void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) { switch (msg->msgid) { // If we are currently operating as a proxy for a remote, // alas we have to look inside each packet to see if its for us or for the remote case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: { handle_request_data_stream(msg, true); break; } case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { handle_param_request_list(msg); break; } case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { handle_param_request_read(msg); break; } case MAVLINK_MSG_ID_PARAM_SET: { handle_param_set(msg, NULL); break; } case MAVLINK_MSG_ID_HEARTBEAT: break; case MAVLINK_MSG_ID_COMMAND_LONG: { // decode mavlink_command_long_t packet; mavlink_msg_command_long_decode(msg, &packet); uint8_t result = MAV_RESULT_UNSUPPORTED; // do command send_text_P(SEVERITY_LOW,PSTR("command received: ")); switch(packet.command) { case MAV_CMD_PREFLIGHT_CALIBRATION: { if (is_equal(packet.param1,1.0f)) { tracker.ins.init_gyro(); if (tracker.ins.gyro_calibrated_ok_all()) { tracker.ahrs.reset_gyro_drift(); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } if (is_equal(packet.param3,1.0f)) { tracker.init_barometer(); // zero the altitude difference on next baro update tracker.nav_status.need_altitude_calibration = true; } if (is_equal(packet.param4,1.0f)) { // Cant trim radio } else if (is_equal(packet.param5,1.0f)) { float trim_roll, trim_pitch; AP_InertialSensor_UserInteract_MAVLink interact(this); if(tracker.ins.calibrate_accel(&interact, trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); } } else if (is_equal(packet.param5,2.0f)) { // accel trim float trim_roll, trim_pitch; if(tracker.ins.calibrate_trim(trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } result = MAV_RESULT_ACCEPTED; break; } case MAV_CMD_COMPONENT_ARM_DISARM: if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) { if (is_equal(packet.param1,1.0f)) { tracker.arm_servos(); result = MAV_RESULT_ACCEPTED; } else if (is_zero(packet.param1)) { tracker.disarm_servos(); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_UNSUPPORTED; } } else { result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_DO_SET_MODE: switch ((uint16_t)packet.param1) { case MAV_MODE_MANUAL_ARMED: case MAV_MODE_MANUAL_DISARMED: tracker.set_mode(MANUAL); result = MAV_RESULT_ACCEPTED; break; case MAV_MODE_AUTO_ARMED: case MAV_MODE_AUTO_DISARMED: tracker.set_mode(AUTO); result = MAV_RESULT_ACCEPTED; break; default: result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_DO_SET_SERVO: if (tracker.servo_test_set_servo(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; // mavproxy/mavutil sends this when auto command is entered case MAV_CMD_MISSION_START: tracker.set_mode(AUTO); result = MAV_RESULT_ACCEPTED; break; case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: { if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) { // when packet.param1 == 3 we reboot to hold in bootloader hal.scheduler->reboot(is_equal(packet.param1,3.0f)); result = MAV_RESULT_ACCEPTED; } break; } case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: { if (is_equal(packet.param1,1.0f)) { tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(); result = MAV_RESULT_ACCEPTED; } break; } default: break; } mavlink_msg_command_ack_send( chan, packet.command, result); break; } // When mavproxy 'wp sethome' case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: { // decode mavlink_mission_write_partial_list_t packet; mavlink_msg_mission_write_partial_list_decode(msg, &packet); if (packet.start_index == 0) { // New home at wp index 0. Ask for it waypoint_receiving = true; waypoint_request_i = 0; waypoint_request_last = 0; send_message(MSG_NEXT_WAYPOINT); waypoint_receiving = true; } break; } // XXX receive a WP from GCS and store in EEPROM if it is HOME case MAVLINK_MSG_ID_MISSION_ITEM: { // decode mavlink_mission_item_t packet; uint8_t result = MAV_MISSION_ACCEPTED; mavlink_msg_mission_item_decode(msg, &packet); struct