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
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
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;
}
uint32_t tnow = AP_HAL::millis();
mavlink_rc_channels_override_t packet;
mavlink_msg_rc_channels_override_decode(msg, &packet);
RC_Channels::set_override(0, packet.chan1_raw, tnow);
RC_Channels::set_override(1, packet.chan2_raw, tnow);
RC_Channels::set_override(2, packet.chan3_raw, tnow);
RC_Channels::set_override(3, packet.chan4_raw, tnow);
RC_Channels::set_override(4, packet.chan5_raw, tnow);
RC_Channels::set_override(5, packet.chan6_raw, tnow);
RC_Channels::set_override(6, packet.chan7_raw, tnow);
RC_Channels::set_override(7, packet.chan8_raw, tnow);
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
}
uint32_t tnow = AP_HAL::millis();
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, tnow);
RC_Channels::set_override(uint8_t(rover.rcmap.throttle() - 1), throttle, tnow);
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 = 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) {
// 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) {
// 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
void MavlinkComm::_handleMessage(mavlink_message_t * msg) {
uint32_t timeStamp = micros();
switch (msg->msgid) {
_board->debug->printf_P(PSTR("message received: %d"), msg->msgid);
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_heartbeat_t packet;
mavlink_msg_heartbeat_decode(msg, &packet);
_lastHeartBeat = micros();
break;
}
case MAVLINK_MSG_ID_GPS_RAW: {
// decode
mavlink_gps_raw_t packet;
mavlink_msg_gps_raw_decode(msg, &packet);
_navigator->setTimeStamp(timeStamp);
_navigator->setLat(packet.lat * deg2Rad);
_navigator->setLon(packet.lon * deg2Rad);
_navigator->setAlt(packet.alt);
_navigator->setYaw(packet.hdg * deg2Rad);
_navigator->setGroundSpeed(packet.v);
_navigator->setAirSpeed(packet.v);
//_board->debug->printf_P(PSTR("received hil gps raw packet\n"));
/*
_board->debug->printf_P(PSTR("received lat: %f deg\tlon: %f deg\talt: %f m\n"),
packet.lat,
packet.lon,
packet.alt);
*/
break;
}
case MAVLINK_MSG_ID_HIL_STATE: {
// decode
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
_navigator->setTimeStamp(timeStamp);
_navigator->setRoll(packet.roll);
_navigator->setPitch(packet.pitch);
_navigator->setYaw(packet.yaw);
_navigator->setRollRate(packet.rollspeed);
_navigator->setPitchRate(packet.pitchspeed);
_navigator->setYawRate(packet.yawspeed);
_navigator->setVN(packet.vx/ 1e2);
_navigator->setVE(packet.vy/ 1e2);
_navigator->setVD(packet.vz/ 1e2);
_navigator->setLat_degInt(packet.lat);
_navigator->setLon_degInt(packet.lon);
_navigator->setAlt(packet.alt / 1e3);
_navigator->setXAccel(packet.xacc/ 1e3);
_navigator->setYAccel(packet.xacc/ 1e3);
_navigator->setZAccel(packet.xacc/ 1e3);
break;
}
case MAVLINK_MSG_ID_ATTITUDE: {
// decode
mavlink_attitude_t packet;
mavlink_msg_attitude_decode(msg, &packet);
// set dcm hil sensor
_navigator->setTimeStamp(timeStamp);
_navigator->setRoll(packet.roll);
_navigator->setPitch(packet.pitch);
_navigator->setYaw(packet.yaw);
_navigator->setRollRate(packet.rollspeed);
_navigator->setPitchRate(packet.pitchspeed);
_navigator->setYawRate(packet.yawspeed);
//_board->debug->printf_P(PSTR("received hil attitude packet\n"));
break;
}
case MAVLINK_MSG_ID_ACTION: {
// decode
mavlink_action_t packet;
mavlink_msg_action_decode(msg, &packet);
if (_checkTarget(packet.target, packet.target_component))
break;
// do action
sendText(SEVERITY_LOW, PSTR("action received"));
switch (packet.action) {
case MAV_ACTION_STORAGE_READ:
AP_Var::load_all();
break;
case MAV_ACTION_STORAGE_WRITE:
AP_Var::save_all();
break;
case MAV_ACTION_MOTORS_START:
_controller->setMode(MAV_MODE_READY);
break;
case MAV_ACTION_CALIBRATE_GYRO:
case MAV_ACTION_CALIBRATE_MAG:
case MAV_ACTION_CALIBRATE_ACC:
case MAV_ACTION_CALIBRATE_PRESSURE:
