static void postHeartbeat( SOCKET sock, const sockaddr_in& gcAddr, float position[] ) { mavlink_message_t msg; uint16_t len; int bytes_sent; uint8_t buf[BUFFER_LENGTH]; //#define OLD_MAV /*Send Heartbeat */ #ifdef OLD_MAV mavlink_msg_heartbeat_pack(1, 200, &msg, MAV_HELICOPTER, MAV_AUTOPILOT_GENERIC); #else mavlink_msg_heartbeat_pack(1, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE); #endif len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, (char *)buf, len, 0, (sockaddr*)&gcAddr, sizeof(gcAddr)); /* Send Status */ #ifdef OLD_MAV mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED, MAV_NAV_HOLD, MAV_STATE_ACTIVE, 7500, 0, 0, 0); #else mavlink_msg_sys_status_pack(1, 200, &msg, 0, 0, 0, 500, 11000, -1, -1, 0, 0, 0, 0, 0, 0); #endif len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, (char *)buf, len, 0, (sockaddr*)&gcAddr, sizeof (gcAddr)); /* Send Local Position */ #ifdef OLD_MAV mavlink_msg_local_position_pack(1, 200, &msg, microsSinceEpoch(), position[0], position[1], position[2], position[3], position[4], position[5]); #else mavlink_msg_local_position_ned_pack(1, 200, &msg, microsSinceEpoch(), position[0], position[1], position[2], position[3], position[4], position[5]); #endif len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, (char *)buf, len, 0, (sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send attitude */ //old and new, do difference. static float roll = 1.2; float pitch = 1.7; float yaw = 3.14; #ifdef OLD_MAV mavlink_msg_attitude_pack(1, 200, &msg, microsSinceEpoch(), roll, pitch, yaw, 0.01, 0.02, 0.03); #else mavlink_msg_attitude_pack(1, 200, &msg, microsSinceEpoch(), roll, pitch, yaw, 0.01, 0.02, 0.03); #endif len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, (char *)buf, len, 0, (sockaddr*)&gcAddr, sizeof(gcAddr)); //Beep( 880, 100 ); }
void Create_packets(ExtU_quadrotor_FCS_0_T *data,int sock) { int bytes_sent; unsigned int temp = 0; int i; uint8_t buf[BUFFER_LENGTH]; mavlink_message_t msg; uint16_t len; mavlink_msg_heartbeat_pack(3, 200, &msg, 2, 12, 65, 0, 3); len = mavlink_msg_to_send_buffer(buf, &msg); int len1 = strlen(buf); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); mavlink_msg_attitude_pack(3, 200, &msg, microsSinceEpoch(),data->Internalstates[3], data->Internalstates[4], data->Internalstates[5], data->Internalstates[6], data->Internalstates[7], data->Internalstates[8]); len = mavlink_msg_to_send_buffer(buf, &msg); len1 = strlen(buf); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); mavlink_msg_gps_raw_int_pack(3, 200, &msg, microsSinceEpoch(),2,data->lla[0]*10000000,data->lla[1]*10000000,data->lla[2],UINT16_MAX,UINT16_MAX,UINT16_MAX,UINT16_MAX,255); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); mavlink_msg_rc_channels_pack(3, 200, &msg, microsSinceEpoch(),4,data->RC[1]*100,data->RC[2]*100,data->RC[3]*100,data->RC[4]*100,data->ORC[0],data->ORC[1],data->ORC[2],data->ORC[3],data->rpm[0],data->rpm[1],data->rpm[2],data->rpm[3],UINT16_MAX,UINT16_MAX,UINT16_MAX,UINT16_MAX,UINT16_MAX,UINT16_MAX,255); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); memset(buf, 0, BUFFER_LENGTH); }
void poseStampedCallback(const geometry_msgs::PoseStamped& poseStampedMsg) { // set timestamp (get NSec from ROS and convert to us) uint64_t timestamp = poseStampedMsg.header.stamp.toNSec() / 1000; // send MAVLINK attitude and local position messages mavlink_message_t msg; //convert quaternion to euler angles const btQuaternion quat(poseStampedMsg.pose.orientation.x, poseStampedMsg.pose.orientation.y, poseStampedMsg.pose.orientation.z, poseStampedMsg.pose.orientation.w); const btMatrix3x3 mat(quat); double roll, pitch, yaw; mat.getEulerYPR(yaw, pitch, roll); mavlink_msg_attitude_pack(sysid, compid, &msg, timestamp, roll, pitch, yaw, 0.0f, 0.0f, 0.0f); mavlink_message_t_publish(lcm, "MAVLINK", &msg); float x = poseStampedMsg.pose.position.x; float y = poseStampedMsg.pose.position.y; float z = poseStampedMsg.pose.position.z; mavlink_msg_local_position_pack(sysid, compid, &msg, timestamp, x, y, z, 0.0f, 0.0f, 0.0f); mavlink_message_t_publish(lcm, "MAVLINK", &msg); if (verbose) { ROS_INFO("Sent Mavlink local position and attitude messages."); } }
static void uavtalk_handle_msg(struct uavtalk_message *msg) { mavlink_message_t mav_msg; switch (msg->objid) { case UAVTALK_OBJID_ATTITUDESTATE: mavlink_msg_attitude_pack(1, 1, &mav_msg, 0, DEG2RAD(uavtalk_get_float(msg, UAVTALK_OBJID_ATTITUDESTATE_ROLL)), DEG2RAD(uavtalk_get_float(msg, UAVTALK_OBJID_ATTITUDESTATE_PITCH)), DEG2RAD(uavtalk_get_float(msg, UAVTALK_OBJID_ATTITUDESTATE_YAW)), 0, 0, 0); mavlink_handle_msg(255, &mav_msg, NULL); break; case UAVTALK_OBJID_MANUALCONTROLCOMMAND: case UAVTALK_OBJID_MANUALCONTROLCOMMAND_001: case UAVTALK_OBJID_MANUALCONTROLCOMMAND_002: mavlink_msg_rc_channels_raw_pack(1, 1, &mav_msg, 0, 0, (unsigned int) uavtalk_get_int16(msg, UAVTALK_OBJID_MANUALCONTROLCOMMAND_CHANNEL_1), (unsigned int) uavtalk_get_int16(msg, UAVTALK_OBJID_MANUALCONTROLCOMMAND_CHANNEL_2), (unsigned int) uavtalk_get_int16(msg, UAVTALK_OBJID_MANUALCONTROLCOMMAND_CHANNEL_3), (unsigned int) uavtalk_get_int16(msg, UAVTALK_OBJID_MANUALCONTROLCOMMAND_CHANNEL_4), (unsigned int) uavtalk_get_int16(msg, UAVTALK_OBJID_MANUALCONTROLCOMMAND_CHANNEL_5), (unsigned int) uavtalk_get_int16(msg, UAVTALK_OBJID_MANUALCONTROLCOMMAND_CHANNEL_6), (unsigned int) uavtalk_get_int16(msg, UAVTALK_OBJID_MANUALCONTROLCOMMAND_CHANNEL_7), (unsigned int) uavtalk_get_int16(msg, UAVTALK_OBJID_MANUALCONTROLCOMMAND_CHANNEL_8), 0); mavlink_handle_msg(255, &mav_msg, NULL); break; } }