Location tell_command = {}; switch (packet.frame) { case MAV_FRAME_MISSION: case MAV_FRAME_GLOBAL: { tell_command.lat = 1.0e7f*packet.x; // in as DD converted to * t7 tell_command.lng = 1.0e7f*packet.y; // in as DD converted to * t7 tell_command.alt = packet.z*1.0e2f; // in as m converted to cm tell_command.options = 0; // absolute altitude break; } #ifdef MAV_FRAME_LOCAL_NED case MAV_FRAME_LOCAL_NED: // local (relative to home position) { tell_command.lat = 1.0e7f*ToDeg(packet.x/ (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat; tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng; tell_command.alt = -packet.z*1.0e2f; tell_command.options = MASK_OPTIONS_RELATIVE_ALT; break; } #endif #ifdef MAV_FRAME_LOCAL case MAV_FRAME_LOCAL: // local (relative to home position) { tell_command.lat = 1.0e7f*ToDeg(packet.x/ (RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat; tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng; tell_command.alt = packet.z*1.0e2f; tell_command.options = MASK_OPTIONS_RELATIVE_ALT; break; } #endif case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude { tell_command.lat = 1.0e7f * packet.x; // in as DD converted to * t7 tell_command.lng = 1.0e7f * packet.y; // in as DD converted to * t7 tell_command.alt = packet.z * 1.0e2f; tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!! break; } default: result = MAV_MISSION_UNSUPPORTED_FRAME; break; } if (result != MAV_MISSION_ACCEPTED) goto mission_failed; // Check if receiving waypoints (mission upload expected) if (!waypoint_receiving) { result = MAV_MISSION_ERROR; goto mission_failed; } // check if this is the HOME wp if (packet.seq == 0) { tracker.set_home(tell_command); // New home in EEPROM send_text_P(SEVERITY_LOW,PSTR("new HOME received")); waypoint_receiving = false; } mission_failed: // we are rejecting the mission/waypoint mavlink_msg_mission_ack_send( chan, msg->sysid, msg->compid, result); break; } case MAVLINK_MSG_ID_MANUAL_CONTROL: { mavlink_manual_control_t packet; mavlink_msg_manual_control_decode(msg, &packet); tracker.tracking_manual_control(packet); break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { // decode mavlink_global_position_int_t packet; mavlink_msg_global_position_int_decode(msg, &packet); tracker.tracking_update_position(packet); break; } case MAVLINK_MSG_ID_SCALED_PRESSURE: { // decode mavlink_scaled_pressure_t packet; mavlink_msg_scaled_pressure_decode(msg, &packet); tracker.tracking_update_pressure(packet); break; } case MAVLINK_MSG_ID_SET_MODE: { handle_set_mode(msg, FUNCTOR_BIND(&tracker, &Tracker::mavlink_set_mode, bool, uint8_t)); break; } #if HAL_CPU_CLASS > HAL_CPU_CLASS_16 case MAVLINK_MSG_ID_SERIAL_CONTROL: handle_serial_control(msg, tracker.gps); break; case MAVLINK_MSG_ID_GPS_INJECT_DATA: handle_gps_inject(msg, tracker.gps); break; #endif case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: tracker.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(); break; } // end switch } // end handle mavlink
// ------------------------------------------------------------------------------ // Read Messages // ------------------------------------------------------------------------------ void Autopilot_Interface:: read_messages() { bool success; // receive success flag bool received_all = false; // receive only one message Time_Stamps this_timestamps; // Blocking wait for new data while ( !received_all and !time_to_exit ) { // ---------------------------------------------------------------------- // READ MESSAGE // ---------------------------------------------------------------------- mavlink_message_t message; success = serial_port->read_message(message); // ---------------------------------------------------------------------- // HANDLE MESSAGE // ---------------------------------------------------------------------- if( success ) { // Store message sysid and compid. // Note this doesn't handle multiple message sources. current_messages.sysid = message.sysid; current_messages.compid = message.compid; // Handle Message ID switch (message.msgid) { case MAVLINK_MSG_ID_HEARTBEAT: { printf("MAVLINK_MSG_ID_HEARTBEAT\n"); mavlink_msg_heartbeat_decode(&message, &(current_messages.heartbeat)); current_messages.time_stamps.heartbeat = get_time_usec(); this_timestamps.heartbeat = current_messages.time_stamps.heartbeat; break; } case MAVLINK_MSG_ID_SYS_STATUS: { printf("MAVLINK_MSG_ID_SYS_STATUS\n"); mavlink_msg_sys_status_decode(&message, &(current_messages.sys_status)); current_messages.time_stamps.sys_status = get_time_usec(); this_timestamps.sys_status = current_messages.time_stamps.sys_status; break; } case MAVLINK_MSG_ID_BATTERY_STATUS: { //printf("MAVLINK_MSG_ID_BATTERY_STATUS\n"); mavlink_msg_battery_status_decode(&message, &(current_messages.battery_status)); current_messages.time_stamps.battery_status = get_time_usec(); this_timestamps.battery_status = current_messages.time_stamps.battery_status; break; } case MAVLINK_MSG_ID_RADIO_STATUS: { //printf("MAVLINK_MSG_ID_RADIO_STATUS\n"); mavlink_msg_radio_status_decode(&message, &(current_messages.radio_status)); current_messages.time_stamps.radio_status = get_time_usec(); this_timestamps.radio_status = current_messages.time_stamps.radio_status; break; } case MAVLINK_MSG_ID_LOCAL_POSITION_NED: { //printf("MAVLINK_MSG_ID_LOCAL_POSITION_NED\n"); mavlink_msg_local_position_ned_decode(&message, &(current_messages.local_position_ned)); current_messages.time_stamps.local_position_ned = get_time_usec(); this_timestamps.local_position_ned = current_messages.time_stamps.local_position_ned; break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { //printf("MAVLINK_MSG_ID_GLOBAL_POSITION_INT\n"); mavlink_msg_global_position_int_decode(&message, &(current_messages.global_position_int)); current_messages.time_stamps.global_position_int = get_time_usec(); this_timestamps.global_position_int = current_messages.time_stamps.global_position_int; break; } case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED: { //printf("MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED\n"); mavlink_msg_position_target_local_ned_decode(&message, &(current_messages.position_target_local_ned)); current_messages.time_stamps.position_target_local_ned = get_time_usec(); this_timestamps.position_target_local_ned = current_messages.time_stamps.position_target_local_ned; break; } case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT: { //printf("MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT\n"); mavlink_msg_position_target_global_int_decode(&message, &(current_messages.position_target_global_int)); current_messages.time_stamps.position_target_global_int = get_time_usec(); this_timestamps.position_target_global_int = current_messages.time_stamps.position_target_global_int; break; } case MAVLINK_MSG_ID_HIGHRES_IMU: { //printf("MAVLINK_MSG_ID_HIGHRES_IMU\n"); mavlink_msg_highres_imu_decode(&message, &(current_messages.highres_imu)); current_messages.time_stamps.highres_imu = get_time_usec(); this_timestamps.highres_imu = current_messages.time_stamps.highres_imu; break; } case MAVLINK_MSG_ID_ATTITUDE: { //printf("MAVLINK_MSG_ID_ATTITUDE\n"); mavlink_msg_attitude_decode(&message, &(current_messages.attitude)); current_messages.time_stamps.attitude = get_time_usec(); this_timestamps.attitude = current_messages.time_stamps.attitude; break; } case MAVLINK_MSG_ID_GPS_RAW_INT: { //printf("MAVLINK_MSG_ID_GPS_RAW_INT\n"); mavlink_msg_gps_raw_int_decode(&message, &(current_messages)); current_messages.time_stamps.gps_raw= get_time_usec(); this_timestamps.gps_raw= current_messages.time_stamps.gps_raw; break; } default: { // printf("Warning, did not handle message id %i\n",message.msgid); break; } } // end: switch msgid } // end: if read message // Check for receipt of all items received_all = this_timestamps.heartbeat && // this_timestamps.battery_status && // this_timestamps.radio_status && this_timestamps.local_position_ned && this_timestamps.global_position_int && // this_timestamps.position_target_local_ned && // this_timestamps.position_target_global_int && // this_timestamps.highres_imu && this_timestamps.attitude && this_timestamps.sys_status ; // give the write thread time to use the port if ( writing_status > false ) { usleep(100); // look for components of batches at 10kHz } } // end: while not received all return; }
