void GCS_Mavlink<T>::handle_command_long(mavlink_message_t *msg)
{
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
Serial.print("command:");Serial.println(packet.command);
Serial.print("target_system:");Serial.println(packet.target_system);
Serial.print("target_component:");Serial.println(packet.target_component);
Serial.print("param1:");Serial.println(packet.param1);
Serial.print("param2:");Serial.println(packet.param2);
Serial.print("param3:");Serial.println(packet.param3);
Serial.print("param4:");Serial.println(packet.param4);
Serial.print("param5:");Serial.println(packet.param5);
Serial.print("param6:");Serial.println(packet.param6);
Serial.print("param7:");Serial.println(packet.param7);
switch(packet.command) {
case MAV_CMD_NAV_TAKEOFF:{
break;
}
case MAV_CMD_COMPONENT_ARM_DISARM:{
if(packet.param1==1){
motorsQuad.set_armed(ARM);
leds.set_state(R, ON);
arm_mav_mode();
}else{
motorsQuad.set_armed(DISARM);
leds.set_state(R, OFF);
disarm_mav_mode();
}
}
}
}
void GCS_Mavlink<T>::handle_command_long(mavlink_message_t *msg)
{
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
Serial.print("command:");
Serial.println(packet.command);
Serial.print("target_system:");
Serial.println(packet.target_system);
Serial.print("target_component:");
Serial.println(packet.target_component);
Serial.print("param1:");
Serial.println(packet.param1);
Serial.print("param2:");
Serial.println(packet.param2);
Serial.print("param3:");
Serial.println(packet.param3);
Serial.print("param4:");
Serial.println(packet.param4);
Serial.print("param5:");
Serial.println(packet.param5);
Serial.print("param6:");
Serial.println(packet.param6);
Serial.print("param7:");
Serial.println(packet.param7);
switch (packet.command) {
case MAV_CMD_NAV_TAKEOFF: {
break;
}
}
}
void
MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
{
/* command */
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("terminated by remote command");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
_mavlink->_task_should_exit = true;
} else {
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
/* 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;
if (_cmd_pub < 0) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
}
}
}
}
void mission_command(void)
{
mavlink_command_long_t mmcl;
mavlink_msg_command_long_decode(&received_msg, &mmcl);
switch(mmcl.command) {
case MAV_CMD_DO_SET_MODE:
break;
case MAV_CMD_DO_JUMP:
break;
case MAV_CMD_DO_CHANGE_SPEED:
break;
case MAV_CMD_DO_SET_HOME:
waypoint_info.home_waypoint.latitude = mmcl.param5;
waypoint_info.home_waypoint.longitude = mmcl.param6;
waypoint_info.home_waypoint.altitude = mmcl.param7;
waypoint_info.home_waypoint.use_current = (int)mmcl.param1;
waypoint_info.home_waypoint.is_set = true;
break;
case MAV_CMD_OVERRIDE_GOTO:
waypoint_info.mission_status = (int)mmcl.param1;
waypoint_info.hold_waypoint.latitude = mmcl.param5;
waypoint_info.hold_waypoint.longitude = mmcl.param6;
waypoint_info.hold_waypoint.altitude = mmcl.param7;
waypoint_info.hold_waypoint.coordinate_frame = (int)mmcl.param3;
waypoint_info.hold_waypoint.yaw_angle = mmcl.param4;
waypoint_info.hold_waypoint.hold_waypoint = (int)mmcl.param2;
waypoint_info.hold_waypoint.is_set = true;
break;
case MAV_CMD_MISSION_START:
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
break;
default:
break;
}
}
void mavlink_connector::handle_command_long(mavlink_message_t *msg)
{
mavlink_command_long_t cmd;
mavlink_msg_command_long_decode(msg,&cmd);
switch(cmd.command)
{
case MAV_CMD_NAV_TAKEOFF:
dji_commands::set_takeoff();
printf("recv takeof..\n");
break;
case MAV_CMD_NAV_LAND:
dji_commands::set_land();
printf("land mode..\n");
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
dji_commands::set_return2home();
printf("return to home\n");
break;
default:
printf("cmd is %d\n",cmd.command);
}
}
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);
}
}
}
}
bool
MavESP8266Component::handleMessage(MavESP8266Bridge* sender, mavlink_message_t* message) {
//
// TODO: These response messages need to be queued up and sent as part of the main loop and not all
// at once from here.
//
//-----------------------------------------------
//-- MAVLINK_MSG_ID_PARAM_SET
if(message->msgid == MAVLINK_MSG_ID_PARAM_SET) {
mavlink_param_set_t param;
mavlink_msg_param_set_decode(message, ¶m);
DEBUG_LOG("MAVLINK_MSG_ID_PARAM_SET: %u %s\n", param.target_component, param.param_id);
if(param.target_component == MAV_COMP_ID_UDP_BRIDGE) {
_handleParamSet(sender, ¶m);
return true;
}
//-----------------------------------------------
//-- MAVLINK_MSG_ID_COMMAND_LONG
} else if(message->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
mavlink_command_long_t cmd;
mavlink_msg_command_long_decode(message, &cmd);
if(cmd.target_component == MAV_COMP_ID_ALL || cmd.target_component == MAV_COMP_ID_UDP_BRIDGE) {
_handleCmdLong(sender, &cmd, cmd.target_component);
//-- If it was directed to us, eat it and loop
if(cmd.target_component == MAV_COMP_ID_UDP_BRIDGE) {
return true;
}
}
//-----------------------------------------------
//-- MAVLINK_MSG_ID_PARAM_REQUEST_LIST
} else if(message->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {
mavlink_param_request_list_t param;
mavlink_msg_param_request_list_decode(message, ¶m);
DEBUG_LOG("MAVLINK_MSG_ID_PARAM_REQUEST_LIST: %u\n", param.target_component);
if(param.target_component == MAV_COMP_ID_ALL || param.target_component == MAV_COMP_ID_UDP_BRIDGE) {
_handleParamRequestList(sender);
}
//-----------------------------------------------
//-- MAVLINK_MSG_ID_PARAM_REQUEST_READ
} else if(message->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_READ) {
mavlink_param_request_read_t param;
mavlink_msg_param_request_read_decode(message, ¶m);
//-- This component or all components?
