/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.
* \param[in] obj Object to connect
*/
static void registerObject(UAVObjHandle obj)
{
if (UAVObjIsMetaobject(obj)) {
/* Only connect change notifications for meta objects. No periodic updates */
UAVObjConnectQueue(obj, priorityQueue, EV_MASK_ALL_UPDATES);
return;
} else {
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
/* Only create a periodic event for objects that are periodic */
if ((updateMode == UPDATEMODE_PERIODIC) ||
(updateMode == UPDATEMODE_THROTTLED)) {
// Setup object for periodic updates
UAVObjEvent ev = {
.obj = obj,
.instId = UAVOBJ_ALL_INSTANCES,
.event = EV_UPDATED_PERIODIC,
};
EventPeriodicQueueCreate(&ev, queue, 0);
}
// Setup object for telemetry updates
updateObject(obj, EV_NONE);
}
/**
* Processes queue events
*/
static void processObjEvent(UAVObjEvent * ev)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
FlightTelemetryStatsData flightStats;
int32_t retries;
int32_t success;
if (ev->obj == 0) {
updateTelemetryStats();
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else {
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle()) {
// Act on event
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
} else if (ev->event == EV_UPDATE_REQ) {
// Request object update from GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObjectRequest(uavTalkCon, ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
}
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE); // linked object will be the actual object the metadata are for
}
}
if((updateMode == UPDATEMODE_THROTTLED) && !UAVObjIsMetaobject(ev->obj)) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(ev->obj, ev->event);
}
}
}
/**
* Update object's queue connections and timer, depending on object's settings
* \param[in] obj Object to updates
*/
static void updateObject(UAVObjHandle obj, int32_t eventType)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object depending on update mode
if (updateMode == UPDATEMODE_PERIODIC) {
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_ONCHANGE) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_THROTTLED) {
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// If we received a periodic update, we can change back to update on change
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
// Set update period on initialization and metadata change
if (eventType == EV_NONE)
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
} else {
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
}
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_MANUAL) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
}
}
/**
* Processes queue events
*/
static void processObjEvent(UAVObjEvent * ev)
{
UAVObjMetadata metadata;
FlightTelemetryStatsData flightStats;
int32_t retries;
int32_t success;
if (ev->obj == 0) {
updateTelemetryStats();
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else if (ev->obj == TelemetrySettingsHandle()) {
updateSettings();
} else {
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle()) {
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
// Act on event
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL) {
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
} else if (ev->event == EV_UPDATE_REQ) {
// Request object update from GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObjectRequest(ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
}
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
}
}
}
}
/**
* Update object's queue connections and timer, depending on object's settings
* \param[in] obj Object to updates
*/
static void updateObject(UAVObjHandle obj)
{
UAVObjMetadata metadata;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
// Setup object depending on update mode
if (metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC) {
