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autopilot_interface.cpp
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autopilot_interface.cpp
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/****************************************************************************
*
* Copyright (c) 2014 MAVlink Development Team. All rights reserved.
* Author: Trent Lukaczyk, <aerialhedgehog@gmail.com>
* Jaycee Lock, <jaycee.lock@gmail.com>
* Lorenz Meier, <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file autopilot_interface.cpp
*
* @brief Autopilot interface functions
*
* Functions for sending and recieving commands to an autopilot via MAVlink
*
* @author Trent Lukaczyk, <aerialhedgehog@gmail.com>
* @author Jaycee Lock, <jaycee.lock@gmail.com>
* @author Lorenz Meier, <lm@inf.ethz.ch>
*
*/
// ------------------------------------------------------------------------------
// Includes
// ------------------------------------------------------------------------------
#include <iostream>
#include "autopilot_interface.h"
#include "quaternion.h"
// ----------------------------------------------------------------------------------
// Time
// ------------------- ---------------------------------------------------------------
uint64_t
get_time_usec()
{
static struct timeval _time_stamp;
gettimeofday(&_time_stamp, NULL);
return _time_stamp.tv_sec*1000000 + _time_stamp.tv_usec;
}
// ----------------------------------------------------------------------------------
// Setpoint Helper Functions
// ----------------------------------------------------------------------------------
// choose one of the next three
/*
* Set target local ned position
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target XYZ locations
* in the Local NED frame, in meters.
*/
void
set_position(float x, float y, float z, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_POSITION;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.x = x;
sp.y = y;
sp.z = z;
printf("POSITION SETPOINT XYZ = [ %.4f , %.4f , %.4f ] \n", sp.x, sp.y, sp.z);
}
/*
* Set target local ned velocity
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target VX VY VZ
* velocities in the Local NED frame, in meters per second.
*/
void
set_velocity(float vx, float vy, float vz, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY ;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.vx = vx;
sp.vy = vy;
sp.vz = vz;
printf("VELOCITY SETPOINT UVW = [ %.4f , %.4f , %.4f ] \n", sp.vx, sp.vy, sp.vz);
}
/*
* Set target local ned acceleration
*
* Modifies a mavlink_set_position_target_local_ned_t struct with target AX AY AZ
* accelerations in the Local NED frame, in meters per second squared.
*/
void
set_acceleration(float ax, float ay, float az, mavlink_set_position_target_local_ned_t &sp)
{
// NOT IMPLEMENTED
fprintf(stderr,"set_acceleration doesn't work yet \n");
throw 1;
sp.type_mask =
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_ACCELERATION &
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_VELOCITY ;
sp.coordinate_frame = MAV_FRAME_LOCAL_NED;
sp.afx = ax;
sp.afy = ay;
sp.afz = az;
}
// the next two need to be called after one of the above
/*
* Set target local ned yaw
*
* Modifies a mavlink_set_position_target_local_ned_t struct with a target yaw
* in the Local NED frame, in radians.
*/
void
set_yaw(float yaw, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask &=
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_ANGLE ;
sp.yaw = yaw;
printf("POSITION SETPOINT YAW = %.4f \n", sp.yaw);
}
/*
* Set target local ned yaw rate
*
* Modifies a mavlink_set_position_target_local_ned_t struct with a target yaw rate
* in the Local NED frame, in radians per second.