/***************************************************************** * mavlink_sender() * send mavlink heartbeat and IMU attitude packets ******************************************************************/ void* mavlink_sender(void* ptr){ uint8_t buf[MAV_BUF_LEN]; mavlink_message_t msg; uint16_t len; while(get_state() != EXITING){ // send heartbeat memset(buf, 0, MAV_BUF_LEN); mavlink_msg_heartbeat_pack(1, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE); len = mavlink_msg_to_send_buffer(buf, &msg); sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr,\ sizeof(struct sockaddr_in)); //send attitude memset(&buf, 0, MAV_BUF_LEN); mavlink_msg_attitude_pack(1, 200, &msg,\ microsSinceEpoch(), mpu.fusedEuler[VEC3_X],\ mpu.fusedEuler[VEC3_Y],\ mpu.fusedEuler[VEC3_Z],\ 0, 0, 0); //set gyro rates to 0 for simplicity len = mavlink_msg_to_send_buffer(buf, &msg); sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr,\ sizeof(struct sockaddr_in)); usleep(100000); // 10 hz } return NULL; }
/** * Transmits the vehicle attitude. Right now just the yaw value. * Expects systemStatus.time to be in centiseconds which are then converted * to ms for transmission. * Yaw should be in radians where positive is eastward from north. */ void MavLinkSendAttitude(void) { mavlink_message_t msg; mavlink_msg_attitude_pack(mavlink_system.sysid, mavlink_system.compid, &msg, systemStatus.time*10, 0.0, 0.0, internalVariables.Heading, 0.0, 0.0, 0.0); len = mavlink_msg_to_send_buffer(buf, &msg); uart1EnqueueData(buf, (uint8_t)len); }
uint16_t PackRawAttitude(uint8_t system_id, uint8_t component_id, mavlink_attitude_t mlAttitudeData ,uint32_t time_usec){ mavlink_system_t mavlink_system; // if (!(mlPending.wpProtState == WP_PROT_IDLE)) // return 0; mavlink_system.sysid = system_id; ///< ID 20 for this airplane mavlink_system.compid = component_id;//MAV_COMP_ID_IMU; ///< The component sending the message is the IMU, it could be also a Linux process ////////////////////////////////////////////////////////////////////////// mavlink_message_t msg; memset(&msg, 0, sizeof (mavlink_message_t)); mavlink_msg_attitude_pack(mavlink_system.sysid, mavlink_system.compid, &msg , time_usec , mlAttitudeData.roll, mlAttitudeData.pitch, mlAttitudeData.yaw, mlAttitudeData.rollspeed, mlAttitudeData.pitchspeed, mlAttitudeData.yawspeed ); return( mavlink_msg_to_send_buffer(UartOutBuff, &msg)); }
void cDataLink::SendAttMsg(float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) { int bytes_sent; uint16_t len; /* Send attitude */ mavlink_msg_attitude_pack(1, MAV_COMP_ID_ALL, &m_msg, microsSinceEpoch(), roll, pitch, yaw, rollspeed, pitchspeed, yawspeed); len = mavlink_msg_to_send_buffer(m_buf, &m_msg); bytes_sent = sendto(sock, m_buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); (void)bytes_sent; //avoid compiler warning }
void Dialog::on_pushButton_clicked() { mavlink_msg_attitude_pack (100, 200, &msg, 47, 0.1, 0.2, 0.3, 0, 0, 0) ; len = mavlink_msg_to_send_buffer(buf, &msg); udpSocket->writeDatagram((char*)buf,len, *host, 14550); //ui->textEdit->setText((char *)buf); // QString strNum = QString().setNum(num); // QString strMsgId = QString().setNum(msg.msgid); // QString *str = new QString("Sent No: ");//<< msg.sysid <<"COMP:"<<msg.compid<<"LEN:"<<msg.len<<"MSG ID:"<<msg.msgid); // str->append(strNum); // str->append(" MSG ID : "); // str->append(strMsgId); // ui->textEditSendMessage->setText(*str); }
static void send_attitude_info(void) { mavlink_message_t msg; float attitude_roll, attitude_pitch, attitude_yaw; /* Prepare the attitude data */ read_global_data_value(TRUE_ROLL, DATA_POINTER_CAST(&attitude_roll)); read_global_data_value(TRUE_PITCH, DATA_POINTER_CAST(&attitude_pitch)); read_global_data_value(TRUE_YAW, DATA_POINTER_CAST(&attitude_yaw)); mavlink_msg_attitude_pack(1, 200, &msg, get_system_time_ms(), toRad(attitude_roll), toRad(attitude_pitch), toRad(attitude_yaw), 0.0, 0.0, 0.0 ); send_package(&msg); }
void mavlinkSendAttitude(void) { uint16_t msgLength; mavlink_msg_attitude_pack(0, 200, &mavMsg, // time_boot_ms Timestamp (milliseconds since system boot) millis(), // roll Roll angle (rad) DECIDEGREES_TO_RADIANS(attitude.values.roll), // pitch Pitch angle (rad) DECIDEGREES_TO_RADIANS(-attitude.values.pitch), // yaw Yaw angle (rad) DECIDEGREES_TO_RADIANS(attitude.values.yaw), // rollspeed Roll angular speed (rad/s) 0, // pitchspeed Pitch angular speed (rad/s) 0, // yawspeed Yaw angular speed (rad/s) 0); msgLength = mavlink_msg_to_send_buffer(mavBuffer, &mavMsg); mavlinkSerialWrite(mavBuffer, msgLength); }