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_MANUAL) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_NEVER) {
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect queue
UAVObjDisconnectQueue(obj, priorityQueue);
}
}
static bool enableHil(bool enable)
{
// READ-ONLY flag write to ActuatorCommand
UAVObjHandle handle = ActuatorCommandHandle();
UAVObjMetadata commandMeta;
UAVObjGetMetadata(handle, &commandMeta);
if (enable)
{
// Disable actuators
commandMeta.access = ACCESS_READONLY;
}
else
{
// Enable actuators
commandMeta.access = ACCESS_READWRITE;
}
return (UAVObjSetMetadata(handle, &commandMeta) == 0);
}
/**
* Register a new object: connect the update callback
* \param[in] obj Object to connect
*/
static void register_object(UAVObjHandle obj)
{
// check whether we want to log this object
UAVObjMetadata meta_data;
if (UAVObjGetMetadata(obj, &meta_data) < 0){
return;
}
if (meta_data.loggingUpdatePeriod == 0){
return;
}
uint16_t period = MAX(meta_data.loggingUpdatePeriod, get_minimum_logging_period());
if (period == 1) {
// log every update
UAVObjConnectCallback(obj, obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED);
}
else {
// log updates throttled
UAVObjConnectCallbackThrottled(obj, obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, period);
}
}
/**
* Module task
*/
static void manualControlTask(void *parameters)
{
ManualControlSettingsData settings;
ManualControlCommandData cmd;
portTickType lastSysTime;
float flightMode = 0;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
enum { CONNECTED, DISCONNECTED } connection_state = DISCONNECTED;
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
ManualControlCommandSet(&cmd);
armState = ARM_STATE_DISARMED;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
// Read settings
ManualControlSettingsGet(&settings);
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n], 0);
}
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[settings.Roll];
cmd.Pitch = scaledChannel[settings.Pitch];
cmd.Yaw = scaledChannel[settings.Yaw];
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
if (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE)
cmd.Accessory1 = scaledChannel[settings.Accessory1];
else
cmd.Accessory1 = 0;
if (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE)
cmd.Accessory2 = scaledChannel[settings.Accessory2];
else
cmd.Accessory2 = 0;
if (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
cmd.Accessory3 = scaledChannel[settings.Accessory3];
else
cmd.Accessory3 = 0;
// Note here the code is ass
if (flightMode < -FLIGHT_MODE_LIMIT)
cmd.FlightMode = settings.FlightModePosition[0];
else if (flightMode > FLIGHT_MODE_LIMIT)
cmd.FlightMode = settings.FlightModePosition[2];
else
cmd.FlightMode = settings.FlightModePosition[1];
// Update the ManualControlCommand object
ManualControlCommandSet(&cmd);
// This seems silly to set then get, but the reason is if the GCS is
// the control input, the set command will be blocked by the read only
// setting and the get command will pull the right values from telemetry
} else
ManualControlCommandGet(&cmd); /* Under GCS control */
// Implement hysteresis loop on connection status
// Must check both Max and Min in case they reversed
if (!ManualControlCommandReadOnly(&cmd) &&
cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] - CONNECTION_OFFSET &&
cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle] - CONNECTION_OFFSET) {
if (disconnected_count++ > 10) {
connection_state = DISCONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
disconnected_count++;
} else {
if (connected_count++ > 10) {
connection_state = CONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
connected_count++;
}
if (connection_state == DISCONNECTED) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.Throttle = -1; // Shut down engine with no control
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