*/
void
set_yaw_rate(float yaw_rate, mavlink_set_position_target_local_ned_t &sp)
{
sp.type_mask &=
MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_YAW_RATE ;
sp.yaw_rate = yaw_rate;
}
// ----------------------------------------------------------------------------------
// Autopilot Interface Class
// ----------------------------------------------------------------------------------
// ------------------------------------------------------------------------------
// Con/De structors
// ------------------------------------------------------------------------------
Autopilot_Interface::
Autopilot_Interface(Serial_Port *serial_port_)
{
// initialize attributes
write_count = 0;
reading_status = 0; // whether the read thread is running
writing_status = 0; // whether the write thread is running
control_status = 0; // whether the autopilot is in offboard control mode
time_to_exit = false; // flag to signal thread exit
read_tid = 0; // read thread id
write_tid = 0; // write thread id
system_id = 0; // system id
autopilot_id = 0; // autopilot component id
companion_id = 0; // companion computer component id
current_messages.sysid = system_id;
current_messages.compid = autopilot_id;
serial_port = serial_port_; // serial port management object
}
Autopilot_Interface::
~Autopilot_Interface()
{}
// ------------------------------------------------------------------------------
// Update Setpoint
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
update_setpoint(mavlink_set_position_target_local_ned_t setpoint)
{
current_setpoint = setpoint;
}
// ------------------------------------------------------------------------------
// Read Messages
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
read_messages()
{
bool success; // receive success flag
bool received_all = false; // receive only one message
Time_Stamps this_timestamps;
// Blocking wait for new data
while ( not received_all and not time_to_exit )
{
// ----------------------------------------------------------------------
// READ MESSAGE
// ----------------------------------------------------------------------
mavlink_message_t message;
success = serial_port->read_message(message);
// ----------------------------------------------------------------------
// HANDLE MESSAGE
// ----------------------------------------------------------------------
if( success )
{
// Store message sysid and compid.
// Note this doesn't handle multiple message sources.
current_messages.sysid = message.sysid;
current_messages.compid = message.compid;
// Handle Message ID
switch (message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
std::cout << "MAVLINK_MSG_ID_HEARTBEAT" << std::endl;
mavlink_msg_heartbeat_decode(&message, &(current_messages.heartbeat));
current_messages.time_stamps.heartbeat = get_time_usec();
this_timestamps.heartbeat = current_messages.time_stamps.heartbeat;
break;
}
case MAVLINK_MSG_ID_SYS_STATUS:
{
//std::cout << "MAVLINK_MSG_ID_SYS_STATUS" << std::endl;
mavlink_msg_sys_status_decode(&message, &(current_messages.sys_status));
current_messages.time_stamps.sys_status = get_time_usec();
this_timestamps.sys_status = current_messages.time_stamps.sys_status;
break;
}
case MAVLINK_MSG_ID_BATTERY_STATUS:
{
std::cout << "MAVLINK_MSG_ID_BATTERY_STATUS" << std::endl;
mavlink_msg_battery_status_decode(&message, &(current_messages.battery_status));
current_messages.time_stamps.battery_status = get_time_usec();
this_timestamps.battery_status = current_messages.time_stamps.battery_status;
break;
}
case MAVLINK_MSG_ID_RADIO_STATUS:
{
std::cout << "MAVLINK_MSG_ID_RADIO_STATUS" << std::endl;
mavlink_msg_radio_status_decode(&message, &(current_messages.radio_status));
current_messages.time_stamps.radio_status = get_time_usec();
this_timestamps.radio_status = current_messages.time_stamps.radio_status;