_controller->setMode(MAV_MODE_LOCKED);
_navigator->calibrate();
break;
case MAV_ACTION_EMCY_KILL:
case MAV_ACTION_CONFIRM_KILL:
case MAV_ACTION_MOTORS_STOP:
case MAV_ACTION_SHUTDOWN:
_controller->setMode(MAV_MODE_LOCKED);
break;
case MAV_ACTION_LAUNCH:
case MAV_ACTION_TAKEOFF:
_guide->setMode(MAV_NAV_LIFTOFF);
break;
case MAV_ACTION_LAND:
_guide->setCurrentIndex(0);
_guide->setMode(MAV_NAV_LANDING);
break;
case MAV_ACTION_EMCY_LAND:
_guide->setMode(MAV_NAV_LANDING);
break;
case MAV_ACTION_LOITER:
case MAV_ACTION_HALT:
_guide->setMode(MAV_NAV_LOITER);
break;
case MAV_ACTION_SET_AUTO:
_controller->setMode(MAV_MODE_AUTO);
break;
case MAV_ACTION_SET_MANUAL:
_controller->setMode(MAV_MODE_MANUAL);
break;
case MAV_ACTION_RETURN:
_guide->setMode(MAV_NAV_RETURNING);
break;
case MAV_ACTION_NAVIGATE:
case MAV_ACTION_CONTINUE:
_guide->setMode(MAV_NAV_WAYPOINT);
break;
case MAV_ACTION_CALIBRATE_RC:
case MAV_ACTION_REBOOT:
case MAV_ACTION_REC_START:
case MAV_ACTION_REC_PAUSE:
case MAV_ACTION_REC_STOP:
sendText(SEVERITY_LOW, PSTR("action not implemented"));
break;
default:
sendText(SEVERITY_LOW, PSTR("unknown action"));
break;
}
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: {
sendText(SEVERITY_LOW, PSTR("waypoint request list"));
// decode
mavlink_waypoint_request_list_t packet;
mavlink_msg_waypoint_request_list_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_waypoint_count_send(_channel, msg->sysid, msg->compid,
_guide->getNumberOfCommands());
_cmdTimeLastSent = millis();
_cmdTimeLastReceived = millis();
_sendingCmds = true;
_receivingCmds = false;
_cmdDestSysId = msg->sysid;
_cmdDestCompId = msg->compid;
break;
}
case MAVLINK_MSG_ID_WAYPOINT_REQUEST: {
sendText(SEVERITY_LOW, PSTR("waypoint request"));
// Check if sending waypiont
if (!_sendingCmds)
break;
// decode
mavlink_waypoint_request_t packet;
mavlink_msg_waypoint_request_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
_board->debug->printf_P(PSTR("sequence: %d\n"),packet.seq);
AP_MavlinkCommand cmd(packet.seq);
mavlink_waypoint_t wp = cmd.convert(_guide->getCurrentIndex());
mavlink_msg_waypoint_send(_channel, _cmdDestSysId, _cmdDestCompId,
wp.seq, wp.frame, wp.command, wp.current, wp.autocontinue,
wp.param1, wp.param2, wp.param3, wp.param4, wp.x, wp.y,
wp.z);
// update last waypoint comm stamp
_cmdTimeLastSent = millis();
break;
}
case MAVLINK_MSG_ID_WAYPOINT_ACK: {
sendText(SEVERITY_LOW, PSTR("waypoint ack"));
// decode
mavlink_waypoint_ack_t packet;
mavlink_msg_waypoint_ack_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// check for error
//uint8_t type = packet.type; // ok (0), error(1)
// turn off waypoint send
_sendingCmds = false;
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
sendText(SEVERITY_LOW, PSTR("param request list"));
// decode
mavlink_param_request_list_t packet;
mavlink_msg_param_request_list_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// Start sending parameters - next call to ::update will kick the first one out
_queuedParameter = AP_Var::first();
_queuedParameterIndex = 0;
break;
}
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: {
sendText(SEVERITY_LOW, PSTR("waypoint clear all"));
// decode
mavlink_waypoint_clear_all_t packet;
mavlink_msg_waypoint_clear_all_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// clear all waypoints
uint8_t type = 0; // ok (0), error(1)
_guide->setNumberOfCommands(1);
_guide->setCurrentIndex(0);
// send acknowledgement 3 times to makes sure it is received
for (int i = 0; i < 3; i++)
mavlink_msg_waypoint_ack_send(_channel, msg->sysid,
msg->compid, type);
break;
}
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: {
sendText(SEVERITY_LOW, PSTR("waypoint set current"));
// decode
mavlink_waypoint_set_current_t packet;
mavlink_msg_waypoint_set_current_decode(msg, &packet);
Serial.print("Packet Sequence:");