// handle mavlink DISTANCE_SENSOR messages void AP_Follow::handle_msg(const mavlink_message_t &msg) { // exit immediately if not enabled if (!_enabled) { return; } // skip our own messages if (msg.sysid == mavlink_system.sysid) { return; } // skip message if not from our target if ((_sysid_to_follow != 0) && (msg.sysid != _sysid_to_follow)) { if (_sysid == 0) { // maybe timeout who we were following... if ((_last_location_update_ms == 0) || (AP_HAL::millis() - _last_location_update_ms > AP_FOLLOW_SYSID_TIMEOUT_MS)) { _sysid_to_follow = 0; } } return; } // decode global-position-int message if (msg.msgid == MAVLINK_MSG_ID_GLOBAL_POSITION_INT) { const uint32_t now = AP_HAL::millis(); // get estimated location and velocity (for logging) Location loc_estimate{}; Vector3f vel_estimate; UNUSED_RESULT(get_target_location_and_velocity(loc_estimate, vel_estimate)); // decode message mavlink_global_position_int_t packet; mavlink_msg_global_position_int_decode(&msg, &packet); // ignore message if lat and lon are (exactly) zero if ((packet.lat == 0 && packet.lon == 0)) { return; } _target_location.lat = packet.lat; _target_location.lng = packet.lon; _target_location.alt = packet.alt / 10; // convert millimeters to cm _target_velocity_ned.x = packet.vx * 0.01f; // velocity north _target_velocity_ned.y = packet.vy * 0.01f; // velocity east _target_velocity_ned.z = packet.vz * 0.01f; // velocity down _last_location_update_ms = now; if (packet.hdg <= 36000) { // heading (UINT16_MAX if unknown) _target_heading = packet.hdg * 0.01f; // convert centi-degrees to degrees _last_heading_update_ms = now; } // initialise _sysid if zero to sender's id if (_sysid_to_follow == 0) { _sysid_to_follow = msg.sysid; } if ((AP_HAL::millis() - _last_location_sent_to_gcs > AP_GCS_INTERVAL_MS)) { gcs().send_text(MAV_SEVERITY_INFO, "Foll: %u %ld %ld %4.2f\n", (unsigned)_sysid_to_follow, (long)_target_location.lat, (long)_target_location.lng, (double)(_target_location.alt * 0.01f)); // cm to m } // log lead's estimated vs reported position DataFlash_Class::instance()->Log_Write("FOLL", "TimeUS,Lat,Lon,Alt,VelX,VelY,VelZ,LatE,LonE,AltE", // labels "sDUmnnnDUm", // units "F--B000--B", // mults "QLLifffLLi", // fmt AP_HAL::micros64(), _target_location.lat, _target_location.lng, _target_location.alt, (double)_target_velocity_ned.x, (double)_target_velocity_ned.y, (double)_target_velocity_ned.z, loc_estimate.lat, loc_estimate.lng, loc_estimate.alt ); } }
//Function that reads out the port and stores it into a buffer of type mavlink_message_t int read_message(mavlink_message_t *message) { // Struct of status of the reading/writing process. Defined in mavlink_types.h. For development/debugging purposes mavlink_status_t status; // If the data read out from the port is a whole mavlink message package msgReceived will be set to 1 uint8_t msgReceived = 0; // Initialize a buffer of 64 byte (array of 64 uint8_t). Bytes read out from the Serial Port are stored into cp uint8_t cp[1000]; // This function locks the port during read and reads out the port (nonblocking, up to sizeof(cp) bytes). // Result is the number of bytes read int result = _read_port(cp); // Counter of the for loop needs to be declared outside of for loop. for(int i = 0; i < result; i++) results in a compiler error int i; // If _read_port(cp) reads out something from the serial port the bytes will be processed in the following if (result > 0) { // mavlink_parse_char parses only chars. Therefore each read byte needs to be parsed individually for(i = 0; i < result; i++) { // Debug purposes if(debug == 1) { printf("cp: %02x \n ",cp[i]); } // Parsing one byte on Channel MAVLINK_COMM_1 (1) and storing the current status into mavlink_status_t status // The parsed bytes are stored in an internal buffer on channel MAVLINK_COMM_1 // If the last byte arrived completes the message the message is copied from the internal buffer to mavlink_message_t message // msgReceived will be set to 1 if the parsed byte completes the message. 