break;
}
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
{
std::cout << "MAVLINK_MSG_ID_LOCAL_POSITION_NED" << std::endl;
mavlink_msg_local_position_ned_decode(&message, &(current_messages.local_position_ned));
current_messages.time_stamps.local_position_ned = get_time_usec();
this_timestamps.local_position_ned = current_messages.time_stamps.local_position_ned;
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
std::cout << "MAVLINK_MSG_ID_GLOBAL_POSITION_INT" << std::endl;
mavlink_msg_global_position_int_decode(&message, &(current_messages.global_position_int));
current_messages.time_stamps.global_position_int = get_time_usec();
this_timestamps.global_position_int = current_messages.time_stamps.global_position_int;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
{
std::cout << "MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED" << std::endl;
mavlink_msg_position_target_local_ned_decode(&message, &(current_messages.position_target_local_ned));
current_messages.time_stamps.position_target_local_ned = get_time_usec();
this_timestamps.position_target_local_ned = current_messages.time_stamps.position_target_local_ned;
break;
}
case MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT:
{
std::cout << "MAVLINK_MSG_ID_POSITION_TARGET_GLOBAL_INT" << std::endl;
mavlink_msg_position_target_global_int_decode(&message, &(current_messages.position_target_global_int));
current_messages.time_stamps.position_target_global_int = get_time_usec();
this_timestamps.position_target_global_int = current_messages.time_stamps.position_target_global_int;
break;
}
case MAVLINK_MSG_ID_HIGHRES_IMU:
{
std::cout << "MAVLINK_MSG_ID_HIGHRES_IMU" << std::endl;
mavlink_msg_highres_imu_decode(&message, &(current_messages.highres_imu));
current_messages.time_stamps.highres_imu = get_time_usec();
this_timestamps.highres_imu = current_messages.time_stamps.highres_imu;
break;
}
case MAVLINK_MSG_ID_ATTITUDE:
{
vector4d quaternion;
std::cout << "MAVLINK_MSG_ID_ATTITUDE" << std::endl;
mavlink_msg_attitude_decode(&message, &(current_messages.attitude));
current_messages.time_stamps.attitude = get_time_usec();
this_timestamps.attitude = current_messages.time_stamps.attitude;
quaternion_from_euler(&quaternion, current_messages.attitude.roll,
current_messages.attitude.pitch, current_messages.attitude.yaw);
std::cout <<
"\troll: " << current_messages.attitude.roll <<
"\tpitch: " << current_messages.attitude.pitch <<
"\tyaw: " << current_messages.attitude.yaw <<
std::endl;
std::cout <<
"\trollspeed: " << current_messages.attitude.rollspeed <<
"\tpitchspeed: " << current_messages.attitude.pitchspeed <<
"\tyawspeed: " << current_messages.attitude.yawspeed <<
std::endl;
std::cout <<
"\tqx: " << quaternion.x <<
"\tqy: " << quaternion.y <<
"\tqz: " << quaternion.z <<
"\tqw: " << quaternion.w <<
std::endl;
break;
}
case MAVLINK_MSG_ID_DEBUG:
{
std::cout << "MAVLINK_MSG_ID_DEBUG" << std::endl;
/* mavlink_msg_debug_decode(&message, &(current_messages.attitude));
current_messages.time_stamps.attitude = get_time_usec();
this_timestamps.attitude = current_messages.time_stamps.attitude;*/
break;
}
case MAVLINK_MSG_ID_STATUSTEXT:
{
std::cout << "MAVLINK_MSG_ID_STATUSTEXT: ";
mavlink_msg_statustext_decode(&message, &(current_messages.statustext));
current_messages.statustext.text[50] = 0;
printf("%d - '%s'\n", current_messages.statustext.severity, current_messages.statustext.text);
current_messages.time_stamps.statustext = get_time_usec();
this_timestamps.statustext = current_messages.time_stamps.statustext;
break;
}
case MAVLINK_MSG_ID_RAW_IMU:
{
std::cout << "MAVLINK_MSG_ID_RAW_IMU:" << std::endl;
mavlink_msg_raw_imu_decode(&message, &(current_messages.raw_imu));
std::cout << "\tacc :\t" << current_messages.raw_imu.xacc <<
