void DataFlash_Class::handle_mavlink_msg(GCS_MAVLINK &link, mavlink_message_t* msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS: FOR_EACH_BACKEND(remote_log_block_status_msg(link.get_chan(), msg)); break; case MAVLINK_MSG_ID_LOG_REQUEST_LIST: /* fall through */ case MAVLINK_MSG_ID_LOG_REQUEST_DATA: /* fall through */ case MAVLINK_MSG_ID_LOG_ERASE: /* fall through */ case MAVLINK_MSG_ID_LOG_REQUEST_END: handle_log_message(link, msg); break; } }
void AP_Logger::handle_mavlink_msg(GCS_MAVLINK &link, mavlink_message_t* msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS: FOR_EACH_BACKEND(remote_log_block_status_msg(link.get_chan(), msg)); break; case MAVLINK_MSG_ID_LOG_REQUEST_LIST: FALLTHROUGH; case MAVLINK_MSG_ID_LOG_REQUEST_DATA: FALLTHROUGH; case MAVLINK_MSG_ID_LOG_ERASE: FALLTHROUGH; case MAVLINK_MSG_ID_LOG_REQUEST_END: handle_log_message(link, msg); break; } }
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: { handle_request_data_stream(msg, true); break; } case MAVLINK_MSG_ID_COMMAND_LONG: { // decode mavlink_command_long_t packet; mavlink_msg_command_long_decode(msg, &packet); uint8_t result = MAV_RESULT_UNSUPPORTED; // do command switch(packet.command) { case MAV_CMD_START_RX_PAIR: // initiate bind procedure if (!hal.rcin->rc_bind(packet.param1)) { result = MAV_RESULT_FAILED; } else { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: rover.set_mode(RTL); result = MAV_RESULT_ACCEPTED; break; #if MOUNT == ENABLED // Sets the region of interest (ROI) for the camera case MAV_CMD_DO_SET_ROI: // sanity check location if (!check_latlng(packet.param5, packet.param6)) { break; } Location roi_loc; roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f); roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f); roi_loc.alt = (int32_t)(packet.param7 * 100.0f); if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) { // switch off the camera tracking if enabled if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) { rover.camera_mount.set_mode_to_default(); } } else { // send the command to the camera mount rover.camera_mount.set_roi_target(roi_loc); } result = MAV_RESULT_ACCEPTED; break; #endif #if CAMERA == ENABLED case MAV_CMD_DO_DIGICAM_CONFIGURE: rover.camera.configure(packet.param1, packet.param2, packet.param3, packet.param4, packet.param5, packet.param6, packet.param7); result = MAV_RESULT_ACCEPTED; break; case MAV_CMD_DO_DIGICAM_CONTROL: if (rover.camera.control(packet.param1, packet.param2, packet.param3, packet.param4, packet.param5, packet.param6)) { rover.log_picture(); } result = MAV_RESULT_ACCEPTED; break; #endif // CAMERA == ENABLED case MAV_CMD_DO_MOUNT_CONTROL: #if MOUNT == ENABLED rover.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7); result = MAV_RESULT_ACCEPTED; #endif break; case MAV_CMD_MISSION_START: rover.set_mode(AUTO); result = MAV_RESULT_ACCEPTED; break; case MAV_CMD_PREFLIGHT_CALIBRATION: if(hal.util->get_soft_armed()) { result = MAV_RESULT_FAILED; break; } if (is_equal(packet.param1,1.0f)) { rover.ins.init_gyro(); if (rover.ins.gyro_calibrated_ok_all()) { rover.ahrs.reset_gyro_drift(); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else if (is_equal(packet.param3,1.0f)) { rover.init_barometer(false); result = MAV_RESULT_ACCEPTED; } else if (is_equal(packet.param4,1.0f)) { rover.trim_radio(); result = MAV_RESULT_ACCEPTED; } else if (is_equal(packet.param5,1.0f)) { result = MAV_RESULT_ACCEPTED; // start with gyro calibration rover.ins.init_gyro(); // reset ahrs gyro bias if (rover.ins.gyro_calibrated_ok_all()) { rover.ahrs.reset_gyro_drift(); } else { result = MAV_RESULT_FAILED; } rover.ins.acal_init(); rover.ins.get_acal()->start(this); } else if (is_equal(packet.param5,2.0f)) { // start with gyro calibration rover.ins.init_gyro(); // accel trim float trim_roll, trim_pitch; if(rover.ins.calibrate_trim(trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine rover.