0 otherwise msgReceived = mavlink_parse_char(MAVLINK_COMM_1, cp[i], message, &status); // If a mavlink message is received (all the bytes needed for a message processed by mavlink_parse_char()) handle the message by it's ID if(msgReceived) { //Analysis values all_counter += msgReceived; /*printf("Allcounter %i \n", *all_counter);*/ werte = message->msgid; liste[counter] = werte; counter++; /*printf("MSG RECEIVED and with msgid %i \n", *werte);*/ // Handle Message ID. Switching to the case depending on the msg.id from the read msg. // First the message gets decoded by the function in the corresponding header in C_library/common/foobar.h. It is then stored (memcpy) in current_messages.msg_type switch (message->msgid) { case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { // Decoding the message (consisting of a header and a payload with the actual content) to the corresponding Mavlink Message mavlink_msg_global_position_int_decode(message,&(messages.global_position_int)); // Starting a timer (analysis purposes) if (all_counter == 1){ t_px_start = messages.global_position_int.time_boot_ms/1e3; t_last = t_px_start; } t_px_stop = messages.global_position_int.time_boot_ms/1e3; printf("Sample: %f \n", t_px_stop - t_last); t_last = t_px_stop; /*printf("TIME: \f \n", messages.global_position_int.time_boot_ms/1);*/ break; } default: { break; } } // end: switch msgid // Debug if(status.buffer_overrun == 1 | status.parse_error == 1 | status.packet_rx_drop_count == 1) { printf("Buffer overruns: %i, Parse Errors: %i , Packets dropped: %i \n", status.buffer_overrun, status.parse_error, status.packet_rx_drop_count); } // check for dropped packets if ( (lastStatus.packet_rx_drop_count != status.packet_rx_drop_count) && debug ) { printf("ERROR: DROPPED %d PACKETS\n", status.packet_rx_drop_count); packets_dropped++; } else if (lastStatus.packet_rx_drop_count != status.packet_rx_drop_count) { packets_dropped++; } else { } lastStatus = status; } } } // Couldn't read from port (nothing on the serial port, if reading frequency is higher than transmitting frequency) else { printf("COULDNT READ FROM PORT"); } // -------------------------------------------------------------------------- // DEBUGGING REPORTS // -------------------------------------------------------------------------- if(msgReceived && debug) { // Printing the message read (in hexadecimal) fprintf(stderr,"Received serial data: "); unsigned int i; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; // check message is write length unsigned int messageLength = mavlink_msg_to_send_buffer(buffer, message); // message length error if (messageLength > MAVLINK_MAX_PACKET_LEN) { fprintf(stderr, "\nFATAL ERROR: MESSAGE LENGTH IS LARGER THAN BUFFER SIZE\n"); } // print out the buffer else { for (i=0; i<messageLength; i++) { unsigned char v=buffer[i]; fprintf(stderr,"%02x ", v); } fprintf(stderr,"\n"); } } // Some analysis variables for run.c // Done! return msgReceived; }