} else {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
ManualControlCommandSet(&cmd);
}
//
// Arming and Disarming mechanism
//
// Look for state changes and write in newArmState
uint8_t newCmdArmed = cmd.Armed; // By default, keep the arming state the same
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
// In this configuration we always disarm
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_FALSE;
} else {
// In all other cases, we will not change the arm state when disconnected
if (connection_state == CONNECTED)
{
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
if (cmd.Throttle < 0) {
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
}
} else {
// When the configuration is not "Always armed" and no "Always disarmed",
// the state will not be changed when the throttle is not low
if (cmd.Throttle < 0) {
static portTickType armedDisarmStart;
float armingInputLevel = 0;
// Calc channel see assumptions7
switch ( (settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
case ARMING_CHANNEL_ROLL: armingInputLevel = cmd.Roll; break;
case ARMING_CHANNEL_PITCH: armingInputLevel = cmd.Pitch; break;
case ARMING_CHANNEL_YAW: armingInputLevel = cmd.Yaw; break;
}
bool manualArm = false;
bool manualDisarm = false;
if (connection_state == CONNECTED) {
// Should use RC input only if RX is connected
if (armingInputLevel <= -0.90)
manualArm = true;
else if (armingInputLevel >= +0.90)
manualDisarm = true;
}
// Swap arm-disarming see assumptions8
if ((settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) {
bool temp = manualArm;
manualArm = manualDisarm;
manualDisarm = temp;
}
switch(armState) {
case ARM_STATE_DISARMED:
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_FALSE;
if (manualArm)
{
if (okToArm()) // only allow arming if it's OK too
{
armedDisarmStart = lastSysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
}
break;
case ARM_STATE_ARMING_MANUAL:
if (manualArm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_ARMED;
}
else
armState = ARM_STATE_DISARMED;
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if (settings.ArmedTimeout != 0)
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)
armState = ARM_STATE_DISARMED;
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_DISARMED;
}
else
armState = ARM_STATE_ARMED;
break;
} // End Switch
} else {
// The throttle is not low, in case we where arming or disarming, abort
switch(armState) {
case ARM_STATE_DISARMING_MANUAL:
case ARM_STATE_DISARMING_TIMEOUT:
armState = ARM_STATE_ARMED;
break;
case ARM_STATE_ARMING_MANUAL:
armState = ARM_STATE_DISARMED;
break;
default:
// Nothing needs to be done in the other states
break;
}
}
}
}
}
// Update cmd object when needed
if (newCmdArmed != cmd.Armed) {
cmd.Armed = newCmdArmed;
ManualControlCommandSet(&cmd);
}
//
// End of arming/disarming
//
// Depending on the mode update the Stabilization or Actuator objects
switch(PARSE_FLIGHT_MODE(cmd.FlightMode)) {
case FLIGHTMODE_UNDEFINED:
// This reflects a bug in the code architecture!
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
break;
case FLIGHTMODE_MANUAL:
updateActuatorDesired(&cmd);
break;
case FLIGHTMODE_STABILIZED:
updateStabilizationDesired(&cmd, &settings);
break;
case FLIGHTMODE_GUIDANCE:
// TODO: Implement
break;
}
}
}
/**
* Module task
*/
static void manualControlTask(void *parameters)
{
ManualControlSettingsData settings;
StabilizationSettingsData stabSettings;
ManualControlCommandData cmd;
ActuatorDesiredData actuator;
AttitudeDesiredData attitude;
RateDesiredData rate;
portTickType lastSysTime;
float flightMode;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
enum { CONNECTED, DISCONNECTED } connection_state = DISCONNECTED;
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
ManualControlCommandSet(&cmd);
armState = ARM_STATE_DISARMED;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