Serial.println(packet.seq);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// set current waypoint
Serial.print("Current Index:");
Serial.println(_guide->getCurrentIndex());
Serial.flush();
_guide->setCurrentIndex(packet.seq);
mavlink_msg_waypoint_current_send(_channel,
_guide->getCurrentIndex());
break;
}
case MAVLINK_MSG_ID_WAYPOINT_COUNT: {
sendText(SEVERITY_LOW, PSTR("waypoint count"));
// decode
mavlink_waypoint_count_t packet;
mavlink_msg_waypoint_count_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// start waypoint receiving
if (packet.count > _cmdMax) {
packet.count = _cmdMax;
}
_cmdNumberRequested = packet.count;
_cmdTimeLastReceived = millis();
_receivingCmds = true;
_sendingCmds = false;
_cmdRequestIndex = 0;
break;
}
case MAVLINK_MSG_ID_WAYPOINT: {
sendText(SEVERITY_LOW, PSTR("waypoint"));
// Check if receiving waypiont
if (!_receivingCmds) {
//sendText(SEVERITY_HIGH, PSTR("not receiving commands"));
break;
}
// decode
mavlink_waypoint_t packet;
mavlink_msg_waypoint_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// check if this is the requested waypoint
if (packet.seq != _cmdRequestIndex) {
char warningMsg[50];
sprintf(warningMsg,
"waypoint request out of sequence: (packet) %d / %d (ap)",
packet.seq, _cmdRequestIndex);
sendText(SEVERITY_HIGH, warningMsg);
break;
}
_board->debug->printf_P(PSTR("received waypoint x: %f\ty: %f\tz: %f\n"),
packet.x,
packet.y,
packet.z);
// store waypoint
AP_MavlinkCommand command(packet);
//sendText(SEVERITY_HIGH, PSTR("waypoint stored"));
_cmdRequestIndex++;
if (_cmdRequestIndex == _cmdNumberRequested) {
sendMessage(MAVLINK_MSG_ID_WAYPOINT_ACK);
_receivingCmds = false;
_guide->setNumberOfCommands(_cmdNumberRequested);
// make sure curernt waypoint still exists
if (_cmdNumberRequested > _guide->getCurrentIndex()) {
_guide->setCurrentIndex(0);
mavlink_msg_waypoint_current_send(_channel,
_guide->getCurrentIndex());
}
//sendText(SEVERITY_LOW, PSTR("waypoint ack sent"));
} else if (_cmdRequestIndex > _cmdNumberRequested) {
_receivingCmds = false;
}
_cmdTimeLastReceived = millis();
break;
}
case MAVLINK_MSG_ID_PARAM_SET: {
sendText(SEVERITY_LOW, PSTR("param set"));
AP_Var *vp;
AP_Meta_class::Type_id var_type;
// decode
mavlink_param_set_t packet;
mavlink_msg_param_set_decode(msg, &packet);
if (_checkTarget(packet.target_system, packet.target_component))
break;
// set parameter
char key[_paramNameLengthMax + 1];
strncpy(key, (char *) packet.param_id, _paramNameLengthMax);
key[_paramNameLengthMax] = 0;
// find the requested parameter
vp = AP_Var::find(key);
if ((NULL != vp) && // exists
!isnan(packet.param_value) && // not nan
!isinf(packet.param_value)) { // not inf
// add a small amount before casting parameter values
// from float to integer to avoid truncating to the
// next lower integer value.
const float rounding_addition = 0.01;
// fetch the variable type ID
var_type = vp->meta_type_id();
// handle variables with standard type IDs
if (var_type == AP_Var::k_typeid_float) {
((AP_Float *) vp)->set_and_save(packet.param_value);
} else if (var_type == AP_Var::k_typeid_float16) {
((AP_Float16 *) vp)->set_and_save(packet.param_value);
} else if (var_type == AP_Var::k_typeid_int32) {
((AP_Int32 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else if (var_type == AP_Var::k_typeid_int16) {
((AP_Int16 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else if (var_type == AP_Var::k_typeid_int8) {
((AP_Int8 *) vp)->set_and_save(
packet.param_value + rounding_addition);
} else {
// we don't support mavlink set on this parameter
break;
}
// Report back the new value if we accepted the change
// we send the value we actually set, which could be
// different from the value sent, in case someone sent
// a fractional value to an integer type
mavlink_msg_param_value_send(_channel, (int8_t *) key,
vp->cast_to_float(), _countParameters(), -1); // XXX we don't actually know what its index is...
