void
MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
{
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
struct vehicle_vicon_position_s vicon_position;
memset(&vicon_position, 0, sizeof(vicon_position));
vicon_position.timestamp = hrt_absolute_time();
vicon_position.x = pos.x;
vicon_position.y = pos.y;
vicon_position.z = pos.z;
vicon_position.roll = pos.roll;
vicon_position.pitch = pos.pitch;
vicon_position.yaw = pos.yaw;
if (_vicon_position_pub < 0) {
_vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
orb_publish(ORB_ID(vehicle_vicon_position), _vicon_position_pub, &vicon_position);
}
}
//@{
void handle_mavlink_message(mavlink_channel_t chan,
mavlink_message_t* msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint32_t len;
switch (chan)
{
case MAVLINK_COMM_0:
{
if (msg->msgid != MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE)
{
// Copy to COMM 1
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
uart1_transmit(buf[i]);
}
}
}
break;
case MAVLINK_COMM_1:
{
if (msg->msgid != MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE && msg->msgid != MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE)
{
// Copy to COMM 0
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
uart0_transmit(buf[i]);
}
break;
}
}
default:
break;
}
switch (msg->msgid)
{
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(msg, &mode);
// Check if this system should change the mode
if (mode.target == (uint8_t)global_data.param[PARAM_SYSTEM_ID])
{
sys_set_mode(mode.mode);
// Emit current mode
mavlink_msg_sys_status_send(MAVLINK_COMM_0, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
mavlink_msg_sys_status_send(MAVLINK_COMM_1, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
}
}
break;
case MAVLINK_MSG_ID_ACTION:
{
execute_action(mavlink_msg_action_get_action(msg));
//Forwart actions from Xbee to Onboard Computer and vice versa
if (chan == MAVLINK_COMM_1)
{
mavlink_send_uart(MAVLINK_COMM_0, msg);
}
else if (chan == MAVLINK_COMM_0)
{
mavlink_send_uart(MAVLINK_COMM_1, msg);
}
}
break;
case MAVLINK_MSG_ID_SYSTEM_TIME:
{
if (!sys_time_clock_get_unix_offset())
{
int64_t offset = ((int64_t) mavlink_msg_system_time_get_time_usec(
msg)) - (int64_t) sys_time_clock_get_time_usec();
sys_time_clock_set_unix_offset(offset);
debug_message_buffer("UNIX offset updated");
}
else
{
// debug_message_buffer("UNIX offset REFUSED");
}
}
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
mavlink_request_data_stream_t stream;
mavlink_msg_request_data_stream_decode(msg, &stream);
switch (stream.req_stream_id)
{
case 0: // UNIMPLEMENTED
break;
case 1: // RAW SENSOR DATA
global_data.param[PARAM_SEND_SLOT_RAW_IMU] = stream.start_stop;
break;
case 2: // EXTENDED SYSTEM STATUS
global_data.param[PARAM_SEND_SLOT_ATTITUDE] = stream.start_stop;
break;
case 3: // REMOTE CONTROL CHANNELS
global_data.param[PARAM_SEND_SLOT_REMOTE_CONTROL] = stream.start_stop;
break;
case 4: // RAW CONTROLLER
//global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
//global_data.param[PARAM_SEND_SLOT_DEBUG_3] = stream.start_stop;
global_data.param[PARAM_SEND_SLOT_CONTROLLER_OUTPUT] = stream.start_stop;
break;
case 5: // SENSOR FUSION
//LOST IN GROUDNCONTROL
// global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
break;
case 6: // POSITION
global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
break;
case 7: // EXTRA1
global_data.param[PARAM_SEND_SLOT_DEBUG_2] = stream.start_stop;
break;
case 8: // EXTRA2
global_data.param[PARAM_SEND_SLOT_DEBUG_4] = stream.start_stop;
break;
case 9: // EXTRA3
global_data.param[PARAM_SEND_SLOT_DEBUG_6] = stream.start_stop;
break;
default:
// Do nothing
break;
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
mavlink_param_request_read_t set;
mavlink_msg_param_request_read_decode(msg, &set);
// Check if this message is for this system
if ((uint8_t) set.target_system
== (uint8_t) global_data.param[PARAM_SYSTEM_ID]
&& (uint8_t) set.target_component
== (uint8_t) global_data.param[PARAM_COMPONENT_ID])
{
char* key = (char*) set.param_id;
if (set.param_id[0] == '\0')
{
// Choose parameter based on index
if (set.param_index < ONBOARD_PARAM_COUNT)
{
// Report back value
mavlink_msg_param_value_send(chan,
(int8_t*) global_data.param_name[set.param_index],
global_data.param[set.param_index], ONBOARD_PARAM_COUNT, set.param_index);
}
}
else
{
for (int i = 0; i < ONBOARD_PARAM_COUNT; i++)
{
bool match = true;
for (int j = 0; j < ONBOARD_PARAM_NAME_LENGTH; j++)
{
// Compare
if (((char) (global_data.param_name[i][j]))
!= (char) (key[j]))
{
match = false;
}
// End matching if null termination is reached
if (((char) global_data.param_name[i][j]) == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Report back value
mavlink_msg_param_value_send(chan,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
}
}
}
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// Start sending parameters
m_parameter_i = 0;
}
break;
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_param_set_t set;
mavlink_msg_param_set_decode(msg, &set);
// Check if this message is for this system
if ((uint8_t) set.target_system
== (uint8_t) global_data.param[PARAM_SYSTEM_ID]
&& (uint8_t) set.target_component
== (uint8_t) global_data.param[PARAM_COMPONENT_ID])
{
char* key = (char*) set.param_id;
for (int i = 0; i < ONBOARD_PARAM_COUNT; i++)
{
bool match = true;
