void follow_change_wp( unsigned char* buffer ) {
struct EcefCoor_i new_pos;
struct EnuCoor_i enu;
new_pos.x = DL_REMOTE_GPS_ecef_x(buffer);
new_pos.y = DL_REMOTE_GPS_ecef_y(buffer);
new_pos.z = DL_REMOTE_GPS_ecef_z(buffer);
// Translate to ENU
enu_of_ecef_point_i(&enu, &ins_impl.ltp_def, &new_pos);
INT32_VECT3_SCALE_2(enu, enu, INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
// TODO: Add the angle to the north
// Update the offsets
enu.x += POS_BFP_OF_REAL(FOLLOW_OFFSET_X);
enu.y += POS_BFP_OF_REAL(FOLLOW_OFFSET_Y);
enu.z += POS_BFP_OF_REAL(FOLLOW_OFFSET_Z);
// TODO: Remove the angle to the north
// Move the waypoint
VECT3_COPY(waypoints[FOLLOW_WAYPOINT_ID], enu);
}
void dl_parse_msg(void)
{
datalink_time = 0;
uint8_t msg_id = IdOfMsg(dl_buffer);
switch (msg_id) {
case DL_PING: {
DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
}
break;
case DL_SETTING : {
if (DL_SETTING_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t i = DL_SETTING_index(dl_buffer);
float var = DL_SETTING_value(dl_buffer);
DlSetting(i, var);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &var);
}
break;
case DL_GET_SETTING : {
if (DL_GET_SETTING_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
}
break;
#if defined USE_NAVIGATION
case DL_BLOCK : {
if (DL_BLOCK_ac_id(dl_buffer) != AC_ID) { break; }
nav_goto_block(DL_BLOCK_block_id(dl_buffer));
}
break;
case DL_MOVE_WP : {
uint8_t ac_id = DL_MOVE_WP_ac_id(dl_buffer);
if (ac_id != AC_ID) { break; }
if (stateIsLocalCoordinateValid()) {
uint8_t wp_id = DL_MOVE_WP_wp_id(dl_buffer);
struct LlaCoor_i lla;
lla.lat = DL_MOVE_WP_lat(dl_buffer);
lla.lon = DL_MOVE_WP_lon(dl_buffer);
/* WP_alt from message is alt above MSL in mm
* lla.alt is above ellipsoid in mm
*/
lla.alt = DL_MOVE_WP_alt(dl_buffer) - state.ned_origin_i.hmsl +
state.ned_origin_i.lla.alt;
waypoint_move_lla(wp_id, &lla);
}
}
break;
#endif /* USE_NAVIGATION */
#ifdef RADIO_CONTROL_TYPE_DATALINK
case DL_RC_3CH :
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_3ch_datalink(
DL_RC_3CH_throttle_mode(dl_buffer),
DL_RC_3CH_roll(dl_buffer),
DL_RC_3CH_pitch(dl_buffer));
break;
case DL_RC_4CH :
if (DL_RC_4CH_ac_id(dl_buffer) == AC_ID) {
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_4ch_datalink(DL_RC_4CH_mode(dl_buffer),
DL_RC_4CH_throttle(dl_buffer),
DL_RC_4CH_roll(dl_buffer),
DL_RC_4CH_pitch(dl_buffer),
DL_RC_4CH_yaw(dl_buffer));
}
break;
#endif // RADIO_CONTROL_TYPE_DATALINK
#if defined GPS_DATALINK
case DL_REMOTE_GPS :
// Check if the GPS is for this AC
if (DL_REMOTE_GPS_ac_id(dl_buffer) != AC_ID) { break; }
// Parse the GPS
parse_gps_datalink(
DL_REMOTE_GPS_numsv(dl_buffer),
DL_REMOTE_GPS_ecef_x(dl_buffer),
DL_REMOTE_GPS_ecef_y(dl_buffer),
DL_REMOTE_GPS_ecef_z(dl_buffer),
DL_REMOTE_GPS_lat(dl_buffer),
DL_REMOTE_GPS_lon(dl_buffer),
DL_REMOTE_GPS_alt(dl_buffer),
DL_REMOTE_GPS_hmsl(dl_buffer),
DL_REMOTE_GPS_ecef_xd(dl_buffer),
DL_REMOTE_GPS_ecef_yd(dl_buffer),
DL_REMOTE_GPS_ecef_zd(dl_buffer),
DL_REMOTE_GPS_tow(dl_buffer),
DL_REMOTE_GPS_course(dl_buffer));
break;
#endif
default:
break;
}
/* Parse modules datalink */
modules_parse_datalink(msg_id);
}
void dl_parse_msg(void)
{
uint8_t msg_id = IdOfMsg(dl_buffer);
switch (msg_id) {
case DL_PING: {
DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
}
break;
case DL_SETTING : {
if (DL_SETTING_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t i = DL_SETTING_index(dl_buffer);
float var = DL_SETTING_value(dl_buffer);