if(param.target_component == MAV_COMP_ID_ALL || param.target_component == MAV_COMP_ID_UDP_BRIDGE) {
//-- If asking for hash, respond and pass through
if(strncmp(param.param_id, kHASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN) == 0) {
_sendParameter(sender, kHASH_PARAM, getWorld()->getParameters()->paramHashCheck(), 0xFFFF);
} else {
_handleParamRequestRead(sender, ¶m);
//-- If this was addressed to me only eat message
if(param.target_component == MAV_COMP_ID_UDP_BRIDGE) {
//-- Eat message (don't send it to FC)
return true;
}
}
}
}
//-- Couldn't handle the message, pass on
return false;
}
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"mavlink offb rcv"
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 = 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);
// }
// }
//
// /* 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);
// }
// }
// }
// Attitude MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT
// TODO update mavlink message to attitude yaw_rate
if (msg->msgid == MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT)
{
mavlink_roll_pitch_yaw_thrust_setpoint_t attitude_setpoint_mavlink_msg;
mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(msg, &attitude_setpoint_mavlink_msg);
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_ATT_YAW_RATE;
offboard_control_sp.p1 = attitude_setpoint_mavlink_msg.roll;
offboard_control_sp.p2 = attitude_setpoint_mavlink_msg.pitch;
offboard_control_sp.p3 = attitude_setpoint_mavlink_msg.yaw;
offboard_control_sp.p4 = attitude_setpoint_mavlink_msg.thrust;
offboard_control_sp.timestamp = hrt_absolute_time();
if (attitude_setpoint_mavlink_msg.thrust > 0)
{
offboard_control_sp.armed = true;
}
else
{
offboard_control_sp.armed = false;
}
/* check if topic has to be advertised */
// TODO for RC channel use the manual_control_setpoint instead of offboard_control_setpoint
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);
}
} // end attitude
// Rate
if (msg->msgid == MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT)
{
mavlink_roll_pitch_yaw_speed_thrust_setpoint_t rate_setpoint_mavlink_msg;
mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(msg, &rate_setpoint_mavlink_msg);
offboard_control_sp.mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
offboard_control_sp.p1 = rate_setpoint_mavlink_msg.roll_speed;
offboard_control_sp.p2 = rate_setpoint_mavlink_msg.pitch_speed;
offboard_control_sp.p3 = rate_setpoint_mavlink_msg.yaw_speed;
offboard_control_sp.p4 = rate_setpoint_mavlink_msg.thrust;
offboard_control_sp.timestamp = hrt_absolute_time();
if (rate_setpoint_mavlink_msg.thrust > 0)
{
offboard_control_sp.armed = true;
}
else
{
offboard_control_sp.armed = false;
}
/* 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);
}
} // end rate
/*
// parameter
if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET)
{
mavlink_param_set_t param_mavlink_msg;
mavlink_msg_param_set_decode(msg, ¶m_mavlink_msg);
printf("%s %3.5f \n",param_mavlink_msg.param_id, param_mavlink_msg.param_value);
param_t param_ptr = param_find(param_mavlink_msg.param_id);
param_set(param_ptr, ¶m_mavlink_msg.param_value);
}
if (msg->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_READ)
{
mavlink_param_request_read_t read_param_mavlink_msg;
mavlink_msg_param_request_read_decode(msg, &read_param_mavlink_msg);
printf("%s \n",read_param_mavlink_msg.param_id);
param_t param_ptr = param_find(read_param_mavlink_msg.param_id);
float value;
param_get(param_ptr, &value);
int type= param_type(param_ptr);
int count= param_count();
int index= param_get_index(param_ptr);
mavlink_msg_param_value_send(chan, read_param_mavlink_msg.param_id, value, type, count, index);
}
if (msg->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST)
{
int count= param_count();
int type;
float value;
char* param_id;
param_t param_ptr;
for(int index=0; index<count; index++)
{
param_ptr=param_for_index(index);
param_id=param_name(param_ptr);
param_get(param_ptr, &value);
type=type= param_type(param_ptr);
mavlink_msg_param_value_send(chan, param_id, value, type, count, index);
sleep(1);
}
}*/
}
void CcUnpackCycle(SerialDriver *sdp){
mavlink_message_t msg;
mavlink_status_t status;
msg_t c = 0;
msg_t prev_c = 0;
while (!chThdShouldTerminate()) {
if (!cc_port_ready()){
chThdSleepMilliseconds(50);
continue;
}
else{
/* Try to get an escaped with DLE symbols message */
c = sdGetTimeout((SerialDriver *)sdp, MS2ST(50));
if (c == Q_TIMEOUT)
continue;
prev_c = c;
if (prev_c == DLE){
prev_c = 0; /* set it to any just not DLE nor ETX */
c = sdGetTimeout((SerialDriver *)sdp, MS2ST(50));
if (c == Q_TIMEOUT)
continue;
}
}
if (mavlink_parse_char(MAVLINK_COMM_0, (uint8_t)c, &msg, &status)) {
switch(msg.msgid){
case MAVLINK_MSG_ID_COMMAND_LONG:
mavlink_msg_command_long_decode(&msg, &mavlink_command_long_struct);
if (mavlink_command_long_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_command_long, EVMSK_MAVLINK_COMMAND_LONG);
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
mavlink_msg_param_request_read_decode(&msg, &mavlink_param_request_read_struct);
if (mavlink_param_request_read_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_param_request_read, EVMSK_MAVLINK_PARAM_REQUEST_READ);
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
mavlink_msg_param_request_list_decode(&msg, &mavlink_param_request_list_struct);
if (mavlink_param_request_list_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_param_request_list, EVMSK_MAVLINK_PARAM_REQUEST_LIST);
break;
case MAVLINK_MSG_ID_PARAM_SET:
mavlink_msg_param_set_decode(&msg, &mavlink_param_set_struct);
if (mavlink_param_set_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_param_set, EVMSK_MAVLINK_PARAM_SET);
break;
case MAVLINK_MSG_ID_OBLIQUE_STORAGE_REQUEST_CC:
mavlink_msg_oblique_storage_request_cc_decode(&msg, &mavlink_oblique_storage_request_cc_struct);
if (mavlink_oblique_storage_request_cc_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_oblique_storage_request_cc, EVMSK_MAVLINK_OBLIQUE_STORAGE_REQUEST_CC);
break;
case MAVLINK_MSG_ID_OBLIQUE_STORAGE_REQUEST_COUNT_CC:
mavlink_msg_oblique_storage_request_count_cc_decode(&msg, &mavlink_oblique_storage_request_count_cc_struct);
if (mavlink_oblique_storage_request_count_cc_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_oblique_storage_request_count_cc, EVMSK_MAVLINK_OBLIQUE_STORAGE_REQUEST_COUNT_CC);
break;
case MAVLINK_MSG_ID_HEARTBEAT_CC:
mavlink_msg_heartbeat_cc_decode(&msg, &mavlink_heartbeat_cc_struct);
// if (mavlink_heartbeat_cc_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_heartbeat_cc, EVMSK_MAVLINK_HEARTBEAT_CC);
break;
case MAVLINK_MSG_ID_STATUSTEXT:
mavlink_msg_statustext_decode(&msg, &mavlink_statustext_struct);
// if (mavlink_statustext_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_statustext, EVMSK_MAVLINK_STATUSTEXT);
break;
case MAVLINK_MSG_ID_OBLIQUE_AGPS:
mavlink_msg_oblique_agps_decode(&msg, &mavlink_oblique_agps_struct);
if (mavlink_oblique_agps_struct.target_system == mavlink_system_struct.sysid)
chEvtBroadcastFlags(&event_mavlink_oblique_agps, EVMSK_MAVLINK_OBLIQUE_AGPS);
break;
default:
break;
}
}
}
}
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
/* Start sending parameters */
mavlink_pm_start_queued_send();
mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
} break;
case MAVLINK_MSG_ID_PARAM_SET: {
/* Handle parameter setting */
if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
mavlink_param_set_t mavlink_param_set;
mavlink_msg_param_set_decode(msg, &mavlink_param_set);
if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN+1];
strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter, set and send it */
param_t param = param_find(name);
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[mavlink pm] unknown: %s", name);
mavlink_missionlib_send_gcs_string(buf);
} else {
/* set and send parameter */
param_set(param, &(mavlink_param_set.param_value));
mavlink_pm_send_param(param);
}
}
}
} break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
mavlink_param_request_read_t mavlink_param_request_read;
mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
/* when no index is given, loop through string ids and compare them */
if (mavlink_param_request_read.param_index == -1) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN+1];
strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter and send it */