}
break;
} // end case
}
}
void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
#if GEOFENCE_ENABLED == ENABLED
// receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: {
mavlink_fence_point_t packet;
mavlink_msg_fence_point_decode(msg, &packet);
if (plane.g.fence_action != FENCE_ACTION_NONE) {
send_text(MAV_SEVERITY_WARNING,"Fencing must be disabled");
} else if (packet.count != plane.g.fence_total) {
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
} else if (!check_latlng(packet.lat,packet.lng)) {
send_text(MAV_SEVERITY_WARNING,"Invalid fence point, lat or lng too large");
} else {
plane.set_fence_point_with_index(Vector2l(packet.lat*1.0e7f, packet.lng*1.0e7f), packet.idx);
}
break;
}
// send a fence point to GCS
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
mavlink_fence_fetch_point_t packet;
mavlink_msg_fence_fetch_point_decode(msg, &packet);
if (packet.idx >= plane.g.fence_total) {
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
} else {
Vector2l point = plane.get_fence_point_with_index(packet.idx);
mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, plane.g.fence_total,
point.x*1.0e-7f, point.y*1.0e-7f);
}
break;
}
#endif // GEOFENCE_ENABLED
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg->sysid != plane.g.sysid_my_gcs) {
break; // only accept control from our gcs
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
if (packet.target != plane.g.sysid_this_mav) {
break; // only accept messages aimed at us
}
uint32_t tnow = AP_HAL::millis();
manual_override(plane.channel_roll, packet.y, 1000, 2000, tnow);
manual_override(plane.channel_pitch, packet.x, 1000, 2000, tnow, true);
manual_override(plane.channel_throttle, packet.z, 0, 1000, tnow);
manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
plane.failsafe.last_heartbeat_ms = tnow;
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 != plane.g.sysid_my_gcs) break;
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
case MAVLINK_MSG_ID_HIL_STATE:
{
#if HIL_SUPPORT
if (plane.g.hil_mode != 1) {
break;
}
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
last_hil_state = packet;
// set gps hil sensor
const Location loc{packet.lat, packet.lon, packet.alt/10, Location::AltFrame::ABSOLUTE};
Vector3f vel(packet.vx, packet.vy, packet.vz);
vel *= 0.01f;
// setup airspeed pressure based on 3D speed, no wind
plane.airspeed.setHIL(sq(vel.length()) / 2.0f + 2013);
plane.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*0.001f;
accels.y = packet.yacc * GRAVITY_MSS*0.001f;
accels.z = packet.zacc * GRAVITY_MSS*0.001f;
plane.ins.set_gyro(0, gyros);
plane.ins.set_accel(0, accels);
plane.barometer.setHIL(packet.alt*0.001f);
plane.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
plane.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
// cope with DCM getting badly off due to HIL lag
if (plane.g.hil_err_limit > 0 &&
(fabsf(packet.roll - plane.ahrs.roll) > ToRad(plane.g.hil_err_limit) ||
fabsf(packet.pitch - plane.ahrs.pitch) > ToRad(plane.g.hil_err_limit) ||
wrap_PI(fabsf(packet.yaw - plane.ahrs.yaw)) > ToRad(plane.g.hil_err_limit))) {
plane.ahrs.reset_attitude(packet.roll, packet.pitch, packet.yaw);
}
#endif
break;
}
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{
handle_radio_status(msg, plane.should_log(MASK_LOG_PM));
break;
}
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
plane.rangefinder.handle_msg(msg);
break;
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE
plane.terrain.handle_data(chan, msg);
#endif
break;
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
{
// Only allow companion computer (or other external controller) to
// control attitude in GUIDED mode. We DON'T want external control
// in e.g., RTL, CICLE. Specifying a single mode for companion
// computer control is more safe (even more so when using
// FENCE_ACTION = 4 for geofence failures).
if ((plane.control_mode != &plane.mode_guided) &&
(plane.control_mode != &plane.mode_avoidADSB)) { // don't screw up failsafes
break;
}
mavlink_set_attitude_target_t att_target;
mavlink_msg_set_attitude_target_decode(msg, &att_target);
// Mappings: If any of these bits are set, the corresponding input should be ignored.
// NOTE, when parsing the bits we invert them for easier interpretation but transport has them inverted
// bit 1: body roll rate
// bit 2: body pitch rate
// bit 3: body yaw rate
// bit 4: unknown
// bit 5: unknown
// bit 6: reserved
// bit 7: throttle
// bit 8: attitude
// if not setting all Quaternion values, use _rate flags to indicate which fields.
// Extract the Euler roll angle from the Quaternion.
Quaternion q(att_target.q[0], att_target.q[1],
att_target.q[2], att_target.q[3]);
// NOTE: att_target.type_mask is inverted for easier interpretation
att_target.type_mask = att_target.type_mask ^ 0xFF;
uint8_t attitude_mask = att_target.type_mask & 0b10000111; // q plus rpy
uint32_t now = AP_HAL::millis();
if ((attitude_mask & 0b10000001) || // partial, including roll
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.x = degrees(q.get_euler_roll()) * 100.0f;
// Update timer for external roll to the nav control
plane.guided_state.last_forced_rpy_ms.x = now;
}
if ((attitude_mask & 0b10000010) || // partial, including pitch
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.y = degrees(q.get_euler_pitch()) * 100.0f;
// Update timer for external pitch to the nav control
plane.guided_state.last_forced_rpy_ms.y = now;
}
if ((attitude_mask & 0b10000100) || // partial, including yaw
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.z = degrees(q.get_euler_yaw()) * 100.0f;
// Update timer for external yaw to the nav control
plane.guided_state.last_forced_rpy_ms.z = now;
}
if (att_target.type_mask & 0b01000000) { // throttle
plane.guided_state.forced_throttle = att_target.thrust * 100.0f;
// Update timer for external throttle
plane.guided_state.last_forced_throttle_ms = now;
}
break;
}
case MAVLINK_MSG_ID_SET_HOME_POSITION:
{
mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(msg, &packet);
Location new_home_loc {};
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
if (!set_home(new_home_loc, false)) {
// silently fails...
