static void *heartbeatloop(void * arg) { /* initialize waypoint manager */ mavlink_wpm_init(&wpm); /* initialize parameter storage */ mavlink_pm_reset_params(&pm); int lowspeed_counter = 0; int result_sys_status_trylock; while(1) { // sleep usleep(50000); // 1 Hz if (lowspeed_counter == 10) { /* Send heartbeat */ mavlink_msg_heartbeat_send(chan,system_type,MAV_AUTOPILOT_GENERIC,MAV_MODE_PREFLIGHT,custom_mode,MAV_STATE_UNINIT); /* Send status */ result_sys_status_trylock = global_data_trylock(&global_data_sys_status.access_conf); if(0 == result_sys_status_trylock) mavlink_msg_sys_status_send(chan, global_data_sys_status.onboard_control_sensors_present, global_data_sys_status.onboard_control_sensors_enabled, global_data_sys_status.onboard_control_sensors_health, global_data_sys_status.load, global_data_sys_status.voltage_battery, global_data_sys_status.current_battery, global_data_sys_status.battery_remaining, global_data_sys_status.drop_rate_comm, global_data_sys_status.errors_comm, global_data_sys_status.errors_count1, global_data_sys_status.errors_count2, global_data_sys_status.errors_count3, global_data_sys_status.errors_count4); global_data_unlock(&global_data_sys_status.access_conf); if (!(mavlink_system.mode & MAV_MODE_FLAG_SAFETY_ARMED)) { // System is not armed, blink at 1 Hz led_toggle(LED_BLUE); } lowspeed_counter = 0; } lowspeed_counter++; // Send one parameter mavlink_pm_queued_send(); if (mavlink_system.mode & MAV_MODE_FLAG_SAFETY_ARMED) { // System is armed, blink at 10 Hz led_toggle(LED_BLUE); } usleep(50000); } }
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(); } }