mavlink_pm_send_param_for_name(name);
} else {
/* when index is >= 0, send this parameter again */
mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
}
}
} break;
case MAVLINK_MSG_ID_COMMAND_LONG: {
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
uint8_t result = MAV_RESULT_UNSUPPORTED;
if (cmd_mavlink.target_system == mavlink_system.sysid &&
((cmd_mavlink.target_component == mavlink_system.compid) ||(cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
/* preflight parameter load / store */
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_STORAGE) {
/* Read all parameters from EEPROM to RAM */
if (((int)(cmd_mavlink.param1)) == 0) {
/* read all parameters from EEPROM to RAM */
int read_ret = mavlink_pm_load_eeprom();
if (read_ret == OK) {
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] OK loaded EEPROM params");
result = MAV_RESULT_ACCEPTED;
} else if (read_ret == 1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] No stored parameters to load");
result = MAV_RESULT_ACCEPTED;
} else {
if (read_ret < -1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params from EEPROM");
} else {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR loading params, no EEPROM found");
}
result = MAV_RESULT_FAILED;
}
} else if (((int)(cmd_mavlink.param1)) == 1) {
/* write all parameters from RAM to EEPROM */
int write_ret = mavlink_pm_save_eeprom();
if (write_ret == OK) {
mavlink_missionlib_send_gcs_string("[mavlink pm] OK params written to EEPROM");
result = MAV_RESULT_ACCEPTED;
} else {
if (write_ret < -1) {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params to EEPROM");
} else {
mavlink_missionlib_send_gcs_string("[mavlink pm] ERR writing params, no EEPROM found");
}
result = MAV_RESULT_FAILED;
}
} else {
//fprintf(stderr, "[mavlink pm] refusing unsupported storage request\n");
mavlink_missionlib_send_gcs_string("[mavlink pm] refusing unsupported STOR request");
result = MAV_RESULT_UNSUPPORTED;
}
}
}
/* send back command result */
//mavlink_msg_command_ack_send(chan, cmd.command, result);
} break;
}
}
void cDataLink::handleMessage(mavlink_message_t* msg)
{
uint16_t len;
int bytes_sent;
mavlink_param_set_t set;
mavlink_msg_param_set_decode(msg, &set);
//uint8_t result = MAV_RESULT_UNSUPPORTED;
switch (msg->msgid)
{
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
switch(packet.command)
{
case MAV_CMD_PREFLIGHT_CALIBRATION:
// 1: Gyro calibration
if (packet.param2 == 1)
{
printf("Magnetometer calibration!\n");
signal_mag_calibration();
}
// 3: Ground pressure
// 4: Radio calibration
// 5: Accelerometer calibration
// Parameter 6 & 7 not pre-defined
// result = MAV_RESULT_ACCEPTED;
break;
default:
// result = MAV_RESULT_UNSUPPORTED;
break;
} // switch packet.command
// mavlink_msg_command_ack_send(chan,
// packet.command,
// result);
break;
} // case MAVLINK_MSG_ID_COMMAND_LONG
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
mavlink_param_request_read_t packet;
mavlink_msg_param_request_read_decode(msg, &packet);
mavlink_msg_param_value_pack(
packet.target_system,
packet.target_component,
msg,
cParameter::get_instances()->at(packet.param_index)->get_name().c_str(),
*(cParameter::get_instances()->at(packet.param_index)->get_value()),
MAV_PARAM_TYPE_REAL32,
cParameter::get_instances()->size(), // param_count = Anzahl der Parameter
packet.param_index); // param_index = Nummer f. aktellen Parameter
len = mavlink_msg_to_send_buffer(m_buf, msg);
bytes_sent = sendto(sock, m_buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
(void)bytes_sent; //avoid compiler warning
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// Start sending parameters
for(std::vector<cParameter*>::iterator it=cParameter::get_instances()->begin(); it!=cParameter::get_instances()->end(); ++it)
{
mavlink_msg_param_value_pack(
1, MAV_COMP_ID_SYSTEM_CONTROL,
msg,
(*it)->get_name().c_str(),
*((*it)->get_value()), //Iterator goes to vector list with cParameter pointers. Get value returns a pointer to the component value -> again dereference
MAV_PARAM_TYPE_REAL32,
cParameter::get_instances()->size(), // param_count = Anzahl der Parameter
std::distance(cParameter::get_instances()->begin(),it)); // param_index = Nummer f. aktellen Parameter
len = mavlink_msg_to_send_buffer(m_buf, msg);
bytes_sent = sendto(sock, m_buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
(void)bytes_sent; //avoid compiler warning
boost::this_thread::sleep(boost::posix_time::milliseconds(10));
}
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_param_set_t packet;
mavlink_msg_param_set_decode(msg, &packet);
std::vector<cParameter*>::iterator it = cParameter::exist(packet.param_id);
if( cParameter::get_instances()->end() != it )
{
(*it)->set_value(packet.param_value);
mavlink_msg_param_value_pack(
packet.target_system,
packet.target_component,
msg,
(*it)->get_name().c_str(),
*((*it)->get_value()),
MAV_PARAM_TYPE_REAL32,
cParameter::get_instances()->size(), // param_count = Anzahl der Parameter
std::distance(cParameter::get_instances()->begin(),it)); // param_index = Nummer f. aktellen Parameter
len = mavlink_msg_to_send_buffer(m_buf, msg);
bytes_sent = sendto(sock, m_buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
(void)bytes_sent; //avoid compiler warning
}
break;
}
default:
{
printf("msg->msgid not known: %d\n", msg->msgid);
}
break;
}// switch msgid
}
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
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;
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);
}
}
}
}
void communication_receive(void)
{
mavlink_message_t msg;
mavlink_status_t status;
// COMMUNICATION THROUGH EXTERNAL UART PORT (XBee serial)
while(cliPortAvailable())
{
uint8_t c = cliPortRead();
// Try to get a new message
if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
// Handle message
switch(msg.msgid)
{
//COMMANDS
case MAVLINK_MSG_ID_COMMAND_LONG:
{
mavlink_command_long_t cmd;
mavlink_msg_command_long_decode(&msg, &cmd);
switch (cmd.command) {
/*CAMERA CONTROL COMMAND*/
case MAV_CMD_VIDEO_START_CAPTURE:
/*Enable camera*/
cameraEnable(true);
break;
case MAV_CMD_VIDEO_STOP_CAPTURE:
cameraEnable(false);
break;
case MAV_CMD_DO_DIGICAM_CONTROL:
if (((int)(cmd.param1)) == 1){
cameraFlip(true);
}
else if (((int)(cmd.param1)) == 2){
cameraFlip(false);
}
else if (((int)(cmd.param3)) == 1){
cameraZoomIn();
}
else if (((int)(cmd.param3)) == -1){
cameraZoomOut();
}
else if (((int)(cmd.param3)) == 2){
cameraStopZoom();
}
else if (((int)(cmd.param7)) == 1){
cameraEnableOSD(true);
}
else if (((int)(cmd.param7)) == -1){
cameraEnableOSD(false);
}
break;
/*OSD CONTROL COMMAND
***UNCOMMENT WHEN THIS FUNCTIONALITY IS READY****
* case MAV_CMD_OSD_CONTROL:
* if ((int)(cmd.param1)) == 0){
* //Disable component 1
* }
* else if((int)(cmd.param1)) == 1){
* //Enable component 1
* }
* if((int)(cmd.param2)) == 0){
* //Disable component 2
* }
* else if((int)(cmd.param2)) == 0{
* //Enable component 2
* }
* //Continue statements for each OSD component we wish to enable or disable
* break;
*/
default:
//mavlink_msg_command_ack_send(MAVLINK_COMM_0, cmd.command, MAV_RESULT_UNSUPPORTED);
break;
}
}
break;
default:
//Do nothing
break;
}
}
// And get the next one
}
// Update global packet drops counter
packet_drops += status.packet_rx_drop_count;
}
void handle_mavlink_message(mavlink_channel_t chan,
mavlink_message_t* msg)
{
/* all messages from usart2 are directly forwarded */
if(chan == MAVLINK_COMM_1)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint32_t len;
// Copy to USART 3
len = mavlink_msg_to_send_buffer(buf, msg);
mavlink_send_uart_bytes(MAVLINK_COMM_0, buf, len);
if(global_data.param[PARAM_USB_SEND_FORWARD])
mavlink_send_uart_bytes(MAVLINK_COMM_2, buf, len);
return;
}
/* forwarded received messages from usb and usart3 to usart2 */
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint32_t len;
/* copy to usart2 */
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
usart2_tx_ringbuffer_push(buf, len);
}
/* handling messages */
switch (msg->msgid)
{
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] != -1)
{
/* Choose parameter based on index */
if ((set.param_index >= 0) && (set.param_index < ONBOARD_PARAM_COUNT))
{
/* Report back value */
mavlink_msg_param_value_send(chan,
global_data.param_name[set.param_index],
global_data.param[set.param_index], MAVLINK_TYPE_FLOAT, 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,