"\t" << current_messages.raw_imu.yacc <<
"\t" << current_messages.raw_imu.zacc <<
std::endl;
std::cout << "\tgyro:\t" << current_messages.raw_imu.xgyro <<
"\t" << current_messages.raw_imu.ygyro <<
"\t" << current_messages.raw_imu.zgyro <<
std::endl;
std::cout << "\tmag:\t" << current_messages.raw_imu.xmag <<
"\t" << current_messages.raw_imu.ymag <<
"\t" << current_messages.raw_imu.zmag <<
std::endl;
current_messages.time_stamps.raw_imu = get_time_usec();
this_timestamps.raw_imu = current_messages.time_stamps.raw_imu;
break;
}
case MAVLINK_MSG_ID_GPS_RAW_INT:
{
std::cout << "MAVLINK_MSG_ID_GPS_RAW_INT:" << std::endl;
mavlink_msg_gps_raw_int_decode(&message, &(current_messages.gps_raw_int));
current_messages.time_stamps.gps_raw_int = get_time_usec();
this_timestamps.gps_raw_int = current_messages.time_stamps.gps_raw_int;
std::cout <<
"\tlat: " << current_messages.gps_raw_int.lat <<
"\tlon: " << current_messages.gps_raw_int.lon <<
"\talt: " << current_messages.gps_raw_int.alt <<
std::endl;
std::cout <<
"\teph: " << current_messages.gps_raw_int.eph <<
"\tepv: " << current_messages.gps_raw_int.epv <<
std::endl;
std::cout <<
"\tvel: " << current_messages.gps_raw_int.vel <<
"\tcog: " << current_messages.gps_raw_int.cog <<
std::endl;
std::cout <<
"\tfix: " << (int)current_messages.gps_raw_int.fix_type <<
"\tsat: " << (int)current_messages.gps_raw_int.satellites_visible <<
std::endl;
break;
}
case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
{
vector4d quaternion;
std::cout << "MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:" << std::endl;
mavlink_msg_nav_controller_output_decode(&message, &(current_messages.nav_controller_output));
current_messages.time_stamps.nav_controller_output = get_time_usec();
this_timestamps.nav_controller_output = current_messages.time_stamps.nav_controller_output;
quaternion_from_euler(&quaternion, current_messages.nav_controller_output.nav_roll,
current_messages.nav_controller_output.nav_pitch, current_messages.nav_controller_output.nav_bearing);
std::cout <<
"\tnav_roll: " << current_messages.nav_controller_output.nav_roll <<
"\tnav_pitch: " << current_messages.nav_controller_output.nav_pitch <<
"\tnav_bearing: " << current_messages.nav_controller_output.nav_bearing <<
std::endl;
std::cout <<
"\tqx: " << quaternion.x <<
"\tqy: " << quaternion.y <<
"\tqz: " << quaternion.z <<
"\tqw: " << quaternion.w <<
std::endl;
std::cout <<
"\ttarget_bearing: " << current_messages.nav_controller_output.target_bearing <<
"\twp_dist: " << current_messages.nav_controller_output.wp_dist <<
std::endl;
std::cout <<
"\talt_error: " << current_messages.nav_controller_output.alt_error <<
"\taspd_error: " << current_messages.nav_controller_output.aspd_error <<
"\txtrack_error: " << current_messages.nav_controller_output.xtrack_error <<
std::endl;
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
std::cout << "MAVLINK_MSG_ID_SCALED_PRESSURE:" << std::endl;
mavlink_msg_scaled_pressure_decode(&message, &(current_messages.scaled_pressure));
current_messages.time_stamps.scaled_pressure = get_time_usec();
this_timestamps.scaled_pressure = current_messages.time_stamps.scaled_pressure;
std::cout <<
"\tpress_abs: " << current_messages.scaled_pressure.press_abs <<
"\tpress_diff: " << current_messages.scaled_pressure.press_diff <<
"\ttemperature: " << ((double)current_messages.scaled_pressure.temperature / 100.0) <<
std::endl;
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
std::cout << "MAVLINK_MSG_ID_RC_CHANNELS_RAW:" << std::endl;
mavlink_msg_rc_channels_raw_decode(&message, &(current_messages.rc_channels_raw));
current_messages.time_stamps.rc_channels_raw = get_time_usec();
this_timestamps.rc_channels_raw = current_messages.time_stamps.rc_channels_raw;
std::cout <<