for (int j = 0; j < ONBOARD_PARAM_NAME_LENGTH; j++)
{
// Compare
if (((char) (global_data.param_name[i][j]))
!= (char) (key[j]))
{
match = false;
}
// End matching if null termination is reached
if (((char) global_data.param_name[i][j]) == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Only write and emit changes if there is actually a difference
// AND only write if new value is NOT "not-a-number"
// AND is NOT infy
if (global_data.param[i] != set.param_value
&& !isnan(set.param_value)
&& !isinf(set.param_value))
{
global_data.param[i] = set.param_value;
// Report back new value
mavlink_msg_param_value_send(MAVLINK_COMM_0,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
mavlink_msg_param_value_send(MAVLINK_COMM_1,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
debug_message_buffer_sprintf("Parameter received param id=%i",i);
}
}
}
}
}
break;
case MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET:
{
mavlink_position_control_setpoint_set_t pos;
mavlink_msg_position_control_setpoint_set_decode(msg, &pos);
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1)
{
// global_data.position_setpoint.x = pos.x;
// global_data.position_setpoint.y = pos.y;
// global_data.position_setpoint.z = pos.z;
debug_message_buffer("Position setpoint updated. OLD?\n");
}
else
{
debug_message_buffer(
"Position setpoint recieved but not updated. OLD?\n");
}
// Send back a message confirming the new position
mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_0, pos.id,
pos.x, pos.y, pos.z, pos.yaw);
mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_1, pos.id,
pos.x, pos.y, pos.z, pos.yaw);
}
break;
case MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET:
{
mavlink_position_control_offset_set_t set;
mavlink_msg_position_control_offset_set_decode(msg, &set);
//global_data.attitude_setpoint_pos_body_offset.z = set.yaw;
//Ball Tracking
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1 && global_data.param[PARAM_POSITION_YAW_TRACKING]==1)
{
global_data.param[PARAM_POSITION_SETPOINT_YAW]
= global_data.attitude.z + set.yaw;
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 92, set.yaw);
}
}
break;
case MAVLINK_MSG_ID_SET_CAM_SHUTTER:
{
// Decode the desired shutter
mavlink_set_cam_shutter_t cam;
mavlink_msg_set_cam_shutter_decode(msg, &cam);
shutter_set(cam.interval, cam.exposure);
debug_message_buffer_sprintf("set_cam_shutter. interval %i",
cam.interval);
}
break;
case MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL:
{
uint8_t enable = mavlink_msg_image_trigger_control_get_enable(msg);
shutter_control(enable);
if (enable)
{
debug_message_buffer("CAM: Enabling hardware trigger");
}
else
{
debug_message_buffer("CAM: Disabling hardware trigger");
}
}
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
vision_buffer_handle_data(&pos);
// Update validity time is done in vision buffer
}
break;
case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
{
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
global_data.vicon_data.x = pos.x;
global_data.vicon_data.y = pos.y;
global_data.vicon_data.z = pos.z;
global_data.state.vicon_new_data=1;
// Update validity time
global_data.vicon_last_valid = sys_time_clock_get_time_usec();
global_data.state.vicon_ok=1;
// //Set data from Vicon into vision filter
// global_data.vision_data.ang.x = pos.roll;
// global_data.vision_data.ang.y = pos.pitch;
// global_data.vision_data.ang.z = pos.yaw;
//
// global_data.vision_data.pos.x = pos.x;
// global_data.vision_data.pos.y = pos.y;
// global_data.vision_data.pos.z = pos.z;
//
// global_data.vision_data.new_data = 1;
if (!global_data.state.vision_ok)
{
//Correct YAW
global_data.attitude.z = pos.yaw;
//If yaw goes to infy (no idea why) set it to setpoint, next time will be better
if (global_data.attitude.z > 18.8495559 || global_data.attitude.z
< -18.8495559)
{
global_data.attitude.z = global_data.yaw_pos_setpoint;
debug_message_buffer(
"vicon CRITICAL FAULT yaw was bigger than 6 PI! prevented crash");
}
}
//send the vicon message to UART0 with new timestamp
mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_0, global_data.vicon_last_valid, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
}
break;
case MAVLINK_MSG_ID_PING:
{
mavlink_ping_t ping;
mavlink_msg_ping_decode(msg, &ping);
if (ping.target_system == 0 && ping.target_component == 0)
{
// Respond to ping
uint64_t r_timestamp = sys_time_clock_get_unix_time();
mavlink_msg_ping_send(chan, ping.seq, msg->sysid, msg->compid, r_timestamp);
}
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
{
mavlink_local_position_setpoint_set_t sp;
mavlink_msg_local_position_setpoint_set_decode(msg, &sp);
if (sp.target_system == global_data.param[PARAM_SYSTEM_ID])
{
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1)
{
if (sp.x >= global_data.position_setpoint_min.x && sp.y
>= global_data.position_setpoint_min.y && sp.z
>= global_data.position_setpoint_min.z && sp.x
<= global_data.position_setpoint_max.x && sp.y
<= global_data.position_setpoint_max.y && sp.z
<= global_data.position_setpoint_max.z)
{
debug_message_buffer("Setpoint accepted and set.");
global_data.param[PARAM_POSITION_SETPOINT_X] = sp.x;
global_data.param[PARAM_POSITION_SETPOINT_Y] = sp.y;
global_data.param[PARAM_POSITION_SETPOINT_Z] = sp.z;
if (global_data.param[PARAM_POSITION_YAW_TRACKING] == 0)
{
// Only update yaw if we are not tracking ball.