global_data.param_name[i],
global_data.param[i], MAVLINK_TYPE_FLOAT, ONBOARD_PARAM_COUNT, 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 infinity
*/
if (global_data.param[i] != set.param_value
&& !isnan(set.param_value)
&& !isinf(set.param_value)
&& global_data.param_access[i])
{
global_data.param[i] = set.param_value;
/* handle sensor position */
if(i == PARAM_SENSOR_POSITION)
{
set_sensor_position_settings((uint8_t) set.param_value);
mt9v034_context_configuration();
dma_reconfigure();
buffer_reset();
}
/* handle low light mode and noise correction */
else if(i == PARAM_IMAGE_LOW_LIGHT || i == PARAM_IMAGE_ROW_NOISE_CORR|| i == PARAM_IMAGE_TEST_PATTERN)
{
mt9v034_context_configuration();
dma_reconfigure();
buffer_reset();
}
/* handle calibration on/off */
else if(i == PARAM_VIDEO_ONLY)
{
mt9v034_set_context();
dma_reconfigure();
buffer_reset();
if(global_data.param[PARAM_VIDEO_ONLY])
debug_string_message_buffer("Calibration Mode On");
else
debug_string_message_buffer("Calibration Mode Off");
}
/* handle sensor position */
else if(i == PARAM_GYRO_SENSITIVITY_DPS)
{
l3gd20_config();
}
else
{
debug_int_message_buffer("Parameter received, param id =", i);
}
/* report back new value */
mavlink_msg_param_value_send(MAVLINK_COMM_0,
global_data.param_name[i],
global_data.param[i], MAVLINK_TYPE_FLOAT, ONBOARD_PARAM_COUNT, i);
mavlink_msg_param_value_send(MAVLINK_COMM_2,
global_data.param_name[i],
global_data.param[i], MAVLINK_TYPE_FLOAT, ONBOARD_PARAM_COUNT, i);
}
else
{
/* send back current value because it is not accepted or not write access*/
mavlink_msg_param_value_send(MAVLINK_COMM_0,
global_data.param_name[i],
global_data.param[i], MAVLINK_TYPE_FLOAT, ONBOARD_PARAM_COUNT, i);
mavlink_msg_param_value_send(MAVLINK_COMM_2,
global_data.param_name[i],
global_data.param[i], MAVLINK_TYPE_FLOAT, ONBOARD_PARAM_COUNT, i);
}
}
}
}
}
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 = get_boot_time_us();
mavlink_msg_ping_send(chan, ping.seq, msg->sysid, msg->compid, r_timestamp);
}
}
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
{
mavlink_command_long_t cmd;
mavlink_msg_command_long_decode(msg, &cmd);
switch (cmd.command) {
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (((int)(cmd.param1)) == 1) {
mavlink_msg_command_ack_send(chan, cmd.command, MAV_RESULT_ACCEPTED);
/* reboot */
systemreset(false);
} else if (((int)(cmd.param1)) == 3) {
mavlink_msg_command_ack_send(chan, cmd.command, MAV_RESULT_ACCEPTED);
/* reboot to bootloader */
systemreset(true);
} else {
/* parameters are wrong */
mavlink_msg_command_ack_send(chan, cmd.command, MAV_RESULT_FAILED);
// XXX add INVALID INPUT to MAV_RESULT
}
break;
default:
mavlink_msg_command_ack_send(chan, cmd.command, MAV_RESULT_UNSUPPORTED);
break;
}
}
break;
default:
break;
}
}
void MAVLinkCommandLong(mavlink_message_t* handle_msg) // MAVLINK_MSG_ID_COMMAND_LONG
{
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(handle_msg, &packet);
DPRINT("MAVLINK_MSG_ID_COMMAND_LONG %u\r\n", handle_msg->msgid);
//if (mavlink_check_target(packet.target, packet.target_component) == false) break;
{
switch (packet.command)
{
case MAV_CMD_PREFLIGHT_CALIBRATION:
DPRINT("MAV_CMD_PREFLIGHT_CALIBRATION %u\r\n", packet.command);
if (packet.param1 == 1)
{
#if (USE_NV_MEMORY ==1)
udb_skip_flags.skip_imu_cal = 0;
#endif // (USE_NV_MEMORY == 1)
udb_a2d_record_offsets();
}
else if (packet.param4 == 1) //param4 = radio calibration
{
if (udb_flags._.radio_on == 1)
{
udb_servo_record_trims();
command_ack(packet.command, MAV_CMD_ACK_OK);
}
else
command_ack(packet.command, MAV_CMD_ACK_ERR_FAIL);
}
else
command_ack(packet.command, MAV_CMD_ACK_ERR_NOT_SUPPORTED);
break;
#if (USE_NV_MEMORY == 1)
case MAV_CMD_PREFLIGHT_STORAGE:
DPRINT("MAV_CMD_PREFLIGHT_STORAGE %u\r\n", packet.command);
if (packet.param1 == MAV_PFS_CMD_WRITE_ALL) // 1
{
if (packet.param2 == MAV_PFS_CMD_WRITE_ALL)
data_services_save_all(STORAGE_FLAG_STORE_CALIB | STORAGE_FLAG_STORE_WAYPOINTS, &preflight_storage_complete_callback);
else
data_services_save_all(STORAGE_FLAG_STORE_CALIB, &preflight_storage_complete_callback);
}
else if (packet.param1 == MAV_PFS_CMD_READ_ALL) // 0
{
if (packet.param2 == MAV_PFS_CMD_READ_ALL)
data_services_load_all(STORAGE_FLAG_STORE_CALIB | STORAGE_FLAG_STORE_WAYPOINTS, &preflight_storage_complete_callback);
else
data_services_load_all(STORAGE_FLAG_STORE_CALIB, &preflight_storage_complete_callback);
}
else
command_ack(packet.command, MAV_CMD_ACK_ERR_NOT_SUPPORTED);
break;
case MAV_CMD_PREFLIGHT_STORAGE_ADVANCED:
DPRINT("MAV_CMD_PREFLIGHT_STORAGE_ADVANCED %u\r\n", packet.command);
switch ((uint16_t)packet.param1)
{
case MAV_PFS_CMD_CLEAR_SPECIFIC:
storage_clear_area(packet.param2, &preflight_storage_complete_callback);
break;
case MAV_PFS_CMD_WRITE_SPECIFIC:
data_services_save_specific(packet.param2, &preflight_storage_complete_callback);
break;
case MAV_PFS_CMD_READ_SPECIFIC:
data_services_load_specific(packet.param2, &preflight_storage_complete_callback);
break;
default:
command_ack(packet.command, MAV_CMD_ACK_ERR_NOT_SUPPORTED);
break;
}
break;
#endif // (USE_NV_MEMORY == 1)
case 245: // MAV_CMD_PREFLIGHT_STORAGE:
switch ((uint16_t)packet.param1)
{
case 0: // Read
DPRINT("Read (ROM)\r\n");
config_load();
break;
case 1: // Write
DPRINT("Write (ROM)\r\n");
config_save();
break;
default:
DPRINT("245 packet.param1 %f packet.param2 %f\r\n", (double)packet.param1, (double)packet.param2);
break;
}
break;
case 246: // halt
DPRINT("Halt - packet.command %u\r\n", packet.command);
break;
case 22: // start
DPRINT("Start - packet.command %u\r\n", packet.command);
break;
case 252: // land
DPRINT("Land - packet.command %u\r\n", packet.command);
break;
default:
DPRINT("packet.command %u\r\n", packet.command);
command_ack(packet.command, MAV_CMD_ACK_ERR_NOT_SUPPORTED);
break;
}
}
}
void mavlink_message_handler_receive(mavlink_message_handler_t* message_handler, mavlink_received_t* rec)
{
mavlink_message_t* msg = &rec->msg;
if ( message_handler->debug )
{
mavlink_message_handler_msg_default_dbg(msg);
}
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG)
{
// The message is a command
mavlink_command_long_t cmd;
mavlink_msg_command_long_decode(msg, &cmd);
//print packet command and parameters for debug
print_util_dbg_print("target sysID:");
print_util_dbg_print_num(cmd.target_system,10);
print_util_dbg_print(", target compID:");
print_util_dbg_print_num(cmd.target_component,10);
print_util_dbg_print("\r\n");
print_util_dbg_print("parameters: ");
print_util_dbg_print_num(cmd.param1,10);
print_util_dbg_print_num(cmd.param2,10);
print_util_dbg_print_num(cmd.param3,10);
print_util_dbg_print_num(cmd.param4,10);
print_util_dbg_print_num(cmd.param5,10);
print_util_dbg_print_num(cmd.param6,10);
print_util_dbg_print_num(cmd.param7,10);
print_util_dbg_print("\r\n");
print_util_dbg_print("command id:");
print_util_dbg_print_num(cmd.command,10);
print_util_dbg_print(", confirmation:");
print_util_dbg_print_num(cmd.confirmation,10);
print_util_dbg_print("\r\n");
if (cmd.command >= 0 && cmd.command < MAV_CMD_ENUM_END)
{
// The command has valid command ID
if( (cmd.target_system == message_handler->mavlink_stream->sysid)||(cmd.target_system == MAV_SYS_ID_ALL) )
{
mav_result_t result = MAV_RESULT_UNSUPPORTED;
// The command is for this system
for (uint32_t i = 0; i < message_handler->cmd_callback_set->callback_count; ++i)
{
if ( match_cmd(message_handler, &message_handler->cmd_callback_set->callback_list[i], msg, &cmd) )
{
mavlink_cmd_callback_function_t function = message_handler->cmd_callback_set->callback_list[i].function;
handling_module_struct_t module_struct = message_handler->cmd_callback_set->callback_list[i].module_struct;
// Call appropriate function callback
result = function(module_struct, &cmd);
break;
}
}
// Send acknowledgment message
mavlink_message_t msg;
mavlink_msg_command_ack_pack( message_handler->mavlink_stream->sysid,
message_handler->mavlink_stream->compid,
&msg,
cmd.command,
result);
mavlink_stream_send(message_handler->mavlink_stream, &msg);
}
}
}
else if ( msg->msgid >= 0 && msg->msgid < MAV_MSG_ENUM_END )
{
// The message has a valid message ID, and is not a command
for (uint32_t i = 0; i < message_handler->msg_callback_set->callback_count; ++i)
{
if ( match_msg(message_handler, &message_handler->msg_callback_set->callback_list[i], msg) )
{