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else { send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration"); } break; case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: { uint8_t compassNumber = -1; if (is_equal(packet.param1, 2.0f)) { compassNumber = 0; } else if (is_equal(packet.param1, 5.0f)) { compassNumber = 1; } else if (is_equal(packet.param1, 6.0f)) { compassNumber = 2; } if (compassNumber != (uint8_t) -1) { rover.compass.set_and_save_offsets(compassNumber, packet.param2, packet.param3, packet.param4); result = MAV_RESULT_ACCEPTED; } break; } case MAV_CMD_DO_SET_MODE: switch ((uint16_t)packet.param1) { case MAV_MODE_MANUAL_ARMED: case MAV_MODE_MANUAL_DISARMED: rover.set_mode(MANUAL); result = MAV_RESULT_ACCEPTED; break; case MAV_MODE_AUTO_ARMED: case MAV_MODE_AUTO_DISARMED: rover.set_mode(AUTO); result = MAV_RESULT_ACCEPTED; break; case MAV_MODE_STABILIZE_DISARMED: case MAV_MODE_STABILIZE_ARMED: rover.set_mode(LEARNING); result = MAV_RESULT_ACCEPTED; break; default: result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_DO_SET_SERVO: if (rover.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_REPEAT_SERVO: if (rover.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_SET_RELAY: if (rover.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_REPEAT_RELAY: if (rover.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) { // when packet.param1 == 3 we reboot to hold in bootloader hal.scheduler->reboot(is_equal(packet.param1,3.0f)); result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_COMPONENT_ARM_DISARM: if (is_equal(packet.param1,1.0f)) { // run pre_arm_checks and arm_checks and display failures if (rover.arm_motors(AP_Arming::MAVLINK)) { result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else if (is_zero(packet.param1)) { if (rover.disarm_motors()) { result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else { result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_GET_HOME_POSITION: if (rover.home_is_set != HOME_UNSET) { send_home(rover.ahrs.get_home()); result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: { if (is_equal(packet.param1,1.0f)) { send_autopilot_version(FIRMWARE_VERSION); result = MAV_RESULT_ACCEPTED; } break; } case MAV_CMD_DO_SET_HOME: { // param1 : use current (1=use current location, 0=use specified location) // param5 : latitude // param6 : longitude // param7 : altitude result = MAV_RESULT_FAILED; // assume failure if (is_equal(packet.param1,1.0f)) { rover.init_home(); } else { if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) { // don't allow the 0,0 position break; } // sanity check location if (!check_latlng(packet.param5, packet.param6)) { break; } Location new_home_loc {}; new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f); new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f); new_home_loc.alt = (int32_t)(packet.param7 * 100.0f); rover.ahrs.set_home(new_home_loc); rover.home_is_set = HOME_SET_NOT_LOCKED; rover.Log_Write_Home_And_Origin(); GCS_MAVLINK::send_home_all(new_home_loc); result = MAV_RESULT_ACCEPTED; rover.