global_data.param[PARAM_POSITION_SETPOINT_YAW] = sp.yaw;
}
//check if we want to start or land
if (global_data.state.status == MAV_STATE_ACTIVE
|| global_data.state.status == MAV_STATE_CRITICAL)
{
if (sp.z > -0.1)
{
if (!(global_data.state.fly == FLY_GROUNDED
|| global_data.state.fly == FLY_SINKING
|| global_data.state.fly
== FLY_WAIT_LANDING
|| global_data.state.fly == FLY_LANDING
|| global_data.state.fly == FLY_RAMP_DOWN))
{
//if setpoint is lower that ground iate landing
global_data.state.fly = FLY_SINKING;
global_data.param[PARAM_POSITION_SETPOINT_Z]
= -0.2;//with lowpass
debug_message_buffer(
"Sinking for LANDING. (z-sp lower than 10cm)");
}
else if (!(global_data.state.fly == FLY_GROUNDED))
{
global_data.param[PARAM_POSITION_SETPOINT_Z]
= -0.2;//with lowpass
}
}
else if (global_data.state.fly == FLY_GROUNDED && sp.z
< -0.50)
{
//start if we were grounded and get a sp over 0.5m
global_data.state.fly = FLY_WAIT_MOTORS;
debug_message_buffer(
"STARTING wait motors. (z-sp higher than 50cm)");
//set point changed with lowpass, after 5s it will be ok.
}
}
//SINK TO 0.7m if we are critical or emergency
if (global_data.state.status == MAV_STATE_EMERGENCY
|| global_data.state.status == MAV_STATE_CRITICAL)
{
global_data.param[PARAM_POSITION_SETPOINT_Z] = -0.7;//with lowpass
}
}
else
{
debug_message_buffer("Setpoint refused. Out of range.");
}
}
else
{
debug_message_buffer("Setpoint refused. Param setpoint accept=0.");
}
}
}
break;
default:
break;
}
}
static void
handle_message(mavlink_message_t *msg)
{
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
/* This is the link shutdown command, terminate mavlink */
warnx("terminating...");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
thread_should_exit = true;
} else {
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
vcmd.param5 = cmd_mavlink.param5;
vcmd.param6 = cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = cmd_mavlink.confirmation;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
}
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
}
if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(msg, &flow);
struct optical_flow_s f;
f.timestamp = hrt_absolute_time();
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
/* check if topic is advertised */
if (flow_pub <= 0) {
flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
/* publish */
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
}
}
if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
/* Set mode on request */
mavlink_set_mode_t new_mode;
mavlink_msg_set_mode_decode(msg, &new_mode);
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = new_mode.base_mode;
vcmd.param2 = new_mode.custom_mode;
vcmd.param3 = 0;
vcmd.param4 = 0;
vcmd.param5 = 0;
vcmd.param6 = 0;
vcmd.param7 = 0;
vcmd.command = MAV_CMD_DO_SET_MODE;
vcmd.target_system = new_mode.target_system;
vcmd.target_component = MAV_COMP_ID_ALL;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* create command */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
/* Handle Vicon position estimates */
if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
vicon_position.x = pos.x;
vicon_position.y = pos.y;
vicon_position.z = pos.z;
if (vicon_position_pub <= 0) {
vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
}
}
//Mavlink Message from the onboard computer / laserscanner:
if (msg->msgid == MAVLINK_MSG_ID_DANGER) {
mavlink_danger_t dang;
mavlink_msg_danger_decode(msg, &dang);
struct danger_s d;
d.time_usec = hrt_absolute_time();
d.sensor_id = dang.sensor_id;
d.danger_level = dang.danger_level;
d.danger_dist = dang.danger_dist;
d.danger_dir = dang.danger_dir;
d.avoid_level = dang.avoid_level;
d.avoid_dir = dang.avoid_dir;
//check if topic is advertised
if (danger_pub <= 0) {
danger_pub = orb_advertise(ORB_ID(danger), &d);
} else {
// publish
orb_publish(ORB_ID(danger), danger_pub, &d);
}
}
/* Handle quadrotor motor setpoints */
if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
if (mavlink_system.sysid < 4) {
/* switch to a receiving link mode */
gcs_link = false;
/*
* rate control mode - defined by MAVLink
*/
uint8_t ml_mode = 0;
bool ml_armed = false;
switch (quad_motors_setpoint.mode) {