mavlink_msg_callback_function_t function = message_handler->msg_callback_set->callback_list[i].function;
handling_module_struct_t module_struct = message_handler->msg_callback_set->callback_list[i].module_struct;
uint32_t sys_id = *message_handler->msg_callback_set->callback_list[i].sys_id;
// Call appropriate function callback
function(module_struct, sys_id, msg);
}
}
}
}
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
handle_request_data_stream(msg, true);
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
switch(packet.command) {
case MAV_CMD_START_RX_PAIR:
// initiate bind procedure
if (!hal.rcin->rc_bind(packet.param1)) {
result = MAV_RESULT_FAILED;
} else {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
rover.set_mode(RTL);
result = MAV_RESULT_ACCEPTED;
break;
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
#endif
#if CAMERA == ENABLED
case MAV_CMD_DO_DIGICAM_CONFIGURE:
rover.camera.configure(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6,
packet.param7);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_DIGICAM_CONTROL:
if (rover.camera.control(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6)) {
rover.log_picture();
}
result = MAV_RESULT_ACCEPTED;
break;
#endif // CAMERA == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED
rover.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
result = MAV_RESULT_ACCEPTED;
#endif
break;
case MAV_CMD_MISSION_START:
rover.set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_PREFLIGHT_CALIBRATION:
if(hal.util->get_soft_armed()) {
result = MAV_RESULT_FAILED;
break;
}
if (is_equal(packet.param1,1.0f)) {
rover.ins.init_gyro();
if (rover.ins.gyro_calibrated_ok_all()) {
rover.ahrs.reset_gyro_drift();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (is_equal(packet.param3,1.0f)) {
rover.init_barometer(false);
result = MAV_RESULT_ACCEPTED;
} else if (is_equal(packet.param4,1.0f)) {
rover.trim_radio();
result = MAV_RESULT_ACCEPTED;
} else if (is_equal(packet.param5,1.0f)) {
result = MAV_RESULT_ACCEPTED;
// start with gyro calibration
rover.ins.init_gyro();
// reset ahrs gyro bias
if (rover.ins.gyro_calibrated_ok_all()) {
rover.ahrs.reset_gyro_drift();
} else {
result = MAV_RESULT_FAILED;
}
rover.ins.acal_init();
rover.ins.get_acal()->start(this);
} else if (is_equal(packet.param5,2.0f)) {
// start with gyro calibration
rover.ins.init_gyro();
// accel trim
float trim_roll, trim_pitch;
if(rover.ins.calibrate_trim(trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
rover.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
}
else {
send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
}
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
{
uint8_t compassNumber = -1;
if (is_equal(packet.param1, 2.0f)) {
compassNumber = 0;
} else if (is_equal(packet.param1, 5.0f)) {
compassNumber = 1;
} else if (is_equal(packet.param1, 6.0f)) {
compassNumber = 2;
}
if (compassNumber != (uint8_t) -1) {
rover.compass.set_and_save_offsets(compassNumber, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_SET_MODE:
switch ((uint16_t)packet.param1) {
case MAV_MODE_MANUAL_ARMED:
case MAV_MODE_MANUAL_DISARMED:
rover.set_mode(MANUAL);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_AUTO_ARMED:
case MAV_MODE_AUTO_DISARMED:
rover.set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_STABILIZE_DISARMED:
case MAV_MODE_STABILIZE_ARMED:
rover.set_mode(LEARNING);
result = MAV_RESULT_ACCEPTED;
break;
default:
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_SET_SERVO:
if (rover.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_SERVO:
if (rover.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_SET_RELAY:
if (rover.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_RELAY:
if (rover.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
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_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures
if (rover.arm_motors(AP_Arming::MAVLINK)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (is_zero(packet.param1)) {
if (rover.disarm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_GET_HOME_POSITION:
if (rover.home_is_set != HOME_UNSET) {
send_home(rover.ahrs.get_home());
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1,1.0f)) {
send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_SET_HOME:
{
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude
result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1,1.0f)) {
rover.init_home();
} else {
if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) {
// don't allow the 0,0 position
break;
}
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
Location new_home_loc {};
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
rover.ahrs.set_home(new_home_loc);
rover.home_is_set = HOME_SET_NOT_LOCKED;
rover.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
result = MAV_RESULT_ACCEPTED;
rover.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat*1.0e-7f),
(double)(new_home_loc.lng*1.0e-7f),
(uint32_t)(new_home_loc.alt*0.01f));
}
break;
}
case MAV_CMD_DO_START_MAG_CAL:
case MAV_CMD_DO_ACCEPT_MAG_CAL:
case MAV_CMD_DO_CANCEL_MAG_CAL:
result = rover.compass.handle_mag_cal_command(packet);
break;
default:
break;
}
mavlink_msg_command_ack_send_buf(
msg,
chan,
packet.command,
result);
break;
}
case MAVLINK_MSG_ID_SET_MODE:
{
handle_set_mode(msg, FUNCTOR_BIND(&rover, &Rover::mavlink_set_mode, bool, uint8_t));
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
{
handle_mission_request_list(rover.mission, msg);
break;
}
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
handle_mission_request(rover.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_ACK:
{
// not used
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// mark the firmware version in the tlog
send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
handle_param_request_list(msg);
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
handle_param_request_read(msg);
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
handle_mission_clear_all(rover.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
handle_mission_set_current(rover.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT:
{
handle_mission_count(rover.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
{
handle_mission_write_partial_list(rover.mission, msg);
break;
}
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM:
{
if (handle_mission_item(msg, rover.mission)) {
rover.DataFlash.Log_Write_EntireMission(rover.mission);
}
break;
}
case MAVLINK_MSG_ID_MISSION_ITEM_INT:
{
if (handle_mission_item(msg, rover.mission)) {
rover.DataFlash.Log_Write_EntireMission(rover.mission);
}
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
handle_param_set(msg, &rover.DataFlash);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
// and RC PWM values.
if(msg->sysid != rover.g.sysid_my_gcs) break; // Only accept control from our gcs
mavlink_rc_channels_override_t packet;
int16_t v[8];
mavlink_msg_rc_channels_override_decode(msg, &packet);
v[0] = packet.chan1_raw;
v[1] = packet.chan2_raw;
v[2] = packet.chan3_raw;
v[3] = packet.chan4_raw;
v[4] = packet.chan5_raw;
v[5] = packet.chan6_raw;
v[6] = packet.chan7_raw;
v[7] = packet.chan8_raw;
hal.rcin->set_overrides(v, 8);
rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
break;
}
case MAVLINK_MSG_ID_HEARTBEAT:
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if(msg->sysid != rover.g.sysid_my_gcs) break;
rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
break;
}
case MAVLINK_MSG_ID_GPS_INPUT:
{
rover.gps.handle_msg(msg);
break;
}
#if HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_HIL_STATE:
{
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
// set gps hil sensor
Location loc;
loc.lat = packet.lat;
loc.lng = packet.lon;
loc.alt = packet.alt/10;
Vector3f vel(packet.vx, packet.vy, packet.vz);
vel *= 0.01f;
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
packet.time_usec/1000,
loc, vel, 10, 0);
// rad/sec
Vector3f gyros;
gyros.x = packet.rollspeed;
gyros.y = packet.pitchspeed;
gyros.z = packet.yawspeed;
// m/s/s
Vector3f accels;
accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
ins.set_gyro(0, gyros);
ins.set_accel(0, accels);
compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
break;
}
#endif // HIL_MODE
#if CAMERA == ENABLED
//deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
{
break;
}
//deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