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um", (double)(new_home_loc.lat*1.0e-7f), (double)(new_home_loc.lng*1.0e-7f), (uint32_t)(new_home_loc.alt*0.01f)); } break; } case MAV_CMD_DO_START_MAG_CAL: case MAV_CMD_DO_ACCEPT_MAG_CAL: case MAV_CMD_DO_CANCEL_MAG_CAL: result = rover.compass.handle_mag_cal_command(packet); break; default: break; } mavlink_msg_command_ack_send_buf( msg, chan, packet.command, result); break; } case MAVLINK_MSG_ID_SET_MODE: { handle_set_mode(msg, FUNCTOR_BIND(&rover, &Rover::mavlink_set_mode, bool, uint8_t)); break; } case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { handle_mission_request_list(rover.mission, msg); break; } // XXX read a WP from EEPROM and send it to the GCS case MAVLINK_MSG_ID_MISSION_REQUEST_INT: case MAVLINK_MSG_ID_MISSION_REQUEST: { handle_mission_request(rover.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_ACK: { // not used break; } case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { // mark the firmware version in the tlog send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING); #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION) send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION); #endif handle_param_request_list(msg); break; } case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { handle_param_request_read(msg); break; } case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { handle_mission_clear_all(rover.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { handle_mission_set_current(rover.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_COUNT: { handle_mission_count(rover.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: { handle_mission_write_partial_list(rover.mission, msg); break; } // GCS has sent us a mission item, store to EEPROM case MAVLINK_MSG_ID_MISSION_ITEM: { if (handle_mission_item(msg, rover.mission)) { rover.DataFlash.Log_Write_EntireMission(rover.mission); } break; } case MAVLINK_MSG_ID_MISSION_ITEM_INT: { if (handle_mission_item(msg, rover.mission)) { rover.DataFlash.Log_Write_EntireMission(rover.mission); } break; } case MAVLINK_MSG_ID_PARAM_SET: { handle_param_set(msg, &rover.DataFlash); break; } case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: { // allow override of RC channel values for HIL // or for complete GCS control of switch position // and RC PWM values. if(msg->sysid != rover.g.sysid_my_gcs) break; // Only accept control from our gcs mavlink_rc_channels_override_t packet; int16_t v[8]; mavlink_msg_rc_channels_override_decode(msg, &packet); v[0] = packet.chan1_raw; v[1] = packet.chan2_raw; v[2] = packet.chan3_raw; v[3] = packet.chan4_raw; v[4] = packet.chan5_raw; v[5] = packet.chan6_raw; v[6] = packet.chan7_raw; v[7] = packet.chan8_raw; hal.rcin->set_overrides(v, 8); rover.failsafe.rc_override_timer = AP_HAL::millis(); rover.failsafe_trigger(FAILSAFE_EVENT_RC, false); break; } case MAVLINK_MSG_ID_HEARTBEAT: { // We keep track of the last time we received a heartbeat from our GCS for failsafe purposes if(msg->sysid != rover.g.sysid_my_gcs) break; rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis(); rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false); break; } case MAVLINK_MSG_ID_GPS_INPUT: { rover.gps.handle_msg(msg); break; } #if HIL_MODE != HIL_MODE_DISABLED case MAVLINK_MSG_ID_HIL_STATE: { mavlink_hil_state_t packet; mavlink_msg_hil_state_decode(msg, &packet); // sanity check location if (!check_latlng(packet.lat, packet.lon)) { break; } // set gps hil sensor Location loc; loc.lat = packet.lat; loc.lng = packet.lon; loc.alt = packet.alt/10; Vector3f vel(packet.vx, packet.vy, packet.vz); vel *= 0.01f; gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D, packet.time_usec/1000, loc, vel, 10, 0); // rad/sec Vector3f gyros; gyros.x = packet.rollspeed; gyros.y = packet.pitchspeed; gyros.z = packet.yawspeed; // m/s/s Vector3f accels; accels.x = packet.xacc * (GRAVITY_MSS/1000.0f); accels.y = packet.yacc * (GRAVITY_MSS/1000.0f); accels.z = packet.zacc * (GRAVITY_MSS/1000.0f); ins.set_gyro(0, gyros); ins.set_accel(0, accels); compass.setHIL(0, packet.roll, packet.pitch, packet.yaw); compass.setHIL(1, packet.roll, packet.pitch, packet.yaw); break; } #endif // HIL_MODE #if CAMERA == ENABLED //deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: { break; } //deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE case MAVLINK_MSG_ID_DIGICAM_CONTROL: { rover.camera.control_msg(msg); rover.log_picture(); break; } #endif // CAMERA == ENABLED #if MOUNT == ENABLED //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE case MAVLINK_MSG_ID_MOUNT_CONFIGURE: { rover.camera_mount.configure_msg(msg); break; } //deprecated. Use MAV_CMD_DO_MOUNT_CONTROL case MAVLINK_MSG_ID_MOUNT_CONTROL: { rover.camera_mount.control_msg(msg); break; } #endif // MOUNT == ENABLED case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO_STATUS: { handle_radio_status(msg, rover.DataFlash, rover.should_log(MASK_LOG_PM)); break; } case MAVLINK_MSG_ID_LOG_REQUEST_DATA: case MAVLINK_MSG_ID_LOG_ERASE: rover.in_log_download = true; /* no break */ case MAVLINK_MSG_ID_LOG_REQUEST_LIST: if (!rover.in_mavlink_delay) { handle_log_message(msg, rover.DataFlash); } break; case MAVLINK_MSG_ID_LOG_REQUEST_END: rover.in_log_download = false; if (!rover.in_mavlink_delay) { handle_log_message(msg, rover.DataFlash); } break; case MAVLINK_MSG_ID_SERIAL_CONTROL: handle_serial_control(msg, rover.gps); break; case MAVLINK_MSG_ID_GPS_INJECT_DATA: handle_gps_inject(msg, rover.gps); break; case MAVLINK_MSG_ID_DISTANCE_SENSOR: rover.sonar.handle_msg(msg); break; case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS: rover.DataFlash.remote_log_block_status_msg(chan, msg); break; case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: send_autopilot_version(FIRMWARE_VERSION); break; case MAVLINK_MSG_ID_SETUP_SIGNING: handle_setup_signing(msg); break; case MAVLINK_MSG_ID_LED_CONTROL: // send message to Notify AP_Notify::handle_led_control(msg); break; case MAVLINK_MSG_ID_PLAY_TUNE: // send message to Notify AP_Notify::handle_play_tune(msg); break; } // end switch } // end handle mavlink
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg) { switch (msg->msgid) { // If we are currently operating as a proxy for a remote, // alas we have to look inside each packet to see if it's for us or for the remote case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: { handle_request_data_stream(msg, false); break; } case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { handle_param_request_list(msg); break; } case MAVLINK_MSG_ID_PARAM_SET: { handle_param_set(msg, nullptr); break; } case MAVLINK_MSG_ID_HEARTBEAT: break; case MAVLINK_MSG_ID_COMMAND_LONG: { // decode mavlink_command_long_t packet; mavlink_msg_command_long_decode(msg, &packet); uint8_t result = MAV_RESULT_UNSUPPORTED; // do command send_text(MAV_SEVERITY_INFO,"Command received: "); switch(packet.command) { case MAV_CMD_PREFLIGHT_CALIBRATION: { if (is_equal(packet.param1,1.0f)) { tracker.ins.init_gyro(); if (tracker.ins.gyro_calibrated_ok_all()) { tracker.ahrs.reset_gyro_drift(); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } if (is_equal(packet.param3,1.0f)) { tracker.init_barometer(false); // zero the altitude difference on next baro update tracker.nav_status.need_altitude_calibration = true; result = MAV_RESULT_ACCEPTED; } if (is_equal(packet.param4,1.0f)) { // Can't trim radio result = MAV_RESULT_UNSUPPORTED; } else if (is_equal(packet.param5,1.0f)) { result = MAV_RESULT_ACCEPTED; // start with gyro calibration