case 0:
ml_armed = false;
break;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
}
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
}
offboard_control_sp.armed = ml_armed;
offboard_control_sp.mode = ml_mode;
offboard_control_sp.timestamp = hrt_absolute_time();
/* check if topic has to be advertised */
if (offboard_control_sp_pub <= 0) {
offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
/* Publish */
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
}
}
}
}
static void
handle_message(mavlink_message_t *msg)
{
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
/* This is the link shutdown command, terminate mavlink */
printf("[mavlink] Terminating .. \n");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
thread_should_exit = true;
} else {
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
vcmd.param5 = cmd_mavlink.param5;
vcmd.param6 = cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
// XXX do proper translation
vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = cmd_mavlink.confirmation;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
}
}
if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(msg, &flow);
struct optical_flow_s f;
f.timestamp = flow.time_usec;
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
/* check if topic is advertised */
if (flow_pub <= 0) {
flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
/* publish */
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
}
}
if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
/* Set mode on request */
mavlink_set_mode_t new_mode;
mavlink_msg_set_mode_decode(msg, &new_mode);
union px4_custom_mode custom_mode;
custom_mode.data = new_mode.custom_mode;
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = new_mode.base_mode;
vcmd.param2 = custom_mode.main_mode;
vcmd.param3 = 0;
vcmd.param4 = 0;
vcmd.param5 = 0;
vcmd.param6 = 0;
vcmd.param7 = 0;
vcmd.command = VEHICLE_CMD_DO_SET_MODE;
vcmd.target_system = new_mode.target_system;
vcmd.target_component = MAV_COMP_ID_ALL;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* create command */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
/* Handle Vicon position estimates */
if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
vicon_position.timestamp = hrt_absolute_time();
vicon_position.x = pos.x;
vicon_position.y = pos.y;
vicon_position.z = pos.z;
vicon_position.roll = pos.roll;
vicon_position.pitch = pos.pitch;
vicon_position.yaw = pos.yaw;
if (vicon_position_pub <= 0) {
vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
}
}
/* Handle quadrotor motor setpoints */
if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
if (mavlink_system.sysid < 4) {
/* switch to a receiving link mode */
gcs_link = false;
/*
* rate control mode - defined by MAVLink
*/
uint8_t ml_mode = 0;
bool ml_armed = false;
switch (quad_motors_setpoint.mode) {
case 0:
ml_armed = false;
break;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
}
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
}
offboard_control_sp.armed = ml_armed;
offboard_control_sp.mode = static_cast<enum OFFBOARD_CONTROL_MODE>(ml_mode);
offboard_control_sp.timestamp = hrt_absolute_time();
/* check if topic has to be advertised */
if (offboard_control_sp_pub <= 0) {
offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
/* Publish */
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
}
}
}
/* handle status updates of the radio */
if (msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
struct telemetry_status_s tstatus;
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
/* publish telemetry status topic */
tstatus.timestamp = hrt_absolute_time();
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
tstatus.rssi = rstatus.rssi;
tstatus.remote_rssi = rstatus.remrssi;
tstatus.txbuf = rstatus.txbuf;
tstatus.noise = rstatus.noise;
tstatus.remote_noise = rstatus.remnoise;
tstatus.rxerrors = rstatus.rxerrors;
tstatus.fixed = rstatus.fixed;
if (telemetry_status_pub == 0) {
telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
} else {
orb_publish(ORB_ID(telemetry_status), telemetry_status_pub, &tstatus);
}
}
/*
* Only decode hil messages in HIL mode.