{
rover.camera.control_msg(msg);
rover.log_picture();
break;
}
#endif // CAMERA == ENABLED
#if MOUNT == ENABLED
//deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
{
rover.camera_mount.configure_msg(msg);
break;
}
//deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
case MAVLINK_MSG_ID_MOUNT_CONTROL:
{
rover.camera_mount.control_msg(msg);
break;
}
#endif // MOUNT == ENABLED
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{
handle_radio_status(msg, rover.DataFlash, rover.should_log(MASK_LOG_PM));
break;
}
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
case MAVLINK_MSG_ID_LOG_ERASE:
rover.in_log_download = true;
/* no break */
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
if (!rover.in_mavlink_delay) {
handle_log_message(msg, rover.DataFlash);
}
break;
case MAVLINK_MSG_ID_LOG_REQUEST_END:
rover.in_log_download = false;
if (!rover.in_mavlink_delay) {
handle_log_message(msg, rover.DataFlash);
}
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_serial_control(msg, rover.gps);
break;
case MAVLINK_MSG_ID_GPS_INJECT_DATA:
handle_gps_inject(msg, rover.gps);
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
rover.sonar.handle_msg(msg);
break;
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
rover.DataFlash.remote_log_block_status_msg(chan, msg);
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
send_autopilot_version(FIRMWARE_VERSION);
break;
case MAVLINK_MSG_ID_SETUP_SIGNING:
handle_setup_signing(msg);
break;
case MAVLINK_MSG_ID_LED_CONTROL:
// send message to Notify
AP_Notify::handle_led_control(msg);
break;
case MAVLINK_MSG_ID_PLAY_TUNE:
// send message to Notify
AP_Notify::handle_play_tune(msg);
break;
} // end switch
} // end handle mavlink
/****************************************************************************
* Public Functions
****************************************************************************/
void handleMessage(mavlink_message_t * msg) {
//check for terminate command
if(msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG)
{
mavlink_command_long_t cmd;
mavlink_msg_command_long_decode(msg, &cmd);
if (cmd.target_system == mavlink_system.sysid && ((cmd.target_component == mavlink_system.compid) || (cmd.target_component == MAV_COMP_ID_ALL)))
{
bool terminate_link = false;
bool reboot = false;
/* result of the command */
uint8_t result = MAV_RESULT_UNSUPPORTED;
/* supported command handling start */
/* request to set different system mode */
if (cmd.command == MAV_CMD_DO_SET_MODE)
{
mavlink_system.mode = cmd.param1;
}
/* request to arm */
// XXX
/* request for an autopilot reboot */
if (cmd.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && cmd.param1 == 1.0f)
{
reboot = true;
result = MAV_RESULT_ACCEPTED;
mavlink_msg_statustext_send(chan,0,"Rebooting autopilot.. ");
}
/* request for a link shutdown */
if (cmd.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && cmd.param1 == 3.0f)
{
terminate_link = true;
result = MAV_RESULT_ACCEPTED;
mavlink_msg_statustext_send(chan,0,"Terminating MAVLink.. ");
}
/* supported command handling stop */
/* send any requested ACKs */
if (cmd.confirmation > 0)
{
mavlink_msg_command_ack_send(chan, cmd.command, result);
}
/* the two termination / reset commands need special handling */
if (terminate_link)
{
printf("MAVLink: Terminating.. \n");
fflush(stdout);
/* sleep 100 ms to allow UART buffer to empty */
led_off(LED_BLUE);
led_on(LED_AMBER);
int i;
for (i = 0; i < 5; i++)
{
led_toggle(LED_AMBER);
usleep(20000);
}
//terminate other threads:
pthread_cancel(heartbeat_thread);
//terminate this thread (receive_thread)
pthread_exit(NULL);
}
if (reboot)
{
printf("MAVLink: Rebooting system.. \n");
fflush(stdout);
/* sleep 100 ms to allow UART buffer to empty */
led_off(LED_BLUE);
led_on(LED_AMBER);
int i;
for (i = 0; i < 5; i++)
{
led_toggle(LED_BLUE);
led_toggle(LED_AMBER);
usleep(20000);
}
//terminate other threads:
pthread_cancel(heartbeat_thread);
// Reset whole system
/* Resetting CPU */
// FIXME Need check for ARM architecture here
#ifndef NVIC_AIRCR
#define NVIC_AIRCR (*((uint32_t*)0xE000ED0C))
#endif
/* Set the SYSRESETREQ bit to force a reset */
NVIC_AIRCR = 0x05fa0004;
/* Spinning until the board is really reset */
while(true);
}
}
}
/* Handle quadrotor motor setpoints */
if(msg->msgid == MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT)
{
mavlink_set_quad_motors_setpoint_t quad_motors_setpoint;
mavlink_msg_set_quad_motors_setpoint_decode(msg, &quad_motors_setpoint);
if(quad_motors_setpoint.target_system == mavlink_system.sysid)
{
global_data_lock(&global_data_quad_motors_setpoint.access_conf);
global_data_quad_motors_setpoint.motor_front_nw = quad_motors_setpoint.motor_front_nw;
global_data_quad_motors_setpoint.motor_right_ne = quad_motors_setpoint.motor_right_ne;
global_data_quad_motors_setpoint.motor_back_se = quad_motors_setpoint.motor_back_se;
global_data_quad_motors_setpoint.motor_left_sw = quad_motors_setpoint.motor_left_sw;
global_data_quad_motors_setpoint.counter++;
global_data_quad_motors_setpoint.timestamp = global_data_get_timestamp_milliseconds();
global_data_unlock(&global_data_quad_motors_setpoint.access_conf);
/* Inform the other processes that there is new gps data available */
global_data_broadcast(&global_data_quad_motors_setpoint.access_conf);
}
}
}
void mavlink_common_message_handler(const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
break;
/* When requesting data streams say we can't send them */
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: {
mavlink_request_data_stream_t cmd;
mavlink_msg_request_data_stream_decode(msg, &cmd);
mavlink_msg_data_stream_send(MAVLINK_COMM_0, cmd.req_stream_id, 0, 0);
MAVLinkSendMessage();
break;
}
/* Override channels with RC */
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: {
mavlink_rc_channels_override_t cmd;
mavlink_msg_rc_channels_override_decode(msg, &cmd);
#if defined RADIO_CONTROL && defined RADIO_CONTROL_TYPE_DATALINK
uint8_t thrust = (cmd.chan3_raw - 950) * 127 / 1100;
int8_t roll = -(cmd.chan1_raw - 1500) * 255 / 1100 / 2;
int8_t pitch = -(cmd.chan2_raw - 1500) * 255 / 1100 / 2;
int8_t yaw = -(cmd.chan4_raw - 1500) * 255 / 1100;
parse_rc_4ch_datalink(0, thrust, roll, pitch, yaw);
//printf("RECEIVED: RC Channel Override for: %d/%d: throttle: %d; roll: %d; pitch: %d; yaw: %d;\r\n",
// cmd.target_system, cmd.target_component, thrust, roll, pitch, yaw);
#endif
break;
}
/* When a request is made of the parameters list */
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
mavlink_params_idx = 0;
break;
}
/* When a request os made for a specific parameter */
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
mavlink_param_request_read_t cmd;
mavlink_msg_param_request_read_decode(msg, &cmd);
// First check param_index and search for the ID if needed
if (cmd.param_index == -1) {
cmd.param_index = settings_idx_from_param_id(cmd.param_id);
}
// Send message only if the param_index was found (Coverity Scan)
if (cmd.param_index > -1) {
mavlink_msg_param_value_send(MAVLINK_COMM_0,
mavlink_param_names[cmd.param_index],
settings_get_value(cmd.param_index),
MAV_PARAM_TYPE_REAL32,
NB_SETTING,
cmd.param_index);
MAVLinkSendMessage();
}
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 == AC_ID) {
int16_t idx = settings_idx_from_param_id(set.param_id);
// setting found
if (idx >= 0) {
// Only write if new value is NOT "not-a-number"
// AND is NOT infinity
if (set.param_type == MAV_PARAM_TYPE_REAL32 &&
!isnan(set.param_value) && !isinf(set.param_value)) {
DlSetting(idx, set.param_value);
// Report back new value
mavlink_msg_param_value_send(MAVLINK_COMM_0,
mavlink_param_names[idx],
settings_get_value(idx),
MAV_PARAM_TYPE_REAL32,
NB_SETTING,
idx);
MAVLinkSendMessage();
}
}
}
}
break;
#ifndef AP
/* only for rotorcraft */
case MAVLINK_MSG_ID_COMMAND_LONG: {
mavlink_command_long_t cmd;
mavlink_msg_command_long_decode(msg, &cmd);
// Check if this message is for this system
if ((uint8_t) cmd.target_system == AC_ID) {
uint8_t result = MAV_RESULT_UNSUPPORTED;
switch (cmd.command) {
case MAV_CMD_NAV_GUIDED_ENABLE:
MAVLINK_DEBUG("got cmd NAV_GUIDED_ENABLE: %f\n", cmd.param1);
result = MAV_RESULT_FAILED;
if (cmd.param1 > 0.5) {
autopilot_set_mode(AP_MODE_GUIDED);
if (autopilot_mode == AP_MODE_GUIDED) {
result = MAV_RESULT_ACCEPTED;
}
}
else {
// turn guided mode off - to what? maybe NAV? or MODE_AUTO2?