break;
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
{
// 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 (plane.control_mode != &plane.mode_guided) {
break;
}
// only local moves for now
if (packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED) {
break;
}
// just do altitude for now
plane.next_WP_loc.alt += -packet.z*100.0;
gcs().send_text(MAV_SEVERITY_INFO, "Change alt to %.1f",
(double)((plane.next_WP_loc.alt - plane.home.alt)*0.01));
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
{
// Only want to allow companion computer position control when
// in a certain mode to avoid inadvertently sending these
// kinds of commands when the autopilot is responding to problems
// in modes such as RTL, CIRCLE, etc. Specifying ONLY one mode
// for companion computer control is more safe (provided
// one uses the FENCE_ACTION = 4 (RTL) for geofence failures).
if (plane.control_mode != &plane.mode_guided && plane.control_mode != &plane.mode_avoidADSB) {
//don't screw up failsafes
break;
}
mavlink_set_position_target_global_int_t pos_target;
mavlink_msg_set_position_target_global_int_decode(msg, &pos_target);
// Unexpectedly, the mask is expecting "ones" for dimensions that should
// be IGNORNED rather than INCLUDED. See mavlink documentation of the
// SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3)
bool msg_valid = true;
AP_Mission::Mission_Command cmd = {0};
if (pos_target.type_mask & alt_mask)
{
cmd.content.location.alt = pos_target.alt * 100;
cmd.content.location.relative_alt = false;
cmd.content.location.terrain_alt = false;
switch (pos_target.coordinate_frame)
{
case MAV_FRAME_GLOBAL_INT:
break; //default to MSL altitude
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
cmd.content.location.relative_alt = true;
break;
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
cmd.content.location.relative_alt = true;
cmd.content.location.terrain_alt = true;
break;
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT");
msg_valid = false;
break;
}
if (msg_valid) {
handle_change_alt_request(cmd);
}
} // end if alt_mask
break;
}
case MAVLINK_MSG_ID_ADSB_VEHICLE:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
plane.adsb.handle_message(chan, msg);
break;
default:
handle_common_message(msg);
break;
} // end switch
} // end handle mavlink
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
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);
}
}
}
}
int main(int argc, char* argv[])
{
// Initialize MAVLink
mavlink_wpm_init(&wpm);
mavlink_system.sysid = 5;
mavlink_system.compid = 20;
mavlink_pm_reset_params(&pm);
int32_t ground_distance;
uint32_t time_ms;
// Create socket
sock = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
// Check if --help flag was used
if ((argc == 2) && (strcmp(argv[1], help) == 0))
{
printf("\n");
printf("\tUsage:\n\n");
printf("\t");
printf("%s", argv[0]);
printf(" <ip address of QGroundControl>\n");
printf("\tDefault for localhost: udp-server 127.0.0.1\n\n");
exit(EXIT_FAILURE);
}
// Change the target ip if parameter was given
strcpy(target_ip, "127.0.0.1");
if (argc == 2)
{
strcpy(target_ip, argv[1]);
}
memset(&locAddr, 0, sizeof(locAddr));
locAddr.sin_family = AF_INET;
locAddr.sin_addr.s_addr = INADDR_ANY;
locAddr.sin_port = htons(14551);
/* Bind the socket to port 14551 - necessary to receive packets from qgroundcontrol */
if (-1 == bind(sock,(struct sockaddr *)&locAddr, sizeof(struct sockaddr)))
{
perror("error bind failed");
close(sock);
exit(EXIT_FAILURE);
}
/* Attempt to make it non blocking */
if (fcntl(sock, F_SETFL, O_NONBLOCK | FASYNC) < 0)
{
fprintf(stderr, "error setting nonblocking: %s\n", strerror(errno));
close(sock);
exit(EXIT_FAILURE);
}
memset(&gcAddr, 0, sizeof(gcAddr));
gcAddr.sin_family = AF_INET;
gcAddr.sin_addr.s_addr = inet_addr(target_ip);
gcAddr.sin_port = htons(14550);
printf("MAVLINK MISSION LIBRARY EXAMPLE PROCESS INITIALIZATION DONE, RUNNING..\n");
for (;;)
{
bytes_sent = 0;
/* Send Heartbeat */
mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, 0, 0, 0);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send Status */
mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE, 500, 7500, 0, 0, 0, 0, 0, 0, 0, 0);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
/* Send Local Position */
mavlink_msg_local_position_ned_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(),
position[0], position[1], position[2],
position[3], position[4], position[5]);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send global position */
if (hilEnabled)
{
mavlink_msg_global_position_int_pack(mavlink_system.sysid, 200, &msg, time_ms, latitude, longitude, altitude, ground_distance, speedx, speedy, speedz, (yaw/M_PI)*180*100);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
}
/* Send attitude */