*
* The HIL mode is enabled by the HIL bit flag
* in the system mode. Either send a set mode
* COMMAND_LONG message or a SET_MODE message
*/
if (mavlink_hil_enabled) {
uint64_t timestamp = hrt_absolute_time();
if (msg->msgid == MAVLINK_MSG_ID_HIL_SENSOR) {
mavlink_hil_sensor_t imu;
mavlink_msg_hil_sensor_decode(msg, &imu);
/* sensors general */
hil_sensors.timestamp = hrt_absolute_time();
/* hil gyro */
static const float mrad2rad = 1.0e-3f;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
hil_sensors.gyro_rad_s[0] = imu.xgyro;
hil_sensors.gyro_rad_s[1] = imu.ygyro;
hil_sensors.gyro_rad_s[2] = imu.zgyro;
/* accelerometer */
hil_sensors.accelerometer_counter = hil_counter;
static const float mg2ms2 = 9.8f / 1000.0f;
hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2;
hil_sensors.accelerometer_m_s2[0] = imu.xacc;
hil_sensors.accelerometer_m_s2[1] = imu.yacc;
hil_sensors.accelerometer_m_s2[2] = imu.zacc;
hil_sensors.accelerometer_mode = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
/* adc */
hil_sensors.adc_voltage_v[0] = 0.0f;
hil_sensors.adc_voltage_v[1] = 0.0f;
hil_sensors.adc_voltage_v[2] = 0.0f;
/* magnetometer */
float mga2ga = 1.0e-3f;
hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
hil_sensors.magnetometer_ga[0] = imu.xmag;
hil_sensors.magnetometer_ga[1] = imu.ymag;
hil_sensors.magnetometer_ga[2] = imu.zmag;
hil_sensors.magnetometer_range_ga = 32.7f; // int16
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
/* baro */
hil_sensors.baro_pres_mbar = imu.abs_pressure;
hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.accelerometer_counter = hil_counter;
/* differential pressure */
hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
hil_sensors.differential_pressure_counter = hil_counter;
/* airspeed from differential pressure, ambient pressure and temp */
struct airspeed_s airspeed;
float ias = calc_indicated_airspeed(hil_sensors.differential_pressure_pa);
// XXX need to fix this
float tas = ias;
airspeed.timestamp = hrt_absolute_time();
airspeed.indicated_airspeed_m_s = ias;
airspeed.true_airspeed_m_s = tas;
if (pub_hil_airspeed < 0) {
pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
//warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
/* individual sensor publications */
struct gyro_report gyro;
gyro.x_raw = imu.xgyro / mrad2rad;
gyro.y_raw = imu.ygyro / mrad2rad;
gyro.z_raw = imu.zgyro / mrad2rad;
gyro.x = imu.xgyro;
gyro.y = imu.ygyro;
gyro.z = imu.zgyro;
gyro.temperature = imu.temperature;
gyro.timestamp = hrt_absolute_time();
if (pub_hil_gyro < 0) {
pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro);
} else {
orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro);
}
struct accel_report accel;
accel.x_raw = imu.xacc / mg2ms2;
accel.y_raw = imu.yacc / mg2ms2;
accel.z_raw = imu.zacc / mg2ms2;
accel.x = imu.xacc;
accel.y = imu.yacc;
accel.z = imu.zacc;
accel.temperature = imu.temperature;
accel.timestamp = hrt_absolute_time();
if (pub_hil_accel < 0) {
pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
}
struct mag_report mag;
mag.x_raw = imu.xmag / mga2ga;
mag.y_raw = imu.ymag / mga2ga;
mag.z_raw = imu.zmag / mga2ga;
mag.x = imu.xmag;
mag.y = imu.ymag;
mag.z = imu.zmag;
mag.timestamp = hrt_absolute_time();
if (pub_hil_mag < 0) {
pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag);
} else {
orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag);
}
struct baro_report baro;
baro.pressure = imu.abs_pressure;
baro.altitude = imu.pressure_alt;
baro.temperature = imu.temperature;
baro.timestamp = hrt_absolute_time();
if (pub_hil_baro < 0) {
pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro);
} else {
orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro);
}
/* publish combined sensor topic */
if (pub_hil_sensors > 0) {
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
} else {
pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
}
/* fill in HIL battery status */
hil_battery_status.timestamp = hrt_absolute_time();
hil_battery_status.voltage_v = 11.1f;
hil_battery_status.current_a = 10.0f;
/* lazily publish the battery voltage */
if (pub_hil_battery > 0) {
orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
} else {
pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
}
// increment counters
hil_counter++;
hil_frames++;
// output
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil sensor at %d hz\n", hil_frames / 10);
old_timestamp = timestamp;
hil_frames = 0;
}
}
if (msg->msgid == MAVLINK_MSG_ID_HIL_GPS) {
mavlink_hil_gps_t gps;
mavlink_msg_hil_gps_decode(msg, &gps);
/* gps */
hil_gps.timestamp_position = gps.time_usec;
hil_gps.time_gps_usec = gps.time_usec;
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
/* go back to -PI..PI */
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
hil_gps.vel_ned_valid = true;
/* COG (course over ground) is spec'ed as -PI..+PI */
hil_gps.cog_rad = heading_rad;
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_visible = gps.satellites_visible;
/* publish GPS measurement data */
if (pub_hil_gps > 0) {
orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
} else {
pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
}
}
if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE_QUATERNION) {
mavlink_hil_state_quaternion_t hil_state;
mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
struct airspeed_s airspeed;
airspeed.timestamp = hrt_absolute_time();
airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
if (pub_hil_airspeed < 0) {
pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
uint64_t timestamp = hrt_absolute_time();
// publish global position
if (pub_hil_global_pos > 0) {
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
// global position packet
hil_global_pos.timestamp = timestamp;
hil_global_pos.valid = true;
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vx = hil_state.vx / 100.0f;
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
} else {
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
}
// publish local position
if (pub_hil_local_pos > 0) {
float x;
float y;
bool landed = hil_state.alt/1000.0f < (alt0 + 0.1); // XXX improve?