}
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
/* supposed to use this command to arm or SET_MODE?? */
MAVLINK_DEBUG("got cmd COMPONENT_ARM_DISARM: %f\n", cmd.param1);
result = MAV_RESULT_FAILED;
if (cmd.param1 > 0.5) {
autopilot_set_motors_on(TRUE);
if (autopilot_motors_on)
result = MAV_RESULT_ACCEPTED;
}
else {
autopilot_set_motors_on(FALSE);
if (!autopilot_motors_on)
result = MAV_RESULT_ACCEPTED;
}
break;
default:
break;
}
// confirm command with result
mavlink_msg_command_ack_send(MAVLINK_COMM_0, cmd.command, result);
MAVLinkSendMessage();
}
break;
}
case MAVLINK_MSG_ID_SET_MODE: {
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(msg, &mode);
if (mode.target_system == AC_ID) {
MAVLINK_DEBUG("got SET_MODE: base_mode:%d\n", mode.base_mode);
if (mode.base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
autopilot_set_motors_on(TRUE);
}
else {
autopilot_set_motors_on(FALSE);
}
if (mode.base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
autopilot_set_mode(AP_MODE_GUIDED);
}
else if (mode.base_mode & MAV_MODE_FLAG_AUTO_ENABLED) {
autopilot_set_mode(AP_MODE_NAV);
}
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: {
mavlink_set_position_target_local_ned_t target;
mavlink_msg_set_position_target_local_ned_decode(msg, &target);
// Check if this message is for this system
if (target.target_system == AC_ID) {
MAVLINK_DEBUG("SET_POSITION_TARGET_LOCAL_NED, byte_mask: %d\n", target.type_mask);
/* if position and yaw bits are not set to ignored, use only position for now */
if (!(target.type_mask & 0b1110000000100000)) {
switch (target.coordinate_frame) {
case MAV_FRAME_LOCAL_NED:
MAVLINK_DEBUG("set position target, frame LOCAL_NED\n");
autopilot_guided_goto_ned(target.x, target.y, target.z, target.yaw);
break;
case MAV_FRAME_LOCAL_OFFSET_NED:
MAVLINK_DEBUG("set position target, frame LOCAL_OFFSET_NED\n");
autopilot_guided_goto_ned_relative(target.x, target.y, target.z, target.yaw);
break;
case MAV_FRAME_BODY_OFFSET_NED:
MAVLINK_DEBUG("set position target, frame BODY_OFFSET_NED\n");
autopilot_guided_goto_body_relative(target.x, target.y, target.z, target.yaw);
break;
default:
break;
}
}
else if (!(target.type_mask & 0b0001110000100000)) {
/* position is set to ignore, but velocity not */
switch (target.coordinate_frame) {
case MAV_FRAME_LOCAL_NED:
MAVLINK_DEBUG("set velocity target, frame LOCAL_NED\n");
autopilot_guided_move_ned(target.vx, target.vy, target.vz, target.yaw);
break;
default:
break;
}
}
}
break;
}
#endif
default:
//Do nothing
MAVLINK_DEBUG("Received message with id: %d\r\n", msg->msgid);
break;
}
}
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
handle_request_data_stream(msg, true);
break;
}
case MAVLINK_MSG_ID_COMMAND_INT: {
// decode packet
mavlink_command_int_t packet;
mavlink_msg_command_int_decode(msg, &packet);
MAV_RESULT result = MAV_RESULT_UNSUPPORTED;
switch (packet.command) {
case MAV_CMD_DO_SET_HOME: {
// assume failure
result = MAV_RESULT_FAILED;
if (is_equal(packet.param1, 1.0f)) {
// if param1 is 1, use current location
if (rover.set_home_to_current_location(true)) {
result = MAV_RESULT_ACCEPTED;
}
break;
}
// ensure param1 is zero
if (!is_zero(packet.param1)) {
break;
}
// check frame type is supported
if (packet.frame != MAV_FRAME_GLOBAL &&
packet.frame != MAV_FRAME_GLOBAL_INT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
break;
}
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
break;
}
Location new_home_loc {};
new_home_loc.lat = packet.x;
new_home_loc.lng = packet.y;
new_home_loc.alt = packet.z * 100;
// handle relative altitude
if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT || packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
if (!rover.ahrs.home_is_set()) {
// cannot use relative altitude if home is not set
break;
}
new_home_loc.alt += rover.ahrs.get_home().alt;
}
if (rover.set_home(new_home_loc, true)) {
result = MAV_RESULT_ACCEPTED;
}
break;
}
#if MOUNT == ENABLED
case MAV_CMD_DO_SET_ROI: {
// param1 : /* Region of interest mode (not used)*/
// param2 : /* MISSION index/ target ID (not used)*/
// param3 : /* ROI index (not used)*/
// param4 : /* empty */
// x : lat
// y : lon
// z : alt
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
break;
}
Location roi_loc;
roi_loc.lat = packet.x;
roi_loc.lng = packet.y;
roi_loc.alt = (int32_t)(packet.z * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
}
#endif
default:
result = MAV_RESULT_UNSUPPORTED;
break;
}
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
break;
}
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
MAV_RESULT result = MAV_RESULT_UNSUPPORTED;
// do command
switch (packet.command) {
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
rover.set_mode(rover.mode_rtl, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED;
break;
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
#endif
case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED
rover.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
result = MAV_RESULT_ACCEPTED;
#endif
break;
case MAV_CMD_MISSION_START:
rover.set_mode(rover.mode_auto, MODE_REASON_GCS_COMMAND);
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_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1, 1.0f)) {
// run pre_arm_checks and arm_checks and display failures
if (rover.arm_motors(AP_Arming::MAVLINK)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (is_zero(packet.param1)) {
if (rover.disarm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_FENCE_ENABLE:
result = MAV_RESULT_ACCEPTED;
switch ((uint16_t)packet.param1) {
case 0:
rover.g2.fence.enable(false);
break;
case 1:
rover.g2.fence.enable(true);
break;
default:
result = MAV_RESULT_FAILED;
break;
}
break;
case MAV_CMD_DO_SET_HOME:
{
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude
result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1, 1.0f)) {
if (rover.set_home_to_current_location(true)) {
result = MAV_RESULT_ACCEPTED;
}
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
break;
}
Location new_home_loc {};
new_home_loc.lat = static_cast<int32_t>(packet.param5 * 1.0e7f);
new_home_loc.lng = static_cast<int32_t>(packet.param6 * 1.0e7f);
new_home_loc.alt = static_cast<int32_t>(packet.param7 * 100.0f);
if (rover.set_home(new_home_loc, true)) {
result = MAV_RESULT_ACCEPTED;
}
}
break;
}
case MAV_CMD_NAV_SET_YAW_SPEED:
{
// param1 : yaw angle to adjust direction by in centidegress
// param2 : Speed - normalized to 0 .. 1
// exit if vehicle is not in Guided mode
if (rover.control_mode != &rover.mode_guided) {
break;
}
// send yaw change and target speed to guided mode controller
const float speed_max = rover.control_mode->get_speed_default();
const float target_speed = constrain_float(packet.param2 * speed_max, -speed_max, speed_max);
rover.mode_guided.set_desired_heading_delta_and_speed(packet.param1, target_speed);
result = MAV_RESULT_ACCEPTED;
break;
}
case MAV_CMD_ACCELCAL_VEHICLE_POS:
result = MAV_RESULT_FAILED;
if (rover.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
result = rover.mavlink_motor_test_start(chan, static_cast<uint8_t>(packet.param1),
static_cast<uint8_t>(packet.param2),
static_cast<int16_t>(packet.param3),
packet.param4);
break;
default:
result = handle_command_long_message(packet);
break;
}
mavlink_msg_command_ack_send_buf(
msg,
chan,
packet.command,
result);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
// and RC PWM values.