mavlink_msg_attitude_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
/* Send HIL outputs */
float roll_ailerons = 0; // -1 .. 1
float pitch_elevator = 0.2; // -1 .. 1
float yaw_rudder = 0.1; // -1 .. 1
float throttle = 0.9; // 0 .. 1
mavlink_msg_hil_controls_pack_chan(mavlink_system.sysid, mavlink_system.compid, MAVLINK_COMM_0, &msg, microsSinceEpoch(), roll_ailerons, pitch_elevator, yaw_rudder, throttle, mavlink_system.mode, mavlink_system.nav_mode, 0, 0, 0, 0);
len = mavlink_msg_to_send_buffer(buf, &msg);
bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
memset(buf, 0, BUFFER_LENGTH);
recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
if (recsize > 0)
{
// Something received - print out all bytes and parse packet
mavlink_message_t msg;
mavlink_status_t status;
printf("Bytes Received: %d\nDatagram: ", (int)recsize);
for (i = 0; i < recsize; ++i)
{
temp = buf[i];
printf("%02x ", (unsigned char)temp);
if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
{
// Packet received
printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid);
// Handle packet with waypoint component
mavlink_wpm_message_handler(&msg);
// Handle packet with parameter component
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
// Print HIL values sent to system
if (msg.msgid == MAVLINK_MSG_ID_HIL_STATE)
{
mavlink_hil_state_t hil;
mavlink_msg_hil_state_decode(&msg, &hil);
printf("Received HIL state:\n");
printf("R: %f P: %f Y: %f\n", hil.roll, hil.pitch, hil.yaw);
roll = hil.roll;
pitch = hil.pitch;
yaw = hil.yaw;
rollspeed = hil.rollspeed;
pitchspeed = hil.pitchspeed;
yawspeed = hil.yawspeed;
speedx = hil.vx;
speedy = hil.vy;
speedz = hil.vz;
latitude = hil.lat;
longitude = hil.lon;
altitude = hil.alt;
hilEnabled = true;
}
}
}
printf("\n");
}
memset(buf, 0, BUFFER_LENGTH);
usleep(10000); // Sleep 10 ms
// Send one parameter
mavlink_pm_queued_send();
}
}
void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: // MAV ID: 0
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if(msg->sysid != copter.g.sysid_my_gcs) break;
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg->sysid != copter.g.sysid_my_gcs) {
break; // only accept control from our gcs
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(msg, &packet);
if (packet.target != copter.g.sysid_this_mav) {
break; // only accept control aimed at us
}
if (packet.z < 0) { // Copter doesn't do negative thrust
break;
}
uint32_t tnow = AP_HAL::millis();
manual_override(copter.channel_roll, packet.y, 1000, 2000, tnow);
manual_override(copter.channel_pitch, packet.x, 1000, 2000, tnow, true);
manual_override(copter.channel_throttle, packet.z, 0, 1000, tnow);
manual_override(copter.channel_yaw, packet.r, 1000, 2000, tnow);
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.last_heartbeat_ms = tnow;
break;
}
#if MODE_GUIDED_ENABLED == ENABLED
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 or Auto-Guided mode
if (!copter.flightmode->in_guided_mode()) {
break;
}
// ensure type_mask specifies to use attitude and thrust
if ((packet.type_mask & ((1<<7)|(1<<6))) != 0) {
break;
}
// convert thrust to climb rate
packet.thrust = constrain_float(packet.thrust, 0.0f, 1.0f);
float climb_rate_cms = 0.0f;
if (is_equal(packet.thrust, 0.5f)) {
climb_rate_cms = 0.0f;
} else if (packet.thrust > 0.5f) {
// climb at up to WPNAV_SPEED_UP
climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * copter.wp_nav->get_default_speed_up();
} else {
// descend at up to WPNAV_SPEED_DN
climb_rate_cms = (0.5f - packet.thrust) * 2.0f * -fabsf(copter.wp_nav->get_default_speed_down());
}
// if the body_yaw_rate field is ignored, use the commanded yaw position
// otherwise use the commanded yaw rate
bool use_yaw_rate = false;
if ((packet.type_mask & (1<<2)) == 0) {
use_yaw_rate = true;
}
copter.mode_guided.set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
climb_rate_cms, use_yaw_rate, packet.body_yaw_rate);
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 or Auto-Guided mode
if (!copter.flightmode->in_guided_mode()) {
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;
/*
* for future use:
* bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE;
*/
// prepare position
Vector3f pos_vector;
if (!pos_ignore) {
// convert to cm
pos_vector = Vector3f(packet.x * 100.0f, packet.y * 100.0f, -packet.z * 100.0f);
// rotate to body-frame if necessary
if (packet.coordinate_frame == MAV_FRAME_BODY_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
copter.rotate_body_frame_to_NE(pos_vector.x, pos_vector.y);
}
// add body offset if necessary
if (packet.coordinate_frame == MAV_FRAME_LOCAL_OFFSET_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
pos_vector += copter.inertial_nav.get_position();
} else {
// convert from alt-above-home to alt-above-ekf-origin
if (!AP::ahrs().home_is_set()) {
break;
}