float scaledChannel[MANUALCONTROLCOMMAND_CHANNEL_NUMELEM];
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS);
PIOS_WDG_UpdateFlag(PIOS_WDG_MANUAL);
// Read settings
ManualControlSettingsGet(&settings);
StabilizationSettingsGet(&stabSettings);
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE) {
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n) {
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
}
// Scale channels to -1 -> +1 range
cmd.Roll = scaledChannel[settings.Roll];
cmd.Pitch = scaledChannel[settings.Pitch];
cmd.Yaw = scaledChannel[settings.Yaw];
cmd.Throttle = scaledChannel[settings.Throttle];
flightMode = scaledChannel[settings.FlightMode];
if (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE)
cmd.Accessory1 = scaledChannel[settings.Accessory1];
else
cmd.Accessory1 = 0;
if (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE)
cmd.Accessory2 = scaledChannel[settings.Accessory2];
else
cmd.Accessory2 = 0;
if (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
cmd.Accessory3 = scaledChannel[settings.Accessory3];
else
cmd.Accessory3 = 0;
if (flightMode < -FLIGHT_MODE_LIMIT) {
// Position 1
for(int i = 0; i < 3; i++) {
cmd.StabilizationSettings[i] = settings.Pos1StabilizationSettings[i]; // See assumptions1
}
cmd.FlightMode = settings.Pos1FlightMode; // See assumptions2
} else if (flightMode > FLIGHT_MODE_LIMIT) {
// Position 3
for(int i = 0; i < 3; i++) {
cmd.StabilizationSettings[i] = settings.Pos3StabilizationSettings[i]; // See assumptions5
}
cmd.FlightMode = settings.Pos3FlightMode; // See assumptions6
} else {
// Position 2
for(int i = 0; i < 3; i++) {
cmd.StabilizationSettings[i] = settings.Pos2StabilizationSettings[i]; // See assumptions3
}
cmd.FlightMode = settings.Pos2FlightMode; // See assumptions4
}
// Update the ManualControlCommand object
ManualControlCommandSet(&cmd);
// This seems silly to set then get, but the reason is if the GCS is
// the control input, the set command will be blocked by the read only
// setting and the get command will pull the right values from telemetry
} else
ManualControlCommandGet(&cmd); /* Under GCS control */
// Implement hysteresis loop on connection status
// Must check both Max and Min in case they reversed
if (!ManualControlCommandReadOnly(&cmd) &&
cmd.Channel[settings.Throttle] < settings.ChannelMax[settings.Throttle] - CONNECTION_OFFSET &&
cmd.Channel[settings.Throttle] < settings.ChannelMin[settings.Throttle] - CONNECTION_OFFSET) {
if (disconnected_count++ > 10) {
connection_state = DISCONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
disconnected_count++;
} else {
if (connected_count++ > 10) {
connection_state = CONNECTED;
connected_count = 0;
disconnected_count = 0;
} else
connected_count++;
}
if (connection_state == DISCONNECTED) {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.Throttle = -1; // Shut down engine with no control
cmd.Roll = 0;
cmd.Yaw = 0;
cmd.Pitch = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
ManualControlCommandSet(&cmd);
} else {
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
ManualControlCommandSet(&cmd);
}
// Arming and Disarming mechanism
if (cmd.Throttle < 0) {
// Throttle is low, in this condition the arming state could change
uint8_t newCmdArmed = cmd.Armed;
static portTickType armedDisarmStart;
// Look for state changes and write in newArmState
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_NONE) {
// No channel assigned to arming -> arm immediately when throttle is low
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
} else {
float armStickLevel;
uint8_t channel = settings.Arming/2; // 0=Channel1, 1=Channel1_Rev, 2=Channel2, ....
bool reverse = (settings.Arming%2)==1;
bool manualArm = false;
bool manualDisarm = false;
if (connection_state == CONNECTED) {
// Should use RC input only if RX is connected