"\tport: " << (int)current_messages.rc_channels_raw.port <<
"\tchan1_raw: " << current_messages.rc_channels_raw.chan1_raw <<
"\tchan2_raw: " << current_messages.rc_channels_raw.chan2_raw <<
"\tchan3_raw: " << current_messages.rc_channels_raw.chan3_raw <<
"\tchan4_raw: " << current_messages.rc_channels_raw.chan4_raw <<
"\tchan5_raw: " << current_messages.rc_channels_raw.chan5_raw <<
"\tchan6_raw: " << current_messages.rc_channels_raw.chan6_raw <<
"\tchan7_raw: " << current_messages.rc_channels_raw.chan7_raw <<
"\tchan8_raw: " << current_messages.rc_channels_raw.chan8_raw <<
"\trssi: " << (int)current_messages.rc_channels_raw.rssi <<
std::endl;
break;
}
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
{
std::cout << "MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:" << std::endl;
mavlink_msg_servo_output_raw_decode(&message, &(current_messages.servo_output_raw));
current_messages.time_stamps.servo_output_raw = get_time_usec();
this_timestamps.servo_output_raw = current_messages.time_stamps.servo_output_raw;
std::cout <<
"\tport: " << (int)current_messages.servo_output_raw.port <<
"\tservo1_raw: " << current_messages.servo_output_raw.servo1_raw <<
"\tservo2_raw: " << current_messages.servo_output_raw.servo2_raw <<
"\tservo3_raw: " << current_messages.servo_output_raw.servo3_raw <<
"\tservo4_raw: " << current_messages.servo_output_raw.servo4_raw <<
"\tservo5_raw: " << current_messages.servo_output_raw.servo5_raw <<
"\tservo6_raw: " << current_messages.servo_output_raw.servo6_raw <<
"\tservo7_raw: " << current_messages.servo_output_raw.servo7_raw <<
"\tservo8_raw: " << current_messages.servo_output_raw.servo8_raw <<
std::endl;
break;
}
case MAVLINK_MSG_ID_VFR_HUD:
{
std::cout << "MAVLINK_MSG_ID_VFR_HUD:" << std::endl;
mavlink_msg_vfr_hud_decode(&message, &(current_messages.vfr_hud));
current_messages.time_stamps.vfr_hud = get_time_usec();
this_timestamps.vfr_hud = current_messages.time_stamps.vfr_hud;
std::cout <<
"\tairspeed: " << current_messages.vfr_hud.airspeed <<
"\tgroundspeed: " << current_messages.vfr_hud.groundspeed <<
"\theading: " << current_messages.vfr_hud.heading <<
std::endl;
std::cout <<
"\tthrottle: " << current_messages.vfr_hud.throttle <<
"\talt: " << current_messages.vfr_hud.alt <<
"\tclimb: " << current_messages.vfr_hud.climb <<
std::endl;
break;
}
case MAVLINK_MSG_ID_MISSION_CURRENT:
{
std::cout << "MAVLINK_MSG_ID_MISSION_CURRENT: ";
mavlink_msg_mission_current_decode(&message, &(current_messages.mission_current));
current_messages.time_stamps.mission_current = get_time_usec();
this_timestamps.mission_current = current_messages.time_stamps.mission_current;
std::cout <<
"seq: " << current_messages.mission_current.seq <<
std::endl;
break;
}
default:
{
printf("Warning, did not handle message id %i\n",message.msgid);
break;
}
} // end: switch msgid
} // end: if read message
// Check for receipt of all items
received_all =
this_timestamps.heartbeat &&
this_timestamps.sys_status &&
// this_timestamps.battery_status &&
// this_timestamps.radio_status &&
this_timestamps.local_position_ned &&
// this_timestamps.global_position_int &&
// this_timestamps.position_target_local_ned &&
this_timestamps.position_target_global_int &&
this_timestamps.highres_imu &&
this_timestamps.attitude ;
// give the write thread time to use the port
if ( writing_status > false )
usleep(100); // look for components of batches at 10kHz
} // end: while not received all
return;
}
// ------------------------------------------------------------------------------
// Write Message
// ------------------------------------------------------------------------------
int
Autopilot_Interface::
write_message(mavlink_message_t message)
{
// do the write
int len = serial_port->write_message(message);
// book keep
write_count++;
// Done!