if (msg->sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
break;
}
mavlink_rc_channels_override_t packet;
mavlink_msg_rc_channels_override_decode(msg, &packet);
RC_Channels::set_override(0, packet.chan1_raw);
RC_Channels::set_override(1, packet.chan2_raw);
RC_Channels::set_override(2, packet.chan3_raw);
RC_Channels::set_override(3, packet.chan4_raw);
RC_Channels::set_override(4, packet.chan5_raw);
RC_Channels::set_override(5, packet.chan6_raw);
RC_Channels::set_override(6, packet.chan7_raw);
RC_Channels::set_override(7, packet.chan8_raw);
rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg->sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
break;
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
if (packet.target != rover.g.sysid_this_mav) {
break; // only accept control aimed at us
}
const int16_t roll = (packet.y == INT16_MAX) ? 0 : rover.channel_steer->get_radio_min() + (rover.channel_steer->get_radio_max() - rover.channel_steer->get_radio_min()) * (packet.y + 1000) / 2000.0f;
const int16_t throttle = (packet.z == INT16_MAX) ? 0 : rover.channel_throttle->get_radio_min() + (rover.channel_throttle->get_radio_max() - rover.channel_throttle->get_radio_min()) * (packet.z + 1000) / 2000.0f;
RC_Channels::set_override(uint8_t(rover.rcmap.roll() - 1), roll);
RC_Channels::set_override(uint8_t(rover.rcmap.throttle() - 1), throttle);
rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
break;
}
case MAVLINK_MSG_ID_HEARTBEAT:
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if (msg->sysid != rover.g.sysid_my_gcs) {
break;
}
rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
break;
}
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82
{
// decode packet
mavlink_set_attitude_target_t packet;
mavlink_msg_set_attitude_target_decode(msg, &packet);
// exit if vehicle is not in Guided mode
if (rover.control_mode != &rover.mode_guided) {
break;
}
// ensure type_mask specifies to use thrust
if ((packet.type_mask & MAVLINK_SET_ATT_TYPE_MASK_THROTTLE_IGNORE) != 0) {
break;
}
// convert thrust to ground speed
packet.thrust = constrain_float(packet.thrust, -1.0f, 1.0f);
const float target_speed = rover.control_mode->get_speed_default() * packet.thrust;
// if the body_yaw_rate field is ignored, convert quaternion to heading
if ((packet.type_mask & MAVLINK_SET_ATT_TYPE_MASK_YAW_RATE_IGNORE) != 0) {
// convert quaternion to heading
float target_heading_cd = degrees(Quaternion(packet.q[0], packet.q[1], packet.q[2], packet.q[3]).get_euler_yaw()) * 100.0f;
rover.mode_guided.set_desired_heading_and_speed(target_heading_cd, target_speed);
} else {
// use body_yaw_rate field
rover.mode_guided.set_desired_turn_rate_and_speed((RAD_TO_DEG * packet.body_yaw_rate) * 100.0f, target_speed);
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: // MAV ID: 84
{
// decode packet
mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
// exit if vehicle is not in Guided mode
if (rover.control_mode != &rover.mode_guided) {
break;
}
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_LOCAL_NED &&
packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED &&
packet.coordinate_frame != MAV_FRAME_BODY_NED &&
packet.coordinate_frame != MAV_FRAME_BODY_OFFSET_NED) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
// prepare target position
Location target_loc = rover.current_loc;
if (!pos_ignore) {
switch (packet.coordinate_frame) {
case MAV_FRAME_BODY_NED:
case MAV_FRAME_BODY_OFFSET_NED: {
// rotate from body-frame to NE frame
const float ne_x = packet.x * rover.ahrs.cos_yaw() - packet.y * rover.ahrs.sin_yaw();
const float ne_y = packet.x * rover.ahrs.sin_yaw() + packet.y * rover.ahrs.cos_yaw();
// add offset to current location
location_offset(target_loc, ne_x, ne_y);
}
break;
case MAV_FRAME_LOCAL_OFFSET_NED:
// add offset to current location
location_offset(target_loc, packet.x, packet.y);
break;
default:
// MAV_FRAME_LOCAL_NED interpret as an offset from home
target_loc = rover.ahrs.get_home();
location_offset(target_loc, packet.x, packet.y);
break;
}
}
float target_speed = 0.0f;
float target_yaw_cd = 0.0f;
// consume velocity and convert to target speed and heading
if (!vel_ignore) {
const float speed_max = rover.control_mode->get_speed_default();
// convert vector length into a speed
target_speed = constrain_float(safe_sqrt(sq(packet.vx) + sq(packet.vy)), -speed_max, speed_max);
// convert vector direction to target yaw
target_yaw_cd = degrees(atan2f(packet.vy, packet.vx)) * 100.0f;
// rotate target yaw if provided in body-frame
if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
target_yaw_cd = wrap_180_cd(target_yaw_cd + rover.ahrs.yaw_sensor);
}
}
// consume yaw heading
if (!yaw_ignore) {
target_yaw_cd = ToDeg(packet.yaw) * 100.0f;
// rotate target yaw if provided in body-frame
if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
target_yaw_cd = wrap_180_cd(target_yaw_cd + rover.ahrs.yaw_sensor);
}
}
// consume yaw rate
float target_turn_rate_cds = 0.0f;
if (!yaw_rate_ignore) {
target_turn_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
}
// handling case when both velocity and either yaw or yaw-rate are provided
// by default, we consider that the rover will drive forward
float speed_dir = 1.0f;
if (!vel_ignore && (!yaw_ignore || !yaw_rate_ignore)) {
// Note: we are using the x-axis velocity to determine direction even though
// the frame may have been provided in MAV_FRAME_LOCAL_OFFSET_NED or MAV_FRAME_LOCAL_NED
if (is_negative(packet.vx)) {
speed_dir = -1.0f;
}
}
// set guided mode targets
if (!pos_ignore && vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
// consume position target
rover.mode_guided.set_desired_location(target_loc);
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
// consume velocity
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume velocity and turn rate
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume velocity
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume just target heading (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
} else if (pos_ignore && vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume just turn rate(probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: // MAV ID: 86
{
// decode packet
mavlink_set_position_target_global_int_t packet;
mavlink_msg_set_position_target_global_int_decode(msg, &packet);
// exit if vehicle is not in Guided mode
if (rover.control_mode != &rover.mode_guided) {
break;
}
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_GLOBAL &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
// prepare target position
Location target_loc = rover.current_loc;
if (!pos_ignore) {
// sanity check location
if (!check_latlng(packet.lat_int, packet.lon_int)) {
// result = MAV_RESULT_FAILED;
break;
}
target_loc.lat = packet.lat_int;
target_loc.lng = packet.lon_int;
}
float target_speed = 0.0f;
float target_yaw_cd = 0.0f;
// consume velocity and convert to target speed and heading
if (!vel_ignore) {
const float speed_max = rover.control_mode->get_speed_default();
// convert vector length into a speed
target_speed = constrain_float(safe_sqrt(sq(packet.vx) + sq(packet.vy)), -speed_max, speed_max);
// convert vector direction to target yaw
target_yaw_cd = degrees(atan2f(packet.vy, packet.vx)) * 100.0f;
// rotate target yaw if provided in body-frame
if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
target_yaw_cd = wrap_180_cd(target_yaw_cd + rover.ahrs.yaw_sensor);
}
}
// consume yaw heading
if (!yaw_ignore) {
target_yaw_cd = ToDeg(packet.yaw) * 100.0f;
// rotate target yaw if provided in body-frame
if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
target_yaw_cd = wrap_180_cd(target_yaw_cd + rover.ahrs.yaw_sensor);
}
}
// consume yaw rate
float target_turn_rate_cds = 0.0f;
if (!yaw_rate_ignore) {
target_turn_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
}
// handling case when both velocity and either yaw or yaw-rate are provided
// by default, we consider that the rover will drive forward
float speed_dir = 1.0f;
if (!vel_ignore && (!yaw_ignore || !yaw_rate_ignore)) {
// Note: we are using the x-axis velocity to determine direction even though
// the frame is provided in MAV_FRAME_GLOBAL_xxx
if (is_negative(packet.vx)) {
speed_dir = -1.0f;
}
}
// set guided mode targets
if (!pos_ignore && vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
// consume position target
rover.mode_guided.set_desired_location(target_loc);
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
// consume velocity
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume velocity and turn rate
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume velocity
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume just target heading (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
} else if (pos_ignore && vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume just turn rate(probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
}
break;
}
#if HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_HIL_STATE:
{
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
// set gps hil sensor
Location loc;
loc.lat = packet.lat;
loc.lng = packet.lon;
loc.alt = packet.alt/10;
Vector3f vel(packet.vx, packet.vy, packet.vz);
vel *= 0.01f;
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
packet.time_usec/1000,
loc, vel, 10, 0);
// rad/sec
Vector3f gyros;
gyros.x = packet.rollspeed;
gyros.y = packet.pitchspeed;
gyros.z = packet.yawspeed;
// m/s/s
Vector3f accels;
accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
ins.set_gyro(0, gyros);
ins.set_accel(0, accels);
compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
break;
}
#endif // HIL_MODE
#if MOUNT == ENABLED
// deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
{
rover.camera_mount.configure_msg(msg);
break;
}
// deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
case MAVLINK_MSG_ID_MOUNT_CONTROL:
{
rover.camera_mount.control_msg(msg);
break;
}
#endif // MOUNT == ENABLED
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{
handle_radio_status(msg, rover.DataFlash, rover.should_log(MASK_LOG_PM));
break;
}
// send or receive fence points with GCS
case MAVLINK_MSG_ID_FENCE_POINT: // MAV ID: 160
case MAVLINK_MSG_ID_FENCE_FETCH_POINT:
rover.g2.fence.handle_msg(*this, msg);
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
rover.rangefinder.handle_msg(msg);
rover.g2.proximity.handle_msg(msg);
break;
default:
handle_common_message(msg);
break;
} // end switch
} // end handle mavlink