armStickLevel = scaledChannel[channel];
if (reverse)
armStickLevel =-armStickLevel;
if (armStickLevel <= -0.90)
manualArm = true;
else if (armStickLevel >= +0.90)
manualDisarm = true;
}
switch(armState) {
case ARM_STATE_DISARMED:
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_FALSE;
if (manualArm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
break;
case ARM_STATE_ARMING_MANUAL:
if (manualArm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_ARMED;
}
else
armState = ARM_STATE_DISARMED;
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_TIMEOUT;
newCmdArmed = MANUALCONTROLCOMMAND_ARMED_TRUE;
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if (settings.ArmedTimeout != 0)
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)
armState = ARM_STATE_DISARMED;
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm) {
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
armState = ARM_STATE_DISARMED;
}
else
armState = ARM_STATE_ARMED;
break;
}
}
// Update cmd object when needed
if (newCmdArmed != cmd.Armed) {
cmd.Armed = newCmdArmed;
ManualControlCommandSet(&cmd);
}
} else {
// The throttle is not low, in case we where arming or disarming, abort
switch(armState) {
case ARM_STATE_DISARMING_MANUAL:
case ARM_STATE_DISARMING_TIMEOUT:
armState = ARM_STATE_ARMED;
break;
case ARM_STATE_ARMING_MANUAL:
armState = ARM_STATE_DISARMED;
break;
default:
// Nothing needs to be done in the other states
break;
}
}
// End of arming/disarming
// Depending on the mode update the Stabilization or Actuator objects
if (cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) {
actuator.Roll = cmd.Roll;
actuator.Pitch = cmd.Pitch;
actuator.Yaw = cmd.Yaw;
actuator.Throttle = cmd.Throttle;
ActuatorDesiredSet(&actuator);
} else if (cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) {
attitude.Roll = cmd.Roll * stabSettings.RollMax;
attitude.Pitch = cmd.Pitch * stabSettings.PitchMax;
attitude.Yaw = fmod(cmd.Yaw * 180.0, 360);
attitude.Throttle = (cmd.Throttle < 0) ? -1 : cmd.Throttle;
rate.Roll = cmd.Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL];
rate.Pitch = cmd.Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH];
rate.Yaw = cmd.Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
AttitudeDesiredSet(&attitude);
RateDesiredSet(&rate);
}
}
}
/**
* Telemetry transmit task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
uint8_t c;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
inputPort = telemetryPort;
}
mavlink_channel_t mavlink_chan = MAVLINK_COMM_0;
// Block until a byte is available
PIOS_COM_ReceiveBuffer(inputPort, &c, 1, portMAX_DELAY);
// And process it
if (mavlink_parse_char(mavlink_chan, c, &rx_msg, &rx_status))
{
// Handle packet with waypoint component
mavlink_wpm_message_handler(&rx_msg);
// Handle packet with parameter component
mavlink_pm_message_handler(mavlink_chan, &rx_msg);
switch (rx_msg.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
// Check if this is the gcs
mavlink_heartbeat_t beat;
mavlink_msg_heartbeat_decode(&rx_msg, &beat);
if (beat.type == MAV_TYPE_GCS)
{
// Got heartbeat from the GCS, we're good!
lastOperatorHeartbeat = xTaskGetTickCount() * portTICK_RATE_MS;
}
}
break;
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(&rx_msg, &mode);
// Check if this system should change the mode
if (mode.target_system == mavlink_system.sysid)
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
switch (mode.base_mode)
{
case MAV_MODE_MANUAL_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_MANUAL;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_MANUAL_DISARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_MANUAL;
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
}
break;
case MAV_MODE_PREFLIGHT:
{
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
}
break;