double lat = hil_state.lat*1e-7;
double lon = hil_state.lon*1e-7;
map_projection_project(lat, lon, &x, &y);
hil_local_pos.timestamp = timestamp;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;
hil_local_pos.v_xy_valid = true;
hil_local_pos.v_z_valid = true;
hil_local_pos.x = x;
hil_local_pos.y = y;
hil_local_pos.z = alt0 - hil_state.alt/1000.0f;
hil_local_pos.vx = hil_state.vx/100.0f;
hil_local_pos.vy = hil_state.vy/100.0f;
hil_local_pos.vz = hil_state.vz/100.0f;
hil_local_pos.yaw = hil_attitude.yaw;
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;
hil_local_pos.ref_timestamp = timestamp;
hil_local_pos.ref_lat = hil_state.lat;
hil_local_pos.ref_lon = hil_state.lon;
hil_local_pos.ref_alt = alt0;
hil_local_pos.landed = landed;
orb_publish(ORB_ID(vehicle_local_position), pub_hil_local_pos, &hil_local_pos);
} else {
pub_hil_local_pos = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
lat0 = hil_state.lat;
lon0 = hil_state.lon;
alt0 = hil_state.alt / 1000.0f;
map_projection_init(hil_state.lat, hil_state.lon);
}
/* Calculate Rotation Matrix */
math::Quaternion q(hil_state.attitude_quaternion);
math::Dcm C_nb(q);
math::EulerAngles euler(C_nb);
/* set rotation matrix */
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
hil_attitude.R[i][j] = C_nb(i, j);
hil_attitude.R_valid = true;
/* set quaternion */
hil_attitude.q[0] = q(0);
hil_attitude.q[1] = q(1);
hil_attitude.q[2] = q(2);
hil_attitude.q[3] = q(3);
hil_attitude.q_valid = true;
hil_attitude.roll = euler.getPhi();
hil_attitude.pitch = euler.getTheta();
hil_attitude.yaw = euler.getPsi();
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
/* set timestamp and notify processes (broadcast) */
hil_attitude.timestamp = hrt_absolute_time();
if (pub_hil_attitude > 0) {
orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
} else {
pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
}
struct accel_report accel;
accel.x_raw = hil_state.xacc / 9.81f * 1e3f;
accel.y_raw = hil_state.yacc / 9.81f * 1e3f;
accel.z_raw = hil_state.zacc / 9.81f * 1e3f;
accel.x = hil_state.xacc;
accel.y = hil_state.yacc;
accel.z = hil_state.zacc;
accel.temperature = 25.0f;
accel.timestamp = hrt_absolute_time();
if (pub_hil_accel < 0) {
pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
}
/* fill in HIL battery status */
hil_battery_status.timestamp = hrt_absolute_time();
hil_battery_status.voltage_v = 11.1f;
hil_battery_status.current_a = 10.0f;
/* lazily publish the battery voltage */
if (pub_hil_battery > 0) {
orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
} else {
pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
}
}
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
struct rc_channels_s rc_hil;
memset(&rc_hil, 0, sizeof(rc_hil));
static orb_advert_t rc_pub = 0;
rc_hil.timestamp = hrt_absolute_time();
rc_hil.chan_count = 4;
rc_hil.chan[0].scaled = man.x / 1000.0f;
rc_hil.chan[1].scaled = man.y / 1000.0f;
rc_hil.chan[2].scaled = man.r / 1000.0f;
rc_hil.chan[3].scaled = man.z / 1000.0f;
struct manual_control_setpoint_s mc;
static orb_advert_t mc_pub = 0;
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* get a copy first, to prevent altering values that are not sent by the mavlink command */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc);
mc.timestamp = rc_hil.timestamp;
mc.roll = man.x / 1000.0f;
mc.pitch = man.y / 1000.0f;
mc.yaw = man.r / 1000.0f;
mc.throttle = man.z / 1000.0f;
/* fake RC channels with manual control input from simulator */
if (rc_pub == 0) {
rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
} else {
orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
}
if (mc_pub == 0) {
mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
} else {
orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
}
}
}
}
static void
handle_message(mavlink_message_t *msg)
{
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
/* This is the link shutdown command, terminate mavlink */
printf("[mavlink] Terminating .. \n");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
thread_should_exit = true;
} else {
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
vcmd.param5 = cmd_mavlink.param5;
vcmd.param6 = cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = cmd_mavlink.confirmation;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
}
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
}
if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(msg, &flow);
struct optical_flow_s f;
f.timestamp = flow.time_usec;
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
/* check if topic is advertised */
if (flow_pub <= 0) {
flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
/* publish */
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
}
}
if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
/* Set mode on request */
mavlink_set_mode_t new_mode;
mavlink_msg_set_mode_decode(msg, &new_mode);
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = new_mode.base_mode;
vcmd.param2 = new_mode.custom_mode;
vcmd.param3 = 0;
vcmd.param4 = 0;
vcmd.param5 = 0;
vcmd.param6 = 0;
vcmd.param7 = 0;
vcmd.command = MAV_CMD_DO_SET_MODE;
vcmd.target_system = new_mode.target_system;
vcmd.target_component = MAV_COMP_ID_ALL;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* create command */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
/* Handle Vicon position estimates */
if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
vicon_position.timestamp = hrt_absolute_time();
vicon_position.x = pos.x;
vicon_position.y = pos.y;
vicon_position.z = pos.z;
vicon_position.roll = pos.roll;
vicon_position.pitch = pos.pitch;
vicon_position.yaw = pos.yaw;
if (vicon_position_pub <= 0) {
vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
}
}
/* Handle quadrotor motor setpoints */
if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
if (mavlink_system.sysid < 4) {
/* switch to a receiving link mode */
gcs_link = false;
/*
* rate control mode - defined by MAVLink
*/
uint8_t ml_mode = 0;
bool ml_armed = false;
switch (quad_motors_setpoint.mode) {
case 0:
ml_armed = false;
break;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
}
offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
}
offboard_control_sp.armed = ml_armed;
offboard_control_sp.mode = ml_mode;
offboard_control_sp.timestamp = hrt_absolute_time();
/* check if topic has to be advertised */
if (offboard_control_sp_pub <= 0) {
offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
/* Publish */
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
}
}
}
/*
* Only decode hil messages in HIL mode.