void MAVLink_Message_Handler::handle_message(uint64_t timestamp, mavlink_message_t &msg) { // ::fprintf(stderr, "msg.msgid=%u\n", msg.msgid); switch(msg.msgid) { case MAVLINK_MSG_ID_AHRS2: { mavlink_ahrs2_t decoded; mavlink_msg_ahrs2_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_ATTITUDE: { mavlink_attitude_t decoded; mavlink_msg_attitude_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_EKF_STATUS_REPORT: { mavlink_ekf_status_report_t decoded; mavlink_msg_ekf_status_report_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { mavlink_global_position_int_t decoded; mavlink_msg_global_position_int_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_GPS_RAW_INT: { mavlink_gps_raw_int_t decoded; mavlink_msg_gps_raw_int_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_HEARTBEAT: { mavlink_heartbeat_t decoded; mavlink_msg_heartbeat_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_MOUNT_STATUS: { mavlink_mount_status_t decoded; mavlink_msg_mount_status_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: { mavlink_nav_controller_output_t decoded; mavlink_msg_nav_controller_output_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_PARAM_VALUE: { mavlink_param_value_t decoded; mavlink_msg_param_value_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_REMOTE_LOG_DATA_BLOCK: { mavlink_remote_log_data_block_t decoded; mavlink_msg_remote_log_data_block_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SCALED_PRESSURE: { mavlink_scaled_pressure_t decoded; mavlink_msg_scaled_pressure_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SCALED_PRESSURE2: { mavlink_scaled_pressure2_t decoded; mavlink_msg_scaled_pressure2_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: { mavlink_servo_output_raw_t decoded; mavlink_msg_servo_output_raw_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_STATUSTEXT: { mavlink_statustext_t decoded; mavlink_msg_statustext_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SYS_STATUS: { mavlink_sys_status_t decoded; mavlink_msg_sys_status_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SYSTEM_TIME: { mavlink_system_time_t decoded; mavlink_msg_system_time_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_VFR_HUD: { mavlink_vfr_hud_t decoded; mavlink_msg_vfr_hud_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } } }
// ------------------------------------------------------------------------------ // Read Messages // ------------------------------------------------------------------------------ void Autopilot_Interface::read_messages() { bool success; // receive success flag bool received_all = false; // receive only one message Time_Stamps this_timestamps; // Blocking wait for new data while (!received_all and !time_to_exit) { // ---------------------------------------------------------------------- // READ MESSAGE // ---------------------------------------------------------------------- mavlink_message_t message; success = serial_port->read_message(message); // ---------------------------------------------------------------------- // HANDLE MESSAGE // ---------------------------------------------------------------------- if (success) { // Store message sysid and compid. // Note this doesn't handle multiple message sources. current_messages.sysid = message.sysid; current_messages.compid = message.compid; // Handle Message ID switch (message.msgid) { case MAVLINK_MSG_ID_HEARTBEAT: { printf("MAVLINK_MSG_ID_HEARTBEAT\n"); mavlink_msg_heartbeat_decode(&message, &(current_messages.heartbeat)); current_messages.time_stamps.heartbeat = get_time_usec(); this_timestamps.heartbeat = current_messages.time_stamps.heartbeat; break; } case MAVLINK_MSG_ID_SYS_STATUS: { printf("MAVLINK_MSG_ID_SYS_STATUS\n"); mavlink_msg_sys_status_decode(&message, &(current_messages.sys_status)); current_messages.time_stamps.sys_status = get_time_usec(); this_timestamps.sys_status = current_messages.time_stamps.sys_status; printf("Battery life remaining: %i\n", current_messages.sys_status.battery_remaining); break; } // this is not being received case MAVLINK_MSG_ID_BATTERY_STATUS: { printf("MAVLINK_MSG_ID_BATTERY_STATUS\n"); mavlink_msg_battery_status_decode(&message, &(current_messages.battery_status)); current_messages.time_stamps.battery_status = get_time_usec(); this_timestamps.battery_status = current_messages.time_stamps.battery_status; printf("Battery life remaining: %i\n", current_messages.battery_status.battery_remaining); break; } case MAVLINK_MSG_ID_RADIO_STATUS: { printf("MAVLINK_MSG_ID_RADIO_STATUS\n"); mavlink_msg_radio_status_decode(&message, &(current_messages.radio_status)); current_messages.time_stamps.radio_status = get_time_usec(); this_timestamps.radio_status = current_messages.time_stamps.radio_status; break; } case MAVLINK_MSG_ID_LOCAL_POSITION_NED: { printf("MAVLINK_MSG_ID_LOCAL_POSITION_NED\n"); mavlink_msg_local_position_ned_decode( &message, &(current_messages.local_position_ned)); printf(" pos (GPS): %f %f %f (m)\n", current_messages.local_position_ned.x, current_messages.local_position_ned.y, current_messages.local_position_ned.z); current_messages.time_stamps.local_position_ned = get_time_usec(); this_timestamps.local_position_ned = current_messages.time_stamps.local_position_ned; break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { printf("MAVLINK_MSG_ID_GLOBAL_POSITION_INT\n"); mavlink_msg_global_position_int_decode( &message, &(current_messages.global_position_int)); current_messages.time_stamps.global_position_int = get_time_usec(); this_timestamps.global_position_int = current_messages.time_stamps.global_position_int; mavlink_global_position_int_t gpos = current_messages.global_position_int; printf(" pos (GPS): %f %f %f (m)\n", gpos.lat, gpos.lon, gpos.alt); break; } case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED: { printf("MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED\n"); mavlink_msg_position_target_local_ned_decode( &message, &(current_messages.position_target_local_ned)); current_messages.time_stamps.position_target_local_ned = get_time_usec(); this_timestamps.position_target_local_ned = current_messages.time_stamps.position_target_local_ned; break; } case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT: { printf("MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT\n"); mavlink_msg_position_target_global_int_decode( &message, &(current_messages.position_target_global_int)); current_messages.time_stamps.position_target_global_int = get_time_usec(); this_timestamps.position_target_global_int = current_messages.time_stamps.position_target_global_int; break; } case MAVLINK_MSG_ID_HIGHRES_IMU: { printf("MAVLINK_MSG_ID_HIGHRES_IMU\n"); mavlink_msg_highres_imu_decode(&message, &(current_messages.highres_imu)); current_messages.time_stamps.highres_imu = get_time_usec(); this_timestamps.highres_imu = current_messages.time_stamps.highres_imu; mavlink_highres_imu_t imu = current_messages.highres_imu; printf(" ap time: %llu \n", imu.time_usec); printf(" acc (NED): % f % f % f (m/s^2)\n", imu.xacc, imu.yacc, imu.zacc); printf(" gyro (NED): % f % f % f (rad/s)\n", imu.xgyro, imu.ygyro, imu.zgyro); printf(" mag (NED): % f % f % f (Ga)\n", imu.xmag, imu.ymag, imu.zmag); printf(" baro: %f (mBar) \n", imu.abs_pressure); printf(" altitude: %f (m) \n", imu.pressure_alt); printf(" temperature: %f C \n", imu.temperature); break; } case MAVLINK_MSG_ID_ATTITUDE: { printf("### MAVLINK_MSG_ID_ATTITUDE\n"); mavlink_msg_attitude_decode(&message, &(current_messages.attitude)); current_messages.time_stamps.attitude = get_time_usec(); this_timestamps.attitude = current_messages.time_stamps.attitude; mavlink_attitude_t att = current_messages.attitude; printf("### roll: %f pitch: %f yaw: %f\n", att.roll, att.pitch, att.yaw); break; } default: { // printf("Warning, did not handle message id %i\n",message.msgid); break; } } // end: switch msgid } // end: if read message // Check for receipt of all items received_all = this_timestamps.heartbeat && // this_timestamps.battery_status && // this_timestamps.radio_status && // this_timestamps.local_position_ned && // this_timestamps.global_position_int && // this_timestamps.position_target_local_ned //&& // this_timestamps.position_target_global_int //&& // this_timestamps.highres_imu && // this_timestamps.attitude && this_timestamps.sys_status; // give the write thread time to use the port if (writing_status > false) { usleep(100); // look for components of batches at 10kHz } } // end: while not received all return; }