void Create_packets(ExtU_ANN_EKF_NMPC_2_T *data,int sock) { int i=0; int bytes_sent; uint8_t buf[BUFFER_LENGTH]; uint8_t buf1[BUFFER_LENGTH]; uint8_t buf2[BUFFER_LENGTH]; mavlink_message_t msg,msg1,msg2; uint16_t len; mavlink_msg_heartbeat_pack(2, 200, &msg, 2, 12, 65, 0, 3); len = mavlink_msg_to_send_buffer(buf, &msg); int len1 = strlen(buf); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); mavlink_msg_attitude_pack(2, 200, &msg, microsSinceEpoch(),data->EulerAnglesmeas.phi, data->EulerAnglesmeas.theta, data->EulerAnglesmeas.psi, data->BodyRatesmeas.P,data->BodyRatesmeas.Q, data->BodyRatesmeas.R); len = mavlink_msg_to_send_buffer(buf, &msg); len1 = strlen(buf); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); // mavlink_msg_hil_state_pack(1, 200, &msg, microsSinceEpoch(),data->EulerAngles.phi, data->EulerAngles.theta, data->EulerAngles.psi, data->BodyRatesmeas.P, data->BodyRatesmeas.Q, data->BodyRatesmeas.R,data->GPSPosition.Latitude,data->GPSPosition.Longitude,data->GPSPosition.Altitude,0,0,0,data->Accelerometermeas.Axb,data->Accelerometermeas.Ayb,data->Accelerometermeas.Azb); // mavlink_msg_hil_state_pack(2, 200, &msg, microsSinceEpoch(),data->EulerAngles.phi, data->EulerAngles.theta, data->EulerAngles.psi, data->BodyRatesmeas.P, data->BodyRatesmeas.Q, data->BodyRatesmeas.R,39,-95,data->GPSPosition.Altitude,0,0,0,data->Accelerometermeas.Axb,data->Accelerometermeas.Ayb,data->Accelerometermeas.Azb); //len = mavlink_msg_to_send_buffer(buf, &msg); // bytes_sent = write(tty_fd1,buf,len); mavlink_msg_gps_raw_int_pack(2, 200, &msg, microsSinceEpoch(),2,data->GPSPositionmeas.Latitude,data->GPSPositionmeas.Longitude,data->GPSPositionmeas.Altitude,UINT16_MAX,UINT16_MAX,UINT16_MAX,UINT16_MAX,255); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); memset(buf, 0, BUFFER_LENGTH); //mavlink_message_t msg; mavlink_status_t status,status1; mavlink_mission_count_t mission_count; int cn; recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen); if (recsize > 0) { // Something received - print out all bytes and parse packet printf("Bytes Received: %d\nDatagram: ", (int)recsize); for (i = 0; i < recsize; ++i) { //temp = buf[i]; // printf("%02x ", (unsigned char)temp); if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) { // Packet received printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid); printf("\n\n Incomming packet\n\n"); if(msg.msgid == 44) { mavlink_msg_mission_count_decode( &msg, &mission_count); printf("\n\n the # of wypts received is %d########\n\n",mission_count.count); data->wcn=mission_count.count; for(cn=1;cn<=data->wcn;cn++) { //sendrequest(sock,cn); memset(buf1, 0, BUFFER_LENGTH); mavlink_msg_mission_request_pack(2, 200, &msg1,255,0,(cn-1)); len = mavlink_msg_to_send_buffer(buf1, &msg1); bytes_sent = sendto(sock, buf1, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); //printf("\n\n @@@@@ sent successfull\n\n"); memset(buf2, 0, BUFFER_LENGTH); //receive_waypoints(sock,cn); while( (recsize1 = recvfrom(sock, (void *)buf2, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen)) <= 0); if (recsize1 > 0) { int ii; mavlink_mission_item_t mission_item; for (ii = 0; ii < recsize1; ++ii) { if (mavlink_parse_char(MAVLINK_COMM_0, buf2[ii], &msg2, &status1)) { printf("\n\n reading waypoint # %d",(cn-1)); } }//if (msg2.msgid==0) //goto loop; if(msg2.msgid == 39) { mavlink_msg_mission_item_decode(&msg2, &mission_item); printf("\n\nthe waypoint # %d is lat:%f lon:%f alt:%f",cn,mission_item.x,mission_item.y,mission_item.z); data->lat[cn]=mission_item.x; data->alt[cn] =mission_item.z; data->lon[cn] = mission_item.y; data->WaypointsIN.v[cn] = mission_item.param1; latlon(&ANN_EKF_NMPC_2_U,cn); } }else printf("!!!!!!!!\n\n receiving failed \n\n "); } if((cn-1) == mission_count.count) { //sendack(sock,cn); mavlink_msg_mission_ack_pack(2, 200, &msg2,255,0,0); memset(buf2, 0, BUFFER_LENGTH); len = mavlink_msg_to_send_buffer(buf2, &msg2); bytes_sent = sendto(sock, buf2, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); printf("\n\n ***** sent acknowledgement *****\n\n"); } } // for msg id 44 if(msg.msgid == 43) { int j; //sendcn(sock,cn); mavlink_msg_mission_count_pack(2, 200, &msg2,255,0,data->wcn); memset(buf2, 0, BUFFER_LENGTH); len = mavlink_msg_to_send_buffer(buf2, &msg2); bytes_sent = sendto(sock, buf2, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); memset(buf2, 0, BUFFER_LENGTH); for(j=1; j<=data->wcn;j++) { //receive_request(sock); //sendwyp(sock,-95,95); mavlink_msg_mission_item_pack(2, 200, &msg2,255,0,(j-1),0,16,0,1,data->WaypointsIN.v[j],0,0,0,data->lat[j],data->lon[j],data->alt[j]); len = mavlink_msg_to_send_buffer(buf2, &msg2); bytes_sent = sendto(sock, buf2, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); printf("\n\n @@@@@ sent count successfull\n\n"); } //rec_ack(sock); }// for msg id 43 } //parse - if }//for }//else printf("\n\n 12121212not good");//recsize - if // printf("\n"); //memset(buf, 0, BUFFER_LENGTH); //printf("\n\n !!!@@##$$ end of a loop\n\n"); }//for Createpacket
