS_found == 0) {
ModelData.p_alt = packet.alt;
}
// SDL_Log("## pc %f ##\n", packet.climb);
// SDL_Log("## ph %i ##\n", packet.heading);
// SDL_Log("## pt %i ##\n", packet.throttle);
break;
}
case MAVLINK_MSG_ID_RADIO: {
mavlink_radio_t packet;
mavlink_msg_radio_decode(msg, &packet);
SDL_Log("mavlink: ## rxerrors %i ##\n", packet.rxerrors);
SDL_Log("mavlink: ## fixed %i ##\n", packet.fixed);
SDL_Log("mavlink: ## rssi %i ##\n", packet.rssi);
SDL_Log("mavlink: ## remrssi %i ##\n", packet.remrssi);
SDL_Log("mavlink: ## txbuf %i ##\n", packet.txbuf);
SDL_Log("mavlink: ## noise %i ##\n", packet.noise);
SDL_Log("mavlink: ## remnoise %i ##\n", packet.remnoise);
break;
}
default: {
// SDL_Log(" ## MSG_ID == %i ##\n", msg->msgid);
break;
}
}
}