*
* The HIL mode is enabled by the HIL bit flag
* in the system mode. Either send a set mode
* COMMAND_LONG message or a SET_MODE message
*/
if (mavlink_hil_enabled) {
uint64_t timestamp = hrt_absolute_time();
/* TODO, set ground_press/ temp during calib */
static const float ground_press = 1013.25f; // mbar
static const float ground_tempC = 21.0f;
static const float ground_alt = 0.0f;
static const float T0 = 273.15;
static const float R = 287.05f;
static const float g = 9.806f;
if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
mavlink_raw_imu_t imu;
mavlink_msg_raw_imu_decode(msg, &imu);
/* packet counter */
static uint16_t hil_counter = 0;
static uint16_t hil_frames = 0;
static uint64_t old_timestamp = 0;
/* sensors general */
hil_sensors.timestamp = imu.time_usec;
/* hil gyro */
static const float mrad2rad = 1.0e-3f;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.gyro_raw[0] = imu.xgyro;
hil_sensors.gyro_raw[1] = imu.ygyro;
hil_sensors.gyro_raw[2] = imu.zgyro;
hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad;
hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad;
hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad;
/* accelerometer */
hil_sensors.accelerometer_counter = hil_counter;
static const float mg2ms2 = 9.8f / 1000.0f;
hil_sensors.accelerometer_raw[0] = imu.xacc;
hil_sensors.accelerometer_raw[1] = imu.yacc;
hil_sensors.accelerometer_raw[2] = imu.zacc;
hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc;
hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc;
hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc;
hil_sensors.accelerometer_mode = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
/* adc */
hil_sensors.adc_voltage_v[0] = 0;
hil_sensors.adc_voltage_v[1] = 0;
hil_sensors.adc_voltage_v[2] = 0;
/* magnetometer */
float mga2ga = 1.0e-3f;
hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.magnetometer_raw[0] = imu.xmag;
hil_sensors.magnetometer_raw[1] = imu.ymag;
hil_sensors.magnetometer_raw[2] = imu.zmag;
hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga;
hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga;
hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga;
hil_sensors.magnetometer_range_ga = 32.7f; // int16
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
/* publish */
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
// increment counters
hil_counter += 1 ;
hil_frames += 1 ;
// output
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil imu at %d hz\n", hil_frames/10);
old_timestamp = timestamp;
hil_frames = 0;
}
}
if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) {
mavlink_highres_imu_t imu;
mavlink_msg_highres_imu_decode(msg, &imu);
/* packet counter */
static uint16_t hil_counter = 0;
static uint16_t hil_frames = 0;
static uint64_t old_timestamp = 0;
/* sensors general */
hil_sensors.timestamp = imu.time_usec;
/* hil gyro */
static const float mrad2rad = 1.0e-3f;
hil_sensors.gyro_counter = hil_counter;
hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
hil_sensors.gyro_rad_s[0] = imu.xgyro;
hil_sensors.gyro_rad_s[1] = imu.ygyro;
hil_sensors.gyro_rad_s[2] = imu.zgyro;
/* accelerometer */
hil_sensors.accelerometer_counter = hil_counter;
static const float mg2ms2 = 9.8f / 1000.0f;
hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2;
hil_sensors.accelerometer_m_s2[0] = imu.xacc;
hil_sensors.accelerometer_m_s2[1] = imu.yacc;
hil_sensors.accelerometer_m_s2[2] = imu.zacc;
hil_sensors.accelerometer_mode = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
/* adc */
hil_sensors.adc_voltage_v[0] = 0;
hil_sensors.adc_voltage_v[1] = 0;
hil_sensors.adc_voltage_v[2] = 0;
/* magnetometer */
float mga2ga = 1.0e-3f;
hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
hil_sensors.magnetometer_ga[0] = imu.xmag;
hil_sensors.magnetometer_ga[1] = imu.ymag;
hil_sensors.magnetometer_ga[2] = imu.zmag;
hil_sensors.magnetometer_range_ga = 32.7f; // int16
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
hil_sensors.baro_pres_mbar = imu.abs_pressure;
float tempC = imu.temperature;
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure);
hil_sensors.baro_alt_meter = h;
hil_sensors.baro_temp_celcius = imu.temperature;
/* publish */
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
// increment counters
hil_counter += 1 ;
hil_frames += 1 ;
// output
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil imu at %d hz\n", hil_frames/10);
old_timestamp = timestamp;
hil_frames = 0;
}
}
if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
mavlink_gps_raw_int_t gps;
mavlink_msg_gps_raw_int_decode(msg, &gps);
/* packet counter */
static uint16_t hil_counter = 0;
static uint16_t hil_frames = 0;
static uint64_t old_timestamp = 0;
/* gps */
hil_gps.timestamp_position = gps.time_usec;
// hil_gps.counter = hil_counter++;
hil_gps.time_gps_usec = gps.time_usec;
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
// hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 100; // XXX 100 m/s variance?