int main(int argc, char* argv[]) { char help[] = "--help"; char target_ip[100]; float position[6] = {}; int sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); struct sockaddr_in gcAddr; struct sockaddr_in locAddr; //struct sockaddr_in fromAddr; uint8_t buf[BUFFER_LENGTH]; ssize_t recsize; socklen_t fromlen; int bytes_sent; mavlink_message_t msg; uint16_t len; int i = 0; //int success = 0; unsigned int temp = 0; // Check if --help flag was used if ((argc == 2) && (strcmp(argv[1], help) == 0)) { printf("\n"); printf("\tUsage:\n\n"); printf("\t"); printf("%s", argv[0]); printf(" <ip address of QGroundControl>\n"); printf("\tDefault for localhost: udp-server 127.0.0.1\n\n"); exit(EXIT_FAILURE); } // Change the target ip if parameter was given strcpy(target_ip, "127.0.0.1"); if (argc == 2) { strcpy(target_ip, argv[1]); } memset(&locAddr, 0, sizeof(locAddr)); locAddr.sin_family = AF_INET; locAddr.sin_addr.s_addr = INADDR_ANY; locAddr.sin_port = htons(14551); /* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */ if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr))) { perror("error bind failed"); close(sock); exit(EXIT_FAILURE); } /* Attempt to make it non blocking */ if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0) { fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno)); close(sock); exit(EXIT_FAILURE); } memset(&gcAddr, 0, sizeof(gcAddr)); gcAddr.sin_family = AF_INET; gcAddr.sin_addr.s_addr = inet_addr(target_ip); gcAddr.sin_port = htons(14550); for (;;) { /*Send Heartbeat */ mavlink_msg_heartbeat_pack(1, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send Status */ mavlink_msg_sys_status_pack(1, 200, &msg, 0, 0, 0, 500, 11000, -1, -1, 0, 0, 0, 0, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); /* Send Local Position */ mavlink_msg_local_position_ned_pack(1, 200, &msg, microsSinceEpoch(), position[0], position[1], position[2], position[3], position[4], position[5]); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send attitude */ mavlink_msg_attitude_pack(1, 200, &msg, microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); memset(buf, 0, BUFFER_LENGTH); recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen); if (recsize > 0) { // Something received - print out all bytes and parse packet mavlink_message_t msg; mavlink_status_t status; printf("Bytes Received: %d\nDatagram: ", (int)recsize); for (i = 0; i < recsize; ++i) { temp = buf[i]; printf("%02x ", (unsigned char)temp); if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) { // Packet received printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid); } } printf("\n"); } memset(buf, 0, BUFFER_LENGTH); sleep(1); // Sleep one second } }
static void uavoMavlinkBridgeTask(void *parameters) { uint32_t lastSysTime; // Main task loop lastSysTime = PIOS_Thread_Systime(); FlightBatterySettingsData batSettings = {}; if (FlightBatterySettingsHandle() != NULL ) FlightBatterySettingsGet(&batSettings); SystemStatsData systemStats; while (1) { PIOS_Thread_Sleep_Until(&lastSysTime, 1000 / TASK_RATE_HZ); if (stream_trigger(MAV_DATA_STREAM_EXTENDED_STATUS)) { FlightBatteryStateData batState = {}; if (FlightBatteryStateHandle() != NULL ) FlightBatteryStateGet(&batState); SystemStatsGet(&systemStats); int8_t battery_remaining = 0; if (batSettings.Capacity != 0) { if (batState.ConsumedEnergy < batSettings.Capacity) { battery_remaining = 100 - lroundf(batState.ConsumedEnergy / batSettings.Capacity * 100); } } uint16_t voltage = 0; if (batSettings.VoltagePin != FLIGHTBATTERYSETTINGS_VOLTAGEPIN_NONE) voltage = lroundf(batState.Voltage * 1000); uint16_t current = 0; if (batSettings.CurrentPin != FLIGHTBATTERYSETTINGS_CURRENTPIN_NONE) current = lroundf(batState.Current * 100); mavlink_msg_sys_status_pack(0, 200, mav_msg, // onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control 0, // onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control 0, // onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control 0, // load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)systemStats.CPULoad * 10, // voltage_battery Battery voltage, in millivolts (1 = 1 millivolt) voltage, // current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current current, // battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery battery_remaining, // drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) 0, // errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) 0, // errors_count1 Autopilot-specific errors 0, // errors_count2 Autopilot-specific errors 0, // errors_count3 Autopilot-specific errors 0, // errors_count4 Autopilot-specific errors 0); send_message(); } if (stream_trigger(MAV_DATA_STREAM_RC_CHANNELS)) { ManualControlCommandData manualState; FlightStatusData flightStatus; ManualControlCommandGet(&manualState); FlightStatusGet(&flightStatus); SystemStatsGet(&systemStats); //TODO connect with RSSI object and pass in last argument mavlink_msg_rc_channels_raw_pack(0, 200, mav_msg, // time_boot_ms Timestamp (milliseconds since system boot) systemStats.FlightTime, // port Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. 