const Location &origin = copter.inertial_nav.get_origin();
pos_vector.z += AP::ahrs().get_home().alt;
pos_vector.z -= origin.alt;
}
}
// prepare velocity
Vector3f vel_vector;
if (!vel_ignore) {
// convert to cm
vel_vector = Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f);
// rotate to body-frame if necessary
if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
copter.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y);
}
}
// prepare yaw
float yaw_cd = 0.0f;
bool yaw_relative = false;
float yaw_rate_cds = 0.0f;
if (!yaw_ignore) {
yaw_cd = ToDeg(packet.yaw) * 100.0f;
yaw_relative = packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED;
}
if (!yaw_rate_ignore) {
yaw_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
}
// send request
if (!pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (!pos_ignore && vel_ignore && acc_ignore) {
copter.mode_guided.set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
}
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 or Auto-Guided mode
if (!copter.flightmode->in_guided_mode()) {
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;
/*
* for future use:
* bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE;
*/
Vector3f pos_neu_cm; // position (North, East, Up coordinates) in centimeters
if(!pos_ignore) {
// sanity check location
if (!check_latlng(packet.lat_int, packet.lon_int)) {
break;
}
Location::AltFrame frame;
if (!mavlink_coordinate_frame_to_location_alt_frame(packet.coordinate_frame, frame)) {
// unknown coordinate frame
break;
}
const Location loc{
packet.lat_int,
packet.lon_int,
int32_t(packet.alt*100),
frame,
};
if (!loc.get_vector_from_origin_NEU(pos_neu_cm)) {
break;
}
}
// prepare yaw
float yaw_cd = 0.0f;
bool yaw_relative = false;
float yaw_rate_cds = 0.0f;
if (!yaw_ignore) {
yaw_cd = ToDeg(packet.yaw) * 100.0f;
yaw_relative = packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED;
}
if (!yaw_rate_ignore) {
yaw_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
}
if (!pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (!pos_ignore && vel_ignore && acc_ignore) {
copter.mode_guided.set_destination(pos_neu_cm, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
}
break;
}
#endif
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
{
copter.rangefinder.handle_msg(msg);
#if PROXIMITY_ENABLED == ENABLED
copter.g2.proximity.handle_msg(msg);
#endif
break;
}
case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
{
#if PROXIMITY_ENABLED == ENABLED
copter.g2.proximity.handle_msg(msg);
#endif
break;
}
#if HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_HIL_STATE: // MAV ID: 90
{
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);
AP::baro().setHIL(packet.alt*0.001f);
copter.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
copter.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
break;
}
#endif // HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109
{
handle_radio_status(msg, copter.should_log(MASK_LOG_PM));
break;
}
#if PRECISION_LANDING == ENABLED
case MAVLINK_MSG_ID_LANDING_TARGET:
copter.precland.handle_msg(msg);
break;
#endif
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
copter.terrain.handle_data(chan, msg);
#endif
break;
case MAVLINK_MSG_ID_SET_HOME_POSITION:
{
mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(msg, &packet);
if((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) {
if (!copter.set_home_to_current_location(true)) {
// silently ignored
}
} else {
Location new_home_loc;
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
if (!copter.set_home(new_home_loc, true)) {
// silently ignored
}
}
break;
}
case MAVLINK_MSG_ID_ADSB_VEHICLE:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
#if ADSB_ENABLED == ENABLED
copter.adsb.handle_message(chan, msg);
#endif
break;
#if TOY_MODE_ENABLED == ENABLED
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
copter.g2.toy_mode.handle_message(msg);
break;
#endif
default:
handle_common_message(msg);
break;
} // end switch
} // end handle mavlink
/**
* Telemetry transmit task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
uint8_t c;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
inputPort = telemetryPort;
}
mavlink_channel_t mavlink_chan = MAVLINK_COMM_0;
// Block until a byte is available
PIOS_COM_ReceiveBuffer(inputPort, &c, 1, portMAX_DELAY);
// And process it
if (mavlink_parse_char(mavlink_chan, c, &rx_msg, &rx_status))
{
// Handle packet with waypoint component
mavlink_wpm_message_handler(&rx_msg);
// Handle packet with parameter component
mavlink_pm_message_handler(mavlink_chan, &rx_msg);
switch (rx_msg.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
// Check if this is the gcs
mavlink_heartbeat_t beat;
mavlink_msg_heartbeat_decode(&rx_msg, &beat);
if (beat.type == MAV_TYPE_GCS)
{
// Got heartbeat from the GCS, we're good!