hil_gps.p_variance_m = 100; // XXX 100 m variance?
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.vel_d_m_s = 0.0f;
hil_gps.cog_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; // from deg*100 to rad
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_visible = gps.satellites_visible;
/* publish */
orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
// increment counters
hil_counter += 1 ;
hil_frames += 1 ;
// output
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil gps at %d hz\n", hil_frames/10);
old_timestamp = timestamp;
hil_frames = 0;
}
}
if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) {
mavlink_raw_pressure_t press;
mavlink_msg_raw_pressure_decode(msg, &press);
/* packet counter */
static uint16_t hil_counter = 0;
static uint16_t hil_frames = 0;
static uint64_t old_timestamp = 0;
/* sensors general */
hil_sensors.timestamp = press.time_usec;
/* baro */
float tempC = press.temperature / 100.0f;
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs);
hil_sensors.baro_counter = hil_counter;
hil_sensors.baro_pres_mbar = press.press_abs;
hil_sensors.baro_alt_meter = h;
hil_sensors.baro_temp_celcius = tempC;
/* publish */
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
// increment counters
hil_counter += 1 ;
hil_frames += 1 ;
// output
if ((timestamp - old_timestamp) > 10000000) {
printf("receiving hil pressure at %d hz\n", hil_frames/10);
old_timestamp = timestamp;
hil_frames = 0;
}
}
if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
mavlink_hil_state_t hil_state;
mavlink_msg_hil_state_decode(msg, &hil_state);
/* Calculate Rotation Matrix */
//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
if (mavlink_system.type == MAV_TYPE_FIXED_WING) {
//TODO: assuming low pitch and roll values for now
hil_attitude.R[0][0] = cosf(hil_state.yaw);
hil_attitude.R[0][1] = sinf(hil_state.yaw);
hil_attitude.R[0][2] = 0.0f;
hil_attitude.R[1][0] = -sinf(hil_state.yaw);
hil_attitude.R[1][1] = cosf(hil_state.yaw);
hil_attitude.R[1][2] = 0.0f;
hil_attitude.R[2][0] = 0.0f;
hil_attitude.R[2][1] = 0.0f;
hil_attitude.R[2][2] = 1.0f;
hil_attitude.R_valid = true;
}
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vx = hil_state.vx / 100.0f;
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
/* set timestamp and notify processes (broadcast) */
hil_global_pos.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
hil_attitude.roll = hil_state.roll;
hil_attitude.pitch = hil_state.pitch;
hil_attitude.yaw = hil_state.yaw;
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
/* set timestamp and notify processes (broadcast) */
hil_attitude.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
}
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
struct rc_channels_s rc_hil;
memset(&rc_hil, 0, sizeof(rc_hil));
static orb_advert_t rc_pub = 0;
rc_hil.timestamp = hrt_absolute_time();
rc_hil.chan_count = 4;
rc_hil.chan[0].scaled = man.x / 1000.0f;
rc_hil.chan[1].scaled = man.y / 1000.0f;
rc_hil.chan[2].scaled = man.r / 1000.0f;
rc_hil.chan[3].scaled = man.z / 1000.0f;
struct manual_control_setpoint_s mc;
static orb_advert_t mc_pub = 0;
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* get a copy first, to prevent altering values that are not sent by the mavlink command */
orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc);
mc.timestamp = rc_hil.timestamp;
mc.roll = man.x / 1000.0f;
mc.pitch = man.y / 1000.0f;
mc.yaw = man.r / 1000.0f;
mc.throttle = man.z / 1000.0f;
/* fake RC channels with manual control input from simulator */
if (rc_pub == 0) {
rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
} else {
orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
}
if (mc_pub == 0) {
mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
} else {
orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
}
}
}
}