return len;
}
// ------------------------------------------------------------------------------
// Write Setpoint Message
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
write_setpoint()
{
// --------------------------------------------------------------------------
// PACK PAYLOAD
// --------------------------------------------------------------------------
// pull from position target
mavlink_set_position_target_local_ned_t sp = current_setpoint;
// double check some system parameters
if ( not sp.time_boot_ms )
sp.time_boot_ms = (uint32_t) (get_time_usec()/1000);
sp.target_system = system_id;
sp.target_component = autopilot_id;
// --------------------------------------------------------------------------
// ENCODE
// --------------------------------------------------------------------------
mavlink_message_t message;
mavlink_msg_set_position_target_local_ned_encode(system_id, companion_id, &message, &sp);
// --------------------------------------------------------------------------
// WRITE
// --------------------------------------------------------------------------
// do the write
int len = write_message(message);
// check the write
if ( not len > 0 )
fprintf(stderr,"WARNING: could not send POSITION_TARGET_LOCAL_NED \n");
// else
// printf("%lu POSITION_TARGET = [ %f , %f , %f ] \n", write_count, position_target.x, position_target.y, position_target.z);
return;
}
// ------------------------------------------------------------------------------
// Start Off-Board Mode
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
enable_offboard_control()
{
// Should only send this command once
if ( control_status == false )
{
printf("ENABLE OFFBOARD MODE\n");
// ----------------------------------------------------------------------
// TOGGLE OFF-BOARD MODE
// ----------------------------------------------------------------------
// Sends the command to go off-board
int success = toggle_offboard_control( true );
// Check the command was written
if ( success )
control_status = true;
else
{
fprintf(stderr,"Error: off-board mode not set, could not write message\n");
//throw EXIT_FAILURE;
}
printf("\n");
} // end: if not offboard_status
}
// ------------------------------------------------------------------------------
// Stop Off-Board Mode
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
disable_offboard_control()
{
// Should only send this command once
if ( control_status == true )
{
printf("DISABLE OFFBOARD MODE\n");
// ----------------------------------------------------------------------
// TOGGLE OFF-BOARD MODE
// ----------------------------------------------------------------------
// Sends the command to stop off-board
int success = toggle_offboard_control( false );
// Check the command was written
if ( success )
control_status = false;
else
{
fprintf(stderr,"Error: off-board mode not set, could not write message\n");
//throw EXIT_FAILURE;
}
printf("\n");
} // end: if offboard_status
}
// ------------------------------------------------------------------------------
// Toggle Off-Board Mode
// ------------------------------------------------------------------------------
int
Autopilot_Interface::
toggle_offboard_control( bool flag )
{
// Prepare command for off-board mode
mavlink_command_long_t com;
com.target_system = system_id;
com.target_component = autopilot_id;
com.command = MAV_CMD_NAV_GUIDED_ENABLE;
com.confirmation = true;
com.param1 = (float) flag; // flag >0.5 => start, <0.5 => stop
// Encode
mavlink_message_t message;
mavlink_msg_command_long_encode(system_id, companion_id, &message, &com);
// Send the message
int len = serial_port->write_message(message);
// Done!
return len;
}
// ------------------------------------------------------------------------------
// STARTUP
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
start()
{
int result;
// --------------------------------------------------------------------------
// CHECK SERIAL PORT
// --------------------------------------------------------------------------
if ( not serial_port->status == 1 ) // SERIAL_PORT_OPEN
{
fprintf(stderr,"ERROR: serial port not open\n");
throw 1;
}
// --------------------------------------------------------------------------
// READ THREAD
// --------------------------------------------------------------------------
printf("START READ THREAD \n");
result = pthread_create( &read_tid, NULL, &start_autopilot_interface_read_thread, this );
if ( result ) throw result;
// now we're reading messages
printf("\n");
// --------------------------------------------------------------------------
// CHECK FOR MESSAGES
// --------------------------------------------------------------------------
printf("CHECK FOR MESSAGES\n");
while ( not current_messages.sysid )
{
if ( time_to_exit )
return;
usleep(500000); // check at 2Hz
}
printf("Found\n");
// now we know autopilot is sending messages
printf("\n");
// --------------------------------------------------------------------------
// GET SYSTEM and COMPONENT IDs
// --------------------------------------------------------------------------
// This comes from the heartbeat, which in theory should only come from
// the autopilot we're directly connected to it. If there is more than one
// vehicle then we can't expect to discover id's like this.