case MAV_MODE_STABILIZE_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED1;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_GUIDED_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED2;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_AUTO_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED3;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
}
bool newHilEnabled = (mode.base_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL);
if (newHilEnabled != hilEnabled)
{
if (newHilEnabled)
{
// READ-ONLY flag write to ActuatorCommand
UAVObjMetadata meta;
UAVObjHandle handle = ActuatorCommandHandle();
UAVObjGetMetadata(handle, &meta);
meta.access = ACCESS_READONLY;
UAVObjSetMetadata(handle, &meta);
mavlink_missionlib_send_gcs_string("ENABLING HIL SIMULATION");
mavlink_missionlib_send_gcs_string("+++++++++++++++++++++++");
mavlink_missionlib_send_gcs_string("BLOCKING ALL ACTUATORS");
}
else
{
// READ-ONLY flag write to ActuatorCommand
UAVObjMetadata meta;
UAVObjHandle handle = ActuatorCommandHandle();
UAVObjGetMetadata(handle, &meta);
meta.access = ACCESS_READWRITE;
UAVObjSetMetadata(handle, &meta);
mavlink_missionlib_send_gcs_string("DISABLING HIL SIMULATION");
mavlink_missionlib_send_gcs_string("+++++++++++++++++++++++");
mavlink_missionlib_send_gcs_string("ACTIVATING ALL ACTUATORS");
}
}
hilEnabled = newHilEnabled;
FlightStatusSet(&flightStatus);
// Check HIL
bool hilEnabled = (mode.base_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL);
enableHil(hilEnabled);
}
}
break;
case MAVLINK_MSG_ID_HIL_STATE:
{
if (hilEnabled)
{
mavlink_hil_state_t hil;
mavlink_msg_hil_state_decode(&rx_msg, &hil);
// Write GPSPosition
GPSPositionData gps;
GPSPositionGet(&gps);
gps.Altitude = hil.alt/10;
gps.Latitude = hil.lat/10;
gps.Longitude = hil.lon/10;
GPSPositionSet(&gps);
// Write PositionActual
PositionActualData pos;
PositionActualGet(&pos);
// FIXME WRITE POSITION HERE
PositionActualSet(&pos);
// Write AttitudeActual
AttitudeActualData att;
AttitudeActualGet(&att);
att.Roll = hil.roll;
att.Pitch = hil.pitch;
att.Yaw = hil.yaw;
// FIXME
//att.RollSpeed = hil.rollspeed;
//att.PitchSpeed = hil.pitchspeed;
//att.YawSpeed = hil.yawspeed;
// Convert to quaternion formulation
RPY2Quaternion(&attitudeActual.Roll, &attitudeActual.q1);
// Write AttitudeActual
AttitudeActualSet(&att);
// Write AttitudeRaw
AttitudeRawData raw;
AttitudeRawGet(&raw);
raw.gyros[0] = hil.rollspeed;
raw.gyros[1] = hil.pitchspeed;
raw.gyros[2] = hil.yawspeed;
raw.accels[0] = hil.xacc;
raw.accels[1] = hil.yacc;
raw.accels[2] = hil.zacc;
// raw.magnetometers[0] = hil.xmag;
// raw.magnetometers[0] = hil.ymag;
// raw.magnetometers[0] = hil.zmag;
AttitudeRawSet(&raw);
}
}
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// FIXME Implement
}
break;
}
}
}
}
/**
* Processes queue events
*/
static void processObjEvent(UAVObjEvent * ev)
{
UAVObjMetadata metadata;
// FlightTelemetryStatsData flightStats;
// GCSTelemetryStatsData gcsTelemetryStatsData;
// int32_t retries;
// int32_t success;
if (ev->obj == 0) {
updateTelemetryStats();
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else if (ev->obj == TelemetrySettingsHandle()) {
updateSettings();
} else {
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
}
mavlink_message_t msg;
mavlink_system.sysid = 20;
mavlink_system.compid = MAV_COMP_ID_IMU;
mavlink_system.type = MAV_TYPE_FIXED_WING;
uint8_t mavClass = MAV_AUTOPILOT_OPENPILOT;
AlarmsClear(SYSTEMALARMS_ALARM_TELEMETRY);
// Setup type and object id fields
uint32_t objId = UAVObjGetID(ev->obj);
// uint64_t timeStamp = 0;
switch(objId) {
case BAROALTITUDE_OBJID:
{
BaroAltitudeGet(&baroAltitude);
pressure.press_abs = baroAltitude.Pressure*10.0f;
pressure.temperature = baroAltitude.Temperature*100.0f;
mavlink_msg_scaled_pressure_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &pressure);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
break;
}
case FLIGHTTELEMETRYSTATS_OBJID:
{
// FlightTelemetryStatsData flightTelemetryStats;
FlightTelemetryStatsGet(&flightStats);
// XXX this is a hack to make it think it got a confirmed
// connection
flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_CONNECTED;
GCSTelemetryStatsGet(&gcsTelemetryStatsData);
gcsTelemetryStatsData.Status = GCSTELEMETRYSTATS_STATUS_CONNECTED;
//
//
// //mavlink_msg_heartbeat_send(MAVLINK_COMM_0,mavlink_system.type,mavClass);
// mavlink_msg_heartbeat_pack(mavlink_system.sysid, mavlink_system.compid, &msg, mavlink_system.type, mavClass);
// // Copy the message to the send buffer
// uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// // Send buffer
// PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
break;
}
case SYSTEMSTATS_OBJID:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
uint8_t system_state = MAV_STATE_UNINIT;
uint8_t base_mode = 0;
uint8_t custom_mode = 0;
// Set flight mode
switch (flightStatus.FlightMode)
{
case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
base_mode |= MAV_MODE_FLAG_AUTO_ENABLED;
break;
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL:
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break;
default:
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
}
// Set arming state
switch (flightStatus.Armed)
{
case FLIGHTSTATUS_ARMED_ARMING:
case FLIGHTSTATUS_ARMED_ARMED:
system_state = MAV_STATE_ACTIVE;
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
break;
case FLIGHTSTATUS_ARMED_DISARMED:
system_state = MAV_STATE_STANDBY;
base_mode &= !MAV_MODE_FLAG_SAFETY_ARMED;
break;
}
// Set HIL
if (hilEnabled) base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
mavlink_msg_heartbeat_send(MAVLINK_COMM_0, mavlink_system.type, mavClass, base_mode, custom_mode, system_state);
SystemStatsData stats;
SystemStatsGet(&stats);
FlightBatteryStateData flightBatteryData;
FlightBatteryStateGet(&flightBatteryData);
FlightBatterySettingsData flightBatterySettings;
FlightBatterySettingsGet(&flightBatterySettings);
uint16_t batteryVoltage = (uint16_t)(flightBatteryData.Voltage*1000.0f);
int16_t batteryCurrent = -1; // -1: Not present / not estimated
int8_t batteryPercent = -1; // -1: Not present / not estimated
// if (flightBatterySettings.SensorCalibrations[FLIGHTBATTERYSETTINGS_SENSORCALIBRATIONS_CURRENTFACTOR] == 0)
// {
// Factor is zero, sensor is not present
// Estimate remaining capacity based on lipo curve
batteryPercent = 100.0f*((flightBatteryData.Voltage - 9.6f)/(12.6f - 9.6f));
// }
// else
// {
// // Use capacity and current
// batteryPercent = 100.0f*((flightBatterySettings.Capacity - flightBatteryData.ConsumedEnergy) / flightBatterySettings.Capacity);
// batteryCurrent = flightBatteryData.Current*100;
// }
mavlink_msg_sys_status_send(MAVLINK_COMM_0, 0xFF, 0xFF, 0xFF, ((uint16_t)stats.CPULoad*10), batteryVoltage, batteryCurrent, batteryPercent, 0, 0, 0, 0, 0, 0);
// // Copy the message to the send buffer
// uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// // Send buffer
// PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
break;
}
case ATTITUDERAW_OBJID:
{
AttitudeRawGet(&attitudeRaw);
// Copy data
attitude_raw.xacc = attitudeRaw.accels[ATTITUDERAW_ACCELS_X];
attitude_raw.yacc = attitudeRaw.accels[ATTITUDERAW_ACCELS_Y];
attitude_raw.zacc = attitudeRaw.accels[ATTITUDERAW_ACCELS_Z];
attitude_raw.xgyro = attitudeRaw.gyros[ATTITUDERAW_GYROS_X];
attitude_raw.ygyro = attitudeRaw.gyros[ATTITUDERAW_GYROS_Y];
attitude_raw.zgyro = attitudeRaw.gyros[ATTITUDERAW_GYROS_Z];
attitude_raw.xmag = attitudeRaw.magnetometers[ATTITUDERAW_MAGNETOMETERS_X];
attitude_raw.ymag = attitudeRaw.magnetometers[ATTITUDERAW_MAGNETOMETERS_Y];
attitude_raw.zmag = attitudeRaw.magnetometers[ATTITUDERAW_MAGNETOMETERS_Z];
mavlink_msg_raw_imu_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &attitude_raw);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