0, // chan1_raw RC channel 1 value, in microseconds manualState.Channel[0], // chan2_raw RC channel 2 value, in microseconds manualState.Channel[1], // chan3_raw RC channel 3 value, in microseconds manualState.Channel[2], // chan4_raw RC channel 4 value, in microseconds manualState.Channel[3], // chan5_raw RC channel 5 value, in microseconds manualState.Channel[4], // chan6_raw RC channel 6 value, in microseconds manualState.Channel[5], // chan7_raw RC channel 7 value, in microseconds manualState.Channel[6], // chan8_raw RC channel 8 value, in microseconds manualState.Channel[7], // rssi Receive signal strength indicator, 0: 0%, 255: 100% manualState.Rssi); send_message(); } if (stream_trigger(MAV_DATA_STREAM_POSITION)) { GPSPositionData gpsPosData = {}; HomeLocationData homeLocation = {}; SystemStatsGet(&systemStats); if (GPSPositionHandle() != NULL ) GPSPositionGet(&gpsPosData); if (HomeLocationHandle() != NULL ) HomeLocationGet(&homeLocation); SystemStatsGet(&systemStats); uint8_t gps_fix_type; switch (gpsPosData.Status) { case GPSPOSITION_STATUS_NOGPS: gps_fix_type = 0; break; case GPSPOSITION_STATUS_NOFIX: gps_fix_type = 1; break; case GPSPOSITION_STATUS_FIX2D: gps_fix_type = 2; break; case GPSPOSITION_STATUS_FIX3D: case GPSPOSITION_STATUS_DIFF3D: gps_fix_type = 3; break; default: gps_fix_type = 0; break; } mavlink_msg_gps_raw_int_pack(0, 200, mav_msg, // time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)systemStats.FlightTime * 1000, // fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. gps_fix_type, // lat Latitude in 1E7 degrees gpsPosData.Latitude, // lon Longitude in 1E7 degrees gpsPosData.Longitude, // alt Altitude in 1E3 meters (millimeters) above MSL gpsPosData.Altitude * 1000, // eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 gpsPosData.HDOP * 100, // epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 gpsPosData.VDOP * 100, // vel GPS ground speed (m/s * 100). If unknown, set to: 65535 gpsPosData.Groundspeed * 100, // cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 gpsPosData.Heading * 100, // satellites_visible Number of satellites visible. If unknown, set to 255 gpsPosData.Satellites); send_message(); mavlink_msg_gps_global_origin_pack(0, 200, mav_msg, // latitude Latitude (WGS84), expressed as * 1E7 homeLocation.Latitude, // longitude Longitude (WGS84), expressed as * 1E7 homeLocation.Longitude, // altitude Altitude(WGS84), expressed as * 1000 homeLocation.Altitude * 1000); send_message(); //TODO add waypoint nav stuff //wp_target_bearing //wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(&msg); //alt_error = mavlink_msg_nav_controller_output_get_alt_error(&msg); //aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(&msg); //xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(&msg); //mavlink_msg_nav_controller_output_pack //wp_number //mavlink_msg_mission_current_pack } if (stream_trigger(MAV_DATA_STREAM_EXTRA1)) { AttitudeActualData attActual; SystemStatsData systemStats; AttitudeActualGet(&attActual); SystemStatsGet(&systemStats); mavlink_msg_attitude_pack(0, 200, mav_msg, // time_boot_ms Timestamp (milliseconds since system boot) systemStats.FlightTime, // roll Roll angle (rad) attActual.Roll * DEG2RAD, // pitch Pitch angle (rad) attActual.Pitch * DEG2RAD, // yaw Yaw angle (rad) attActual.Yaw * DEG2RAD, // rollspeed Roll angular speed (rad/s) 0, // pitchspeed Pitch angular speed (rad/s) 0, // yawspeed Yaw angular speed (rad/s) 0); send_message(); } if (stream_trigger(MAV_DATA_STREAM_EXTRA2)) { ActuatorDesiredData actDesired; AttitudeActualData attActual; AirspeedActualData airspeedActual = {}; GPSPositionData gpsPosData = {}; BaroAltitudeData baroAltitude = {}; FlightStatusData flightStatus; if (AirspeedActualHandle() != NULL ) AirspeedActualGet(&airspeedActual); if (GPSPositionHandle() != NULL ) GPSPositionGet(&gpsPosData); if (BaroAltitudeHandle() != NULL ) BaroAltitudeGet(&baroAltitude); ActuatorDesiredGet(&actDesired); AttitudeActualGet(&attActual); FlightStatusGet(&flightStatus); float altitude = 0; if (BaroAltitudeHandle() != NULL) altitude = baroAltitude.Altitude; else if (GPSPositionHandle() != NULL) altitude = gpsPosData.Altitude; // round attActual.Yaw to nearest int and transfer from (-180 ... 180) to (0 ... 360) int16_t heading = lroundf(attActual.Yaw); if (heading < 0) heading += 360; mavlink_msg_vfr_hud_pack(0, 200, mav_msg, // airspeed Current airspeed in m/s airspeedActual.TrueAirspeed, // groundspeed Current ground speed in m/s gpsPosData.Groundspeed, // heading Current heading in degrees, in compass units (0..360, 0=north) heading, // throttle Current throttle setting in integer percent, 0 to 100 actDesired.Throttle * 100, // alt Current altitude (MSL), in meters altitude, // climb Current climb rate in meters/second 0); send_message(); uint8_t armed_mode = 0; if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) armed_mode |= MAV_MODE_FLAG_SAFETY_ARMED; uint8_t custom_mode = CUSTOM_MODE_STAB; switch (flightStatus.FlightMode) { case FLIGHTSTATUS_FLIGHTMODE_MANUAL: case FLIGHTSTATUS_FLIGHTMODE_MWRATE: case FLIGHTSTATUS_FLIGHTMODE_VIRTUALBAR: case FLIGHTSTATUS_FLIGHTMODE_HORIZON: /* Kinda a catch all */ custom_mode = CUSTOM_MODE_SPORT; break; case FLIGHTSTATUS_FLIGHTMODE_ACRO: case FLIGHTSTATUS_FLIGHTMODE_AXISLOCK: custom_mode = CUSTOM_MODE_ACRO; break; case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1: case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2: case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3: /* May want these three to try and * infer based on roll axis */ case FLIGHTSTATUS_FLIGHTMODE_LEVELING: custom_mode = CUSTOM_MODE_STAB; break; case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE: custom_mode = CUSTOM_MODE_DRIFT; break; case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD: custom_mode = CUSTOM_MODE_ALTH; break; case FLIGHTSTATUS_FLIGHTMODE_RETURNTOHOME: custom_mode = CUSTOM_MODE_RTL; break; case FLIGHTSTATUS_FLIGHTMODE_TABLETCONTROL: case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD: custom_mode = CUSTOM_MODE_POSH; break; case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER: custom_mode = CUSTOM_MODE_AUTO; break; } mavlink_msg_heartbeat_pack(0, 200, mav_msg, // type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) MAV_TYPE_GENERIC, // autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM MAV_AUTOPILOT_GENERIC, // base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h armed_mode, // custom_mode A bitfield for use for autopilot-specific flags. custom_mode, // system_status System status flag, see MAV_STATE ENUM 0); send_message(); } } }
/* Attitude Sender */ bool MAVLink::sendAttitude(float roll, float pitch, float yaw, float p, float q, float r) { mavlink_message_t msg; mavlink_msg_attitude_pack(mySystemId,myComponentId,&msg,getTime_ms(),roll,pitch,yaw,p,q,r); return sendMessage(msg); }
struct mavlink_drone *mavlink_drone_new(struct mavlink_drone_cfg *cfg) { struct mavlink_drone *c; struct epoll_event ev; struct epoll_event events[3]; struct itimerspec timeout; struct mavlink_comm_cfg comm_cfg = { .local_port = 14551, .remote_port = 14550, .cb = &callback}; if (!cfg) return NULL; c = calloc(1, sizeof(struct mavlink_drone)); if (!c) return NULL; c->remote_system_id = cfg->remote_system_id; c->remote_component_id = cfg->remote_component_id; c->update_status_cb = cfg->update_status_cb; comm_cfg.remote_addr = NULL; c->comm = mavlink_comm_new(&comm_cfg); if (!c->comm) { printf("bad init comm\n"); goto error; } c->exitfd = eventfd(0,0); bzero(&timeout, sizeof(timeout)); timeout.it_value.tv_sec = 1; timeout.it_value.tv_nsec = 0; timeout.it_interval.tv_sec = 1; timeout.it_interval.tv_nsec = 0; c->fd_1hz = timerfd_init(&timeout); if (c->fd_1hz < 0) { printf("Failed to create timerfd 1hz\n"); goto error; } printf("size %lu\n", sizeof(events) / sizeof(events[0])); c->epollfd = epoll_create(sizeof(events) / sizeof(events[0])); if (c->epollfd < 0) { printf("epoll_create failed\n"); goto error; } ev.events = EPOLLIN; ev.data.fd = c->fd_1hz; if (epoll_ctl(c->epollfd, EPOLL_CTL_ADD, c->fd_1hz, &ev) == -1) { printf("failed to add fd_1hz\n"); goto error; } ev.events = EPOLLIN; ev.data.fd = mavlink_comm_get_sockfd(c->comm); if (epoll_ctl(c->epollfd, EPOLL_CTL_ADD, ev.data.fd, &ev) == -1) { printf ("failed to add sockfd\n"); goto error; } ev.events = EPOLLIN; ev.data.fd = c->exitfd; if (epoll_ctl(c->epollfd, EPOLL_CTL_ADD, c->exitfd, &ev) == -1) { printf("failed to add eventfd\n"); goto error; } return c; error: if (c->comm) mavlink_comm_destroy(c->comm); if (c->fd_1hz > 0) close(c->fd_1hz); if (c->epollfd > 0) close(c->epollfd); free(c); return NULL; } void mavlink_drone_destroy(struct mavlink_drone *c) { if (!c) return; if (c->epollfd > 0) close(c->epollfd); free(c); } static void mavlink_drone_send_status(struct mavlink_drone *ctrl) { mavlink_message_t msg; struct mavlink_info_cache *c = &ctrl->cache; int ret; if (ctrl->update_status_cb) (ctrl->update_status_cb)(c); mavlink_msg_heartbeat_pack(ctrl->remote_system_id, ctrl->remote_component_id, &msg, c->hb.type, c->hb.autopilot, c->hb.base_mode, 0, c->hb.system_status); ret = mavlink_comm_send_msg(ctrl->comm, &msg); if (ret < 0) printf("%d error %d\n", __LINE__, ret); /* Send Status */ mavlink_msg_sys_status_pack(ctrl->remote_system_id, ctrl->remote_component_id, &msg, c->sys_stat.onboard_control_sensors_present, c->sys_stat.onboard_control_sensors_enabled, c->sys_stat.onboard_control_sensors_health, c->sys_stat.load, c->sys_stat.voltage_battery, c->sys_stat.current_battery, c->sys_stat.drop_rate_comm, c->sys_stat.errors_comm, c->sys_stat.errors_count1, c->sys_stat.errors_count2, c->sys_stat.errors_count3, c->sys_stat.errors_count4, c->sys_stat.battery_remaining); ret = mavlink_comm_send_msg(ctrl->comm, &msg); if (ret < 0) printf("%d error %d\n", __LINE__, ret); /* Send Local Position */ mavlink_msg_local_position_ned_pack(ctrl->remote_system_id, ctrl->remote_component_id, &msg, c->lpn.time_boot_ms, c->lpn.x, c->lpn.y, c->lpn.z, c->lpn.vx, c->lpn.vy, c->lpn.vz); ret = mavlink_comm_send_msg(ctrl->comm, &msg); if (ret < 0) printf("%d error %d\n", __LINE__, ret); /* Send attitude */ mavlink_msg_attitude_pack(ctrl->remote_system_id, ctrl->remote_component_id, &msg, c->att.time_boot_ms, c->att.roll, c->att.pitch, c->att.yaw, c->att.rollspeed, c->att.pitchspeed, c->att.yawspeed); ret = mavlink_comm_send_msg(ctrl->comm, &msg); if (ret < 0) printf("%d error %d\n", __LINE__, ret); }