lastOperatorHeartbeat = xTaskGetTickCount() * portTICK_RATE_MS;
}
}
break;
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(&rx_msg, &mode);
// Check if this system should change the mode
if (mode.target_system == mavlink_system.sysid)
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
switch (mode.base_mode)
{
case MAV_MODE_MANUAL_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_MANUAL;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_MANUAL_DISARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_MANUAL;
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
}
break;
case MAV_MODE_PREFLIGHT:
{
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
}
break;
case MAV_MODE_STABILIZE_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED1;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_GUIDED_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED2;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
case MAV_MODE_AUTO_ARMED:
{
flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_STABILIZED3;
flightStatus.Armed = FLIGHTSTATUS_ARMED_ARMED;
}
break;
}
bool newHilEnabled = (mode.base_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL);
if (newHilEnabled != hilEnabled)
{
if (newHilEnabled)
{
// READ-ONLY flag write to ActuatorCommand
UAVObjMetadata meta;
UAVObjHandle handle = ActuatorCommandHandle();
UAVObjGetMetadata(handle, &meta);
meta.access = ACCESS_READONLY;
UAVObjSetMetadata(handle, &meta);
mavlink_missionlib_send_gcs_string("ENABLING HIL SIMULATION");
mavlink_missionlib_send_gcs_string("+++++++++++++++++++++++");
mavlink_missionlib_send_gcs_string("BLOCKING ALL ACTUATORS");
}
else
{
// READ-ONLY flag write to ActuatorCommand
UAVObjMetadata meta;
UAVObjHandle handle = ActuatorCommandHandle();
UAVObjGetMetadata(handle, &meta);
meta.access = ACCESS_READWRITE;
UAVObjSetMetadata(handle, &meta);
mavlink_missionlib_send_gcs_string("DISABLING HIL SIMULATION");
mavlink_missionlib_send_gcs_string("+++++++++++++++++++++++");
mavlink_missionlib_send_gcs_string("ACTIVATING ALL ACTUATORS");
}
}
hilEnabled = newHilEnabled;
FlightStatusSet(&flightStatus);
// Check HIL
bool hilEnabled = (mode.base_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL);
enableHil(hilEnabled);
}
}
break;
case MAVLINK_MSG_ID_HIL_STATE:
{
if (hilEnabled)
{
mavlink_hil_state_t hil;
mavlink_msg_hil_state_decode(&rx_msg, &hil);
// Write GPSPosition
GPSPositionData gps;
GPSPositionGet(&gps);
gps.Altitude = hil.alt/10;
gps.Latitude = hil.lat/10;
gps.Longitude = hil.lon/10;
GPSPositionSet(&gps);
// Write PositionActual
PositionActualData pos;
PositionActualGet(&pos);
// FIXME WRITE POSITION HERE
PositionActualSet(&pos);
// Write AttitudeActual
AttitudeActualData att;
AttitudeActualGet(&att);
att.Roll = hil.roll;
att.Pitch = hil.pitch;
att.Yaw = hil.yaw;
// FIXME
//att.RollSpeed = hil.rollspeed;
//att.PitchSpeed = hil.pitchspeed;
//att.YawSpeed = hil.yawspeed;
// Convert to quaternion formulation
RPY2Quaternion(&attitudeActual.Roll, &attitudeActual.q1);
// Write AttitudeActual
AttitudeActualSet(&att);
// Write AttitudeRaw
AttitudeRawData raw;
AttitudeRawGet(&raw);
raw.gyros[0] = hil.rollspeed;
raw.gyros[1] = hil.pitchspeed;
raw.gyros[2] = hil.yawspeed;
raw.accels[0] = hil.xacc;
raw.accels[1] = hil.yacc;
raw.accels[2] = hil.zacc;
// raw.magnetometers[0] = hil.xmag;
// raw.magnetometers[0] = hil.ymag;
// raw.magnetometers[0] = hil.zmag;
AttitudeRawSet(&raw);
}
}
break;
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// FIXME Implement
}
break;
}
}
}
}