if (hilEnabled)
{
mavlink_hil_controls_t controls;
// Copy data
controls.roll_ailerons = 0.1;
controls.pitch_elevator = 0.1;
controls.yaw_rudder = 0.0;
controls.throttle = 0.8;
mavlink_msg_hil_controls_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &controls);
// Copy the message to the send buffer
len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
}
break;
}
case ATTITUDEMATRIX_OBJID:
{
AttitudeMatrixGet(&attitudeMatrix);
// Copy data
attitude.roll = attitudeMatrix.Roll;
attitude.pitch = attitudeMatrix.Pitch;
attitude.yaw = attitudeMatrix.Yaw;
attitude.rollspeed = attitudeMatrix.AngularRates[0];
attitude.pitchspeed = attitudeMatrix.AngularRates[1];
attitude.yawspeed = attitudeMatrix.AngularRates[2];
mavlink_msg_attitude_encode(mavlink_system.sysid,
mavlink_system.compid, &msg, &attitude);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
break;
}
case GPSPOSITION_OBJID:
{
GPSPositionGet(&gpsPosition);
gps_raw.time_usec = 0;
gps_raw.lat = gpsPosition.Latitude*10;
gps_raw.lon = gpsPosition.Longitude*10;
gps_raw.alt = gpsPosition.Altitude*10;
gps_raw.eph = gpsPosition.HDOP*100;
gps_raw.epv = gpsPosition.VDOP*100;
gps_raw.cog = gpsPosition.Heading*100;
gps_raw.satellites_visible = gpsPosition.Satellites;
gps_raw.fix_type = gpsPosition.Status;
mavlink_msg_gps_raw_int_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &gps_raw);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
// mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, gps_raw.usec, gps_raw.lat, gps_raw.lon, gps_raw.alt, gps_raw.eph, gps_raw.epv, gps_raw.hdg, gps_raw.satellites_visible, gps_raw.fix_type, 0);
break;
}
case POSITIONACTUAL_OBJID:
{
PositionActualData pos;
PositionActualGet(&pos);
mavlink_local_position_ned_t m_pos;
m_pos.time_boot_ms = 0;
m_pos.x = pos.North;
m_pos.y = pos.East;
m_pos.z = pos.Down;
m_pos.vx = 0.0f;
m_pos.vy = 0.0f;
m_pos.vz = 0.0f;
mavlink_msg_local_position_ned_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &m_pos);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(telemetryPort, mavlinkTxBuf, len);
}
break;
case ACTUATORCOMMAND_OBJID:
{
mavlink_rc_channels_scaled_t rc;
float val;
ManualControlCommandRollGet(&val);
rc.chan1_scaled = val*1000;
ManualControlCommandPitchGet(&val);
rc.chan2_scaled = val*1000;
ManualControlCommandYawGet(&val);
rc.chan3_scaled = val*1000;
ManualControlCommandThrottleGet(&val);
rc.chan4_scaled = val*1000;
ActuatorCommandData act;
ActuatorCommandGet(&act);
rc.chan5_scaled = act.Channel[0];
rc.chan6_scaled = act.Channel[1];
rc.chan7_scaled = act.Channel[2];
rc.chan8_scaled = act.Channel[3];
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
rc.rssi = ((uint8_t)(cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_TRUE))*255;
rc.port = 0;
mavlink_msg_rc_channels_scaled_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &rc);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, mavlinkTxBuf, len);
break;
}
case MANUALCONTROLCOMMAND_OBJID:
{
mavlink_rc_channels_scaled_t rc;
float val;
ManualControlCommandRollGet(&val);
rc.chan1_scaled = val*1000;
ManualControlCommandPitchGet(&val);
rc.chan2_scaled = val*1000;
ManualControlCommandYawGet(&val);
rc.chan3_scaled = val*1000;
ManualControlCommandThrottleGet(&val);
rc.chan4_scaled = val*1000;
rc.chan5_scaled = 0;
rc.chan6_scaled = 0;
rc.chan7_scaled = 0;
rc.chan8_scaled = 0;
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
rc.rssi = ((uint8_t)(cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_TRUE))*255;
rc.port = 0;
mavlink_msg_rc_channels_scaled_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &rc);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(mavlinkTxBuf, &msg);
// Send buffer
PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEM_RF, mavlinkTxBuf, len);
break;
}
default:
{
//printf("unknown object: %x\n",(unsigned int)objId);
break;
}
}
}
}