void *MavlinkStatusTask(void *ptr) { MavlinkStruct *Mavlink = (MavlinkStruct *) ptr; AttitudeData *AttitudeDesire = Control.AttitudeDesire; AttitudeData *AttitudeMesure = Mavlink->AttitudeMesure; AttData Data, Speed; AttData DataD, SpeedD; AttData DataM, SpeedM; double Error[4] = {0.0, 0.0, 0.0, 0.0}; uint32_t TimeStamp; mavlink_message_t msg; uint16_t len; uint8_t buf[BUFFER_LENGTH]; int bytes_sent; uint32_t sensor = 0xf00f; printf("%s : Mavlink Status démarré\n", __FUNCTION__); pthread_barrier_wait(&(MavlinkStartBarrier)); while (MavlinkActivated) { sem_wait(&MavlinkStatusTimerSem); if (MavlinkActivated == 0) break; memset(buf, 0, BUFFER_LENGTH); pthread_spin_lock(&(AttitudeMesure->AttitudeLock)); memcpy((void *) &Data, (void *) &(AttitudeMesure->Data), sizeof(AttData)); memcpy((void *) &Speed, (void *) &(AttitudeMesure->Speed), sizeof(AttData)); TimeStamp = AttitudeMesure->timestamp_s*1000 + AttitudeMesure->timestamp_n/1000000L; pthread_spin_unlock(&(AttitudeMesure->AttitudeLock)); //Send Heartbeat mavlink_msg_heartbeat_pack(SYSTEM_ID, COMPONENT_ID, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(Mavlink->sock, buf, len, 0, (struct sockaddr *)&Mavlink->gcAddr, sizeof(struct sockaddr_in)); // Send Status mavlink_msg_sys_status_pack(SYSTEM_ID, COMPONENT_ID, &msg, sensor, sensor, 0, 500, 11000, -1, -1, 0, 0, 0, 0, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(Mavlink->sock, buf, len, 0, (struct sockaddr *)&Mavlink->gcAddr, sizeof (struct sockaddr_in)); // Send Local Position mavlink_msg_local_position_ned_pack(SYSTEM_ID, COMPONENT_ID, &msg, TimeStamp, 0, 0, (float) Data.Elevation, 0, 0, (float) Speed.Elevation); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(Mavlink->sock, buf, len, 0, (struct sockaddr *)&Mavlink->gcAddr, sizeof(struct sockaddr_in)); pthread_spin_lock(&(AttitudeDesire->AttitudeLock)); memcpy((void *) &DataD, (void *) &(AttitudeDesire->Data), sizeof(AttData)); memcpy((void *) &SpeedD, (void *) &(AttitudeDesire->Speed), sizeof(AttData)); pthread_spin_unlock(&(AttitudeDesire->AttitudeLock)); pthread_spin_lock(&(AttitudeMesure->AttitudeLock)); memcpy((void *) &DataM, (void *) &(AttitudeMesure->Data), sizeof(AttData)); memcpy((void *) &SpeedM, (void *) &(AttitudeMesure->Speed), sizeof(AttData)); pthread_spin_unlock(&(AttitudeMesure->AttitudeLock)); Error[HEIGHT] = DataD.Elevation - DataM.Elevation; Error[ROLL] = DataD.Roll - DataM.Roll; Error[PITCH] = DataD.Pitch - DataM.Pitch; Error[YAW] = DataD.Yaw - DataM.Yaw; // Send Attitude mavlink_msg_attitude_pack(SYSTEM_ID, COMPONENT_ID, &msg, TimeStamp, (float) Data.Roll, (float) Data.Pitch, (float) Data.Yaw, (float) Speed.Roll, (float) Speed.Pitch, (float) Speed.Yaw); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(Mavlink->sock, buf, len, 0, (struct sockaddr *)&Mavlink->gcAddr, sizeof(struct sockaddr_in)); } printf("%s : Mavlink Status Arrêté\n", __FUNCTION__); pthread_exit(NULL); }
int main(int argc, char* argv[]) { // Initialize MAVLink mavlink_wpm_init(&wpm); mavlink_system.sysid = 5; mavlink_system.compid = 20; mavlink_pm_reset_params(&pm); int32_t ground_distance; uint32_t time_ms; // Create socket sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); // Check if --help flag was used if ((argc == 2) && (strcmp(argv[1], help) == 0)) { printf("\n"); printf("\tUsage:\n\n"); printf("\t"); printf("%s", argv[0]); printf(" <ip address of QGroundControl>\n"); printf("\tDefault for localhost: udp-server 127.0.0.1\n\n"); exit(EXIT_FAILURE); } // Change the target ip if parameter was given strcpy(target_ip, "127.0.0.1"); if (argc == 2) { strcpy(target_ip, argv[1]); } memset(&locAddr, 0, sizeof(locAddr)); locAddr.sin_family = AF_INET; locAddr.sin_addr.s_addr = INADDR_ANY; locAddr.sin_port = htons(14551); /* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */ if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr))) { perror("error bind failed"); close(sock); exit(EXIT_FAILURE); } /* Attempt to make it non blocking */ if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0) { fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno)); close(sock); exit(EXIT_FAILURE); } memset(&gcAddr, 0, sizeof(gcAddr)); gcAddr.sin_family = AF_INET; gcAddr.sin_addr.s_addr = inet_addr(target_ip); gcAddr.sin_port = htons(14550); printf("MAVLINK MISSION LIBRARY EXAMPLE PROCESS INITIALIZATION DONE, RUNNING..\n"); for (;;) { bytes_sent = 0; /* Send Heartbeat */ mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, 0, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send Status */ mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE, 500, 7500, 0, 0, 0, 0, 0, 0, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); /* Send Local Position */ mavlink_msg_local_position_ned_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), position[0], position[1], position[2], position[3], position[4], position[5]); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send global position */ if (hilEnabled) { mavlink_msg_global_position_int_pack(mavlink_system.sysid, 200, &msg, time_ms, latitude, longitude, altitude, ground_distance, speedx, speedy, speedz, (yaw/M_PI)*180*100); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); } /* Send attitude */ mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), roll, pitch, yaw, rollspeed, pitchspeed, yawspeed); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send HIL outputs */ float roll_ailerons = 0; // -1 .. 