// In which case set the id's manually.
// System ID
if ( not system_id )
{
system_id = current_messages.sysid;
printf("GOT VEHICLE SYSTEM ID: %i\n", system_id );
}
// Component ID
if ( not autopilot_id )
{
autopilot_id = current_messages.compid;
printf("GOT AUTOPILOT COMPONENT ID: %i\n", autopilot_id);
printf("\n");
}
////////////////////////////////////////////////////////////////////////////////
mavlink_message_t message;
mavlink_request_data_stream_t req;
req.req_message_rate = 1;
req.req_stream_id = MAV_DATA_STREAM_ALL;
//req.req_stream_id = MAV_DATA_STREAM_RAW_SENSORS;
req.start_stop = 1;
req.target_system = current_messages.sysid;
req.target_component = current_messages.compid;
mavlink_msg_request_data_stream_encode(system_id, companion_id, &message, &req);
// Send the message
int len = serial_port->write_message(message);
////////////////////////////////////////////////////////////////////////////////
// --------------------------------------------------------------------------
// GET INITIAL POSITION
// --------------------------------------------------------------------------
// Wait for initial position ned
// while ( not ( current_messages.time_stamps.local_position_ned &&
while ( not ( current_messages.time_stamps.raw_imu &&
current_messages.time_stamps.attitude ) )
{
if ( time_to_exit )
return;
usleep(500000);
}
// copy initial position ned
Mavlink_Messages local_data = current_messages;
initial_position.x = local_data.local_position_ned.x;
initial_position.y = local_data.local_position_ned.y;
initial_position.z = local_data.local_position_ned.z;
initial_position.vx = local_data.local_position_ned.vx;
initial_position.vy = local_data.local_position_ned.vy;
initial_position.vz = local_data.local_position_ned.vz;
initial_position.yaw = local_data.attitude.yaw;
initial_position.yaw_rate = local_data.attitude.yawspeed;
printf("INITIAL POSITION XYZ = [ %.4f , %.4f , %.4f ] \n", initial_position.x, initial_position.y, initial_position.z);
printf("INITIAL POSITION YAW = %.4f \n", initial_position.yaw);
printf("\n");
// we need this before starting the write thread
// --------------------------------------------------------------------------
// WRITE THREAD
// --------------------------------------------------------------------------
printf("START WRITE THREAD \n");
result = pthread_create( &write_tid, NULL, &start_autopilot_interface_write_thread, this );
if ( result ) throw result;
// wait for it to be started
// while ( not writing_status )
while ( true )
usleep(100000); // 10Hz
// now we're streaming setpoint commands
printf("\n");
// Done!
return;
}
// ------------------------------------------------------------------------------
// SHUTDOWN
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
stop()
{
// --------------------------------------------------------------------------
// CLOSE THREADS
// --------------------------------------------------------------------------
printf("CLOSE THREADS\n");
// signal exit
time_to_exit = true;
// wait for exit
pthread_join(read_tid ,NULL);
pthread_join(write_tid,NULL);
// now the read and write threads are closed
printf("\n");
// still need to close the serial_port separately
}
// ------------------------------------------------------------------------------
// Read Thread
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
start_read_thread()
{
if ( reading_status != 0 )
{
fprintf(stderr,"read thread already running\n");
return;
}
else
{
read_thread();
return;
}
}
// ------------------------------------------------------------------------------
// Write Thread
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
start_write_thread(void)
{
if ( not writing_status == false )
{
fprintf(stderr,"write thread already running\n");
return;
}
else
{
write_thread();
return;
}
}
// ------------------------------------------------------------------------------
// Quit Handler
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
handle_quit( int sig )
{
disable_offboard_control();
try {
stop();
}
catch (int error) {
fprintf(stderr,"Warning, could not stop autopilot interface\n");
}
}
// ------------------------------------------------------------------------------
// Read Thread
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
read_thread()
{
reading_status = true;