DlSetting(i, var);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &var);
}
break;
case DL_GET_SETTING : {
if (DL_GET_SETTING_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
}
break;
#ifdef USE_NAVIGATION
case DL_BLOCK : {
if (DL_BLOCK_ac_id(dl_buffer) != AC_ID) { break; }
nav_goto_block(DL_BLOCK_block_id(dl_buffer));
}
break;
case DL_MOVE_WP : {
uint8_t ac_id = DL_MOVE_WP_ac_id(dl_buffer);
if (ac_id != AC_ID) { break; }
if (stateIsLocalCoordinateValid()) {
uint8_t wp_id = DL_MOVE_WP_wp_id(dl_buffer);
struct LlaCoor_i lla;
lla.lat = DL_MOVE_WP_lat(dl_buffer);
lla.lon = DL_MOVE_WP_lon(dl_buffer);
/* WP_alt from message is alt above MSL in mm
* lla.alt is above ellipsoid in mm
*/
lla.alt = DL_MOVE_WP_alt(dl_buffer) - state.ned_origin_i.hmsl +
state.ned_origin_i.lla.alt;
waypoint_move_lla(wp_id, &lla);
}
}
break;
#endif /* USE_NAVIGATION */
#ifdef RADIO_CONTROL_TYPE_DATALINK
case DL_RC_3CH :
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_3ch_datalink(
DL_RC_3CH_throttle_mode(dl_buffer),
DL_RC_3CH_roll(dl_buffer),
DL_RC_3CH_pitch(dl_buffer));
break;
case DL_RC_4CH :
if (DL_RC_4CH_ac_id(dl_buffer) == AC_ID) {
#ifdef RADIO_CONTROL_DATALINK_LED
LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
#endif
parse_rc_4ch_datalink(DL_RC_4CH_mode(dl_buffer),
DL_RC_4CH_throttle(dl_buffer),
DL_RC_4CH_roll(dl_buffer),
DL_RC_4CH_pitch(dl_buffer),
DL_RC_4CH_yaw(dl_buffer));
}
break;
#endif // RADIO_CONTROL_TYPE_DATALINK
#if USE_GPS
#ifdef GPS_DATALINK
case DL_REMOTE_GPS_SMALL : {
// Check if the GPS is for this AC
if (DL_REMOTE_GPS_SMALL_ac_id(dl_buffer) != AC_ID) { break; }
parse_gps_datalink_small(
DL_REMOTE_GPS_SMALL_numsv(dl_buffer),
DL_REMOTE_GPS_SMALL_pos_xyz(dl_buffer),
DL_REMOTE_GPS_SMALL_speed_xyz(dl_buffer),
DL_REMOTE_GPS_SMALL_heading(dl_buffer));
}
break;
case DL_REMOTE_GPS : {
// Check if the GPS is for this AC
if (DL_REMOTE_GPS_ac_id(dl_buffer) != AC_ID) { break; }
// Parse the GPS
parse_gps_datalink(
DL_REMOTE_GPS_numsv(dl_buffer),
DL_REMOTE_GPS_ecef_x(dl_buffer),
DL_REMOTE_GPS_ecef_y(dl_buffer),
DL_REMOTE_GPS_ecef_z(dl_buffer),
DL_REMOTE_GPS_lat(dl_buffer),
DL_REMOTE_GPS_lon(dl_buffer),
DL_REMOTE_GPS_alt(dl_buffer),
DL_REMOTE_GPS_hmsl(dl_buffer),
DL_REMOTE_GPS_ecef_xd(dl_buffer),
DL_REMOTE_GPS_ecef_yd(dl_buffer),
DL_REMOTE_GPS_ecef_zd(dl_buffer),
DL_REMOTE_GPS_tow(dl_buffer),
DL_REMOTE_GPS_course(dl_buffer));
}
break;
#endif // GPS_DATALINK
case DL_GPS_INJECT : {
// Check if the GPS is for this AC
if (DL_GPS_INJECT_ac_id(dl_buffer) != AC_ID) { break; }
// GPS parse data
gps_inject_data(
DL_GPS_INJECT_packet_id(dl_buffer),
DL_GPS_INJECT_data_length(dl_buffer),
DL_GPS_INJECT_data(dl_buffer)
);
}
break;
#endif // USE_GPS
case DL_GUIDED_SETPOINT_NED:
if (DL_GUIDED_SETPOINT_NED_ac_id(dl_buffer) != AC_ID) { break; }
uint8_t flags = DL_GUIDED_SETPOINT_NED_flags(dl_buffer);
float x = DL_GUIDED_SETPOINT_NED_x(dl_buffer);
float y = DL_GUIDED_SETPOINT_NED_y(dl_buffer);
float z = DL_GUIDED_SETPOINT_NED_z(dl_buffer);
float yaw = DL_GUIDED_SETPOINT_NED_yaw(dl_buffer);
switch (flags) {
case 0x00:
case 0x02:
/* local NED position setpoints */
autopilot_guided_goto_ned(x, y, z, yaw);
break;
case 0x01:
/* local NED offset position setpoints */
autopilot_guided_goto_ned_relative(x, y, z, yaw);
break;
case 0x03:
/* body NED offset position setpoints */
autopilot_guided_goto_body_relative(x, y, z, yaw);
break;
default:
/* others not handled yet */
break;
}
break;
default:
break;
}
/* Parse modules datalink */
modules_parse_datalink(msg_id);
}