1 float pitch_elevator = 0.2; // -1 .. 1 float yaw_rudder = 0.1; // -1 .. 1 float throttle = 0.9; // 0 .. 1 mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, MAVLINK_COMM_0, &msg, microsSinceEpoch(), roll_ailerons, pitch_elevator, yaw_rudder, throttle, mavlink_system.mode, mavlink_system.nav_mode, 0, 0, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); memset(buf, 0, BUFFER_LENGTH); recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen); if (recsize > 0) { // Something received - print out all bytes and parse packet mavlink_message_t msg; mavlink_status_t status; printf("Bytes Received: %d\nDatagram: ", (int)recsize); for (i = 0; i < recsize; ++i) { temp = buf[i]; printf("%02x ", (unsigned char)temp); if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) { // Packet received printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid); // Handle packet with waypoint component mavlink_wpm_message_handler(&msg); // Handle packet with parameter component mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); // Print HIL values sent to system if (msg.msgid == MAVLINK_MSG_ID_HIL_STATE) { mavlink_hil_state_t hil; mavlink_msg_hil_state_decode(&msg, &hil); printf("Received HIL state:\n"); printf("R: %f P: %f Y: %f\n", hil.roll, hil.pitch, hil.yaw); roll = hil.roll; pitch = hil.pitch; yaw = hil.yaw; rollspeed = hil.rollspeed; pitchspeed = hil.pitchspeed; yawspeed = hil.yawspeed; speedx = hil.vx; speedy = hil.vy; speedz = hil.vz; latitude = hil.lat; longitude = hil.lon; altitude = hil.alt; hilEnabled = true; } } } printf("\n"); } memset(buf, 0, BUFFER_LENGTH); usleep(10000); // Sleep 10 ms // Send one parameter mavlink_pm_queued_send(); } }
int main(int argc, char* argv[]) { // Initialize MAVLink mavlink_wpm_init(&wpm); mavlink_system.sysid = 1; mavlink_system.compid = MAV_COMP_ID_WAYPOINTPLANNER; // Create socket sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); // Check if --help flag was used if ((argc == 2) && (strcmp(argv[1], help) == 0)) { printf("\n"); printf("\tUsage:\n\n"); printf("\t"); printf("%s", argv[0]); printf(" <ip address of QGroundControl>\n"); printf("\tDefault for localhost: udp-server 127.0.0.1\n\n"); exit(EXIT_FAILURE); } // Change the target ip if parameter was given strcpy(target_ip, "127.0.0.1"); if (argc == 2) { strcpy(target_ip, argv[1]); } memset(&locAddr, 0, sizeof(locAddr)); locAddr.sin_family = AF_INET; locAddr.sin_addr.s_addr = INADDR_ANY; locAddr.sin_port = htons(14551); /* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */ if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr))) { perror("error bind failed"); close(sock); exit(EXIT_FAILURE); } /* Attempt to make it non blocking */ if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0) { fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno)); close(sock); exit(EXIT_FAILURE); } memset(&gcAddr, 0, sizeof(gcAddr)); gcAddr.sin_family = AF_INET; gcAddr.sin_addr.s_addr = inet_addr(target_ip); gcAddr.sin_port = htons(14550); printf("MAVLINK MISSION LIBRARY EXAMPLE PROCESS INITIALIZATION DONE, RUNNING..\n"); for (;;) { /*Send Heartbeat */ mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_HELICOPTER, MAV_CLASS_GENERIC); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send Status */ mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED, MAV_NAV_HOLD, MAV_STATE_ACTIVE, 500, 7500, 0, 0); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); /* Send Local Position */ mavlink_msg_local_position_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), position[0], position[1], position[2], position[3], position[4], position[5]); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); /* Send attitude */ mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), 1.2, 1.7, 3.14, 0.01, 0.02, 0.03); len = mavlink_msg_to_send_buffer(buf, &msg); bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in)); memset(buf, 0, BUFFER_LENGTH); recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen); if (recsize > 0) { // Something received - print out all bytes and parse packet mavlink_message_t msg; mavlink_status_t status; printf("Bytes Received: %d\nDatagram: ", (int)recsize); for (i = 0; i < recsize; ++i) { temp = buf[i]; printf("%02x ", (unsigned char)temp); if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) { // Packet received printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid); // Handle packet with waypoint component mavlink_wpm_message_handler(&msg); // Handle packet with parameter component } } printf("\n"); } memset(buf, 0, BUFFER_LENGTH); usleep(50000); // Sleep one second } }