tracker.ins.init_gyro(); // reset ahrs gyro bias if (tracker.ins.gyro_calibrated_ok_all()) { tracker.ahrs.reset_gyro_drift(); } else { result = MAV_RESULT_FAILED; } // start accel cal tracker.ins.acal_init(); tracker.ins.get_acal()->start(this); } else if (is_equal(packet.param5,2.0f)) { // start with gyro calibration tracker.ins.init_gyro(); // accel trim float trim_roll, trim_pitch; if (tracker.ins.calibrate_trim(trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } break; } case MAV_CMD_COMPONENT_ARM_DISARM: if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) { if (is_equal(packet.param1,1.0f)) { tracker.arm_servos(); result = MAV_RESULT_ACCEPTED; } else if (is_zero(packet.param1)) { tracker.disarm_servos(); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_UNSUPPORTED; } } else { result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_GET_HOME_POSITION: send_home(tracker.ahrs.get_home()); result = MAV_RESULT_ACCEPTED; break; case MAV_CMD_DO_SET_MODE: switch ((uint16_t)packet.param1) { case MAV_MODE_MANUAL_ARMED: case MAV_MODE_MANUAL_DISARMED: tracker.set_mode(MANUAL); result = MAV_RESULT_ACCEPTED; break; case MAV_MODE_AUTO_ARMED: case MAV_MODE_AUTO_DISARMED: tracker.set_mode(AUTO); result = MAV_RESULT_ACCEPTED; break; default: result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_DO_SET_SERVO: if (tracker.servo_test_set_servo(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; // mavproxy/mavutil sends this when auto command is entered case MAV_CMD_MISSION_START: tracker.set_mode(AUTO); result = MAV_RESULT_ACCEPTED; break; case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) { // when packet.param1 == 3 we reboot to hold in bootloader hal.scheduler->reboot(is_equal(packet.param1,3.0f)); result = MAV_RESULT_ACCEPTED; } break; } case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: { if (is_equal(packet.param1,1.0f)) { send_autopilot_version(FIRMWARE_VERSION); result = MAV_RESULT_ACCEPTED; } break; } case MAV_CMD_DO_START_MAG_CAL: case MAV_CMD_DO_ACCEPT_MAG_CAL: case MAV_CMD_DO_CANCEL_MAG_CAL: result = tracker.compass.handle_mag_cal_command(packet); break; case MAV_CMD_ACCELCAL_VEHICLE_POS: result = MAV_RESULT_FAILED; if (tracker.ins.get_acal()->gcs_vehicle_position(packet.param1)) { result = MAV_RESULT_ACCEPTED; } break; default: break; } mavlink_msg_command_ack_send( chan, packet.command, result); break; } // When mavproxy 'wp sethome' case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: { // decode mavlink_mission_write_partial_list_t packet; mavlink_msg_mission_write_partial_list_decode(msg, &packet); if (packet.start_index == 0) { // New home at wp index 0. Ask for it waypoint_receiving = true; waypoint_request_i = 0; waypoint_request_last = 0; send_message(MSG_NEXT_WAYPOINT); } break; } // XXX receive a WP from GCS and store in EEPROM if it is HOME case MAVLINK_MSG_ID_MISSION_ITEM: { // decode mavlink_mission_item_t packet; uint8_t result = MAV_MISSION_ACCEPTED; mavlink_msg_mission_item_decode(msg, &packet); struct Location tell_command = {}; switch (packet.frame) { case MAV_FRAME_MISSION: case MAV_FRAME_GLOBAL: { tell_command.lat = 1.0e7f*packet.x; // in as DD converted to * t7 tell_command.lng = 1.0e7f*packet.y; // in as DD converted to * t7 tell_command.alt = packet.z*1.0e2f; // in as m converted to cm tell_command.options = 0; // absolute altitude break; } #ifdef MAV_FRAME_LOCAL_NED case MAV_FRAME_LOCAL_NED: // local (relative to home position) { tell_command.lat = 1.0e7f*ToDeg(packet.x/ (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat; tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng; tell_command.alt = -packet.z*1.0e2f; tell_command.options = MASK_OPTIONS_RELATIVE_ALT; break; } #endif #ifdef MAV_FRAME_LOCAL case MAV_FRAME_LOCAL: // local (relative to home position) { tell_command.lat = 1.0e7f*ToDeg(packet.x/ (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat; tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng; tell_command.alt = packet.z*1.0e2f; tell_command.options = MASK_OPTIONS_RELATIVE_ALT; break; } #endif case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude { tell_command.lat = 1.0e7f * packet.x; // in as DD converted to * t7 tell_command.lng = 1.0e7f * packet.y; // in as DD converted to * t7 tell_command.alt = packet.z * 1.0e2f; tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!! break; } default: result = MAV_MISSION_UNSUPPORTED_FRAME; break; } if (result != MAV_MISSION_ACCEPTED) goto mission_failed; // Check if receiving waypoints (mission upload expected) if (!waypoint_receiving) { result = MAV_MISSION_ERROR; goto mission_failed; } // check if this is the HOME wp if (packet.seq == 0) { tracker.set_home(tell_command); // New home in EEPROM send_text(MAV_SEVERITY_INFO,"New HOME received"); waypoint_receiving = false; } mission_failed: // we are rejecting the mission/waypoint mavlink_msg_mission_ack_send( chan, msg->sysid, msg->compid, result, MAV_MISSION_TYPE_MISSION); break; } case MAVLINK_MSG_ID_MANUAL_CONTROL: { mavlink_manual_control_t packet; mavlink_msg_manual_control_decode(msg, &packet); tracker.tracking_manual_control(packet); break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { // decode mavlink_global_position_int_t packet; mavlink_msg_global_position_int_decode(msg, &packet); tracker.tracking_update_position(packet); break; } case MAVLINK_MSG_ID_SCALED_PRESSURE: { // decode mavlink_scaled_pressure_t packet; mavlink_msg_scaled_pressure_decode(msg, &packet); tracker.tracking_update_pressure(packet); break; } case MAVLINK_MSG_ID_SET_MODE: { handle_set_mode(msg, FUNCTOR_BIND(&tracker, &Tracker::mavlink_set_mode, bool, uint8_t)); break; } case MAVLINK_MSG_ID_LOG_REQUEST_DATA: tracker.in_log_download = true; /* no break */ case MAVLINK_MSG_ID_LOG_ERASE: /* no break */ case MAVLINK_MSG_ID_LOG_REQUEST_LIST: if (!tracker.in_mavlink_delay) { handle_log_message(msg, tracker.DataFlash); } break; case MAVLINK_MSG_ID_LOG_REQUEST_END: tracker.in_log_download = false; if (!tracker.in_mavlink_delay) { handle_log_message(msg, tracker.DataFlash); } break; case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS: tracker.DataFlash.remote_log_block_status_msg(chan, msg); break; case MAVLINK_MSG_ID_SERIAL_CONTROL: handle_serial_control(msg, tracker.gps); break; case MAVLINK_MSG_ID_GPS_INJECT_DATA: handle_gps_inject(msg, tracker.gps); break; case MAVLINK_MSG_ID_GPS_RTCM_DATA: case MAVLINK_MSG_ID_GPS_INPUT: case MAVLINK_MSG_ID_HIL_GPS: tracker.gps.handle_msg(msg); break; case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: send_autopilot_version(FIRMWARE_VERSION); break; default: handle_common_message(msg); break; } // end switch } // end handle mavlink
static int accept_connection (guestfs_h *g, struct connection *connv) { struct connection_socket *conn = (struct connection_socket *) connv; int sock = -1; time_t start_t, now_t; int timeout_ms; time (&start_t); if (conn->daemon_accept_sock == -1) { error (g, _("accept_connection called twice")); return -1; } while (sock == -1) { struct pollfd fds[2]; nfds_t nfds = 1; int r; fds[0].fd = conn->daemon_accept_sock; fds[0].events = POLLIN; fds[0].revents = 0; if (conn->console_sock >= 0) { fds[1].fd = conn->console_sock; fds[1].events = POLLIN; fds[1].revents = 0; nfds++; } time (&now_t); timeout_ms = 1000 * (APPLIANCE_TIMEOUT - (now_t - start_t)); r = poll (fds, nfds, timeout_ms); if (r == -1) { if (errno == EINTR || errno == EAGAIN) continue; perrorf (g, "accept_connection: poll"); return -1; } if (r == 0) { /* timeout reached */ guestfs_int_launch_timeout (g); return -1; } /* Log message? */ if (nfds > 1 && (fds[1].revents & POLLIN) != 0) { r = handle_log_message (g, conn); if (r <= 0) return r; } /* Accept on socket? */ if ((fds[0].revents & POLLIN) != 0) { sock = accept4 (conn->daemon_accept_sock, NULL, NULL, SOCK_CLOEXEC); if (sock == -1) { if (errno == EINTR || errno == EAGAIN) continue; perrorf (g, "accept_connection: accept"); return -1; } } } /* Got a connection and accepted it, so update the connection's * internal status. */ close (conn->daemon_accept_sock); conn->daemon_accept_sock = -1; conn->daemon_sock = sock; /* Make sure the new socket is non-blocking. */ if (fcntl (conn->daemon_sock, F_SETFL, O_NONBLOCK) == -1) { perrorf (g, "accept_connection: fcntl"); return -1; } return 1; }
static ssize_t write_data (guestfs_h *g, struct connection *connv, const void *bufv, size_t len) { const char *buf = bufv; struct connection_socket *conn = (struct connection_socket *) connv; size_t original_len = len; if (conn->daemon_sock == -1) { error (g, _("write_data: socket not connected")); return -1; } while (len > 0) { struct pollfd fds[2]; nfds_t nfds = 1; int r; fds[0].fd = conn->daemon_sock; fds[0].events = POLLOUT; fds[0].revents = 0; if (conn->console_sock >= 0) { fds[1].fd = conn->console_sock; fds[1].events = POLLIN; fds[1].revents = 0; nfds++; } r = poll (fds, nfds, -1); if (r == -1) { if (errno == EINTR || errno == EAGAIN) continue; perrorf (g, "write_data: poll"); return -1; } /* Log message? */ if (nfds > 1 && (fds[1].revents & POLLIN) != 0) { r = handle_log_message (g, conn); if (r <= 0) return r; } /* Can write data on daemon socket? */ if ((fds[0].revents & POLLOUT) != 0) { ssize_t n = write (conn->daemon_sock, buf, len); if (n == -1) { if (errno == EINTR || errno == EAGAIN) continue; if (errno == EPIPE) /* Disconnected from guest (RHBZ#508713). */ return 0; perrorf (g, "write_data: write"); return -1; } buf += n; len -= n; } } return original_len; }
static ssize_t read_data (guestfs_h *g, struct connection *connv, void *bufv, size_t len) { char *buf = bufv; struct connection_socket *conn = (struct connection_socket *) connv; size_t original_len = len; if (conn->daemon_sock == -1) { error (g, _("read_data: socket not connected")); return -1; } while (len > 0) { struct pollfd fds[2]; nfds_t nfds = 1; int r; fds[0].fd = conn->daemon_sock; fds[0].events = POLLIN; fds[0].revents = 0; if (conn->console_sock >= 0) { fds[1].fd = conn->console_sock; fds[1].events = POLLIN; fds[1].revents = 0; nfds++; } r = poll (fds, nfds, -1); if (r == -1) { if (errno == EINTR || errno == EAGAIN) continue; perrorf (g, "read_data: poll"); return -1; } /* Log message? */ if (nfds > 1 && (fds[1].revents & POLLIN) != 0) { r = handle_log_message (g, conn); if (r <= 0) return r; } /* Read data on daemon socket? */ if ((fds[0].revents & POLLIN) != 0) { ssize_t n = read (conn->daemon_sock, buf, len); if (n == -1) { if (errno == EINTR || errno == EAGAIN) continue; if (errno == ECONNRESET) /* essentially the same as EOF case */ goto closed; perrorf (g, "read_data: read"); return -1; } if (n == 0) { closed: /* Even though qemu has gone away, there could be more log * messages in the console socket buffer in the kernel. Read * them out here. */ if (g->verbose && conn->console_sock >= 0) { while (handle_log_message (g, conn) == 1) ; } return 0; } buf += n; len -= n; } } return original_len; }