/*
* send notification that a mission command has been completed
*/
void GCS_MAVLINK::send_mission_item_reached(uint16_t seq) const
{
mavlink_msg_mission_item_reached_send(chan, seq);
}
// try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
{
if (telemetry_delayed(chan)) {
return false;
}
// if we don't have at least 1ms remaining before the main loop
// wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications
if (!rover.in_mavlink_delay && rover.scheduler.time_available_usec() < 1200) {
rover.gcs_out_of_time = true;
return false;
}
switch (id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
last_heartbeat_time = AP_HAL::millis();
rover.send_heartbeat(chan);
return true;
case MSG_EXTENDED_STATUS1:
CHECK_PAYLOAD_SIZE(SYS_STATUS);
rover.send_extended_status1(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS);
send_power_status();
break;
case MSG_EXTENDED_STATUS2:
CHECK_PAYLOAD_SIZE(MEMINFO);
send_meminfo();
break;
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
rover.send_attitude(chan);
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
rover.send_location(chan);
break;
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position(rover.ahrs);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
if (rover.control_mode != MANUAL) {
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
rover.send_nav_controller_output(chan);
}
break;
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
send_gps_raw(rover.gps);
break;
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time(rover.gps);
break;
case MSG_SERVO_OUT:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
rover.send_servo_out(chan);
break;
case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
send_radio_in(rover.receiver_rssi);
break;
case MSG_RADIO_OUT:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
send_servo_output_raw(false);
break;
case MSG_VFR_HUD:
CHECK_PAYLOAD_SIZE(VFR_HUD);
rover.send_vfr_hud(chan);
break;
case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU);
send_raw_imu(rover.ins, rover.compass);
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_sensor_offsets(rover.ins, rover.compass, rover.barometer);
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
rover.send_current_waypoint(chan);
break;
case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
queued_param_send();
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
queued_waypoint_send();
break;
case MSG_STATUSTEXT:
// depreciated, use GCS_MAVLINK::send_statustext*
return false;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(rover.ahrs);
break;
case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE);
rover.send_simstate(chan);
break;
case MSG_HWSTATUS:
CHECK_PAYLOAD_SIZE(HWSTATUS);
rover.send_hwstatus(chan);
break;
case MSG_RANGEFINDER:
CHECK_PAYLOAD_SIZE(RANGEFINDER);
rover.send_rangefinder(chan);
break;
case MSG_MOUNT_STATUS:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
rover.camera_mount.status_msg(chan);
#endif // MOUNT == ENABLED
break;
case MSG_RAW_IMU2:
case MSG_LIMITS_STATUS:
case MSG_FENCE_STATUS:
case MSG_WIND:
// unused
break;
case MSG_VIBRATION:
CHECK_PAYLOAD_SIZE(VIBRATION);
send_vibration(rover.ins);
break;
case MSG_BATTERY2:
CHECK_PAYLOAD_SIZE(BATTERY2);
send_battery2(rover.battery);
break;
case MSG_CAMERA_FEEDBACK:
#if CAMERA == ENABLED
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
rover.camera.send_feedback(chan, rover.gps, rover.ahrs, rover.current_loc);
#endif
break;
case MSG_EKF_STATUS_REPORT:
#if AP_AHRS_NAVEKF_AVAILABLE
CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
rover.ahrs.send_ekf_status_report(chan);
#endif
break;
case MSG_PID_TUNING:
CHECK_PAYLOAD_SIZE(PID_TUNING);
rover.send_pid_tuning(chan);
break;
case MSG_MISSION_ITEM_REACHED:
CHECK_PAYLOAD_SIZE(MISSION_ITEM_REACHED);
mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index);
break;
case MSG_MAG_CAL_PROGRESS:
CHECK_PAYLOAD_SIZE(MAG_CAL_PROGRESS);
rover.compass.send_mag_cal_progress(chan);
break;
case MSG_MAG_CAL_REPORT:
CHECK_PAYLOAD_SIZE(MAG_CAL_REPORT);
rover.compass.send_mag_cal_report(chan);
break;
case MSG_RETRY_DEFERRED:
case MSG_ADSB_VEHICLE:
case MSG_TERRAIN:
case MSG_OPTICAL_FLOW:
case MSG_GIMBAL_REPORT:
case MSG_RPM:
case MSG_POSITION_TARGET_GLOBAL_INT:
break; // just here to prevent a warning
}
return true;
}
void MAVMissionOutput_40hz(void)
{
#if (FLIGHT_PLAN_TYPE == FP_WAYPOINTS) // LOGO_WAYPOINTS cannot be uploaded / downloaded
vect3_32t wp;
if (mavlink_flags.mavlink_send_waypoint_reached == 1)
{
mavlink_flags.mavlink_send_waypoint_reached = 0;
mavlink_msg_mission_item_reached_send(MAVLINK_COMM_0, mav_waypoint_reached);
}
if (mavlink_flags.mavlink_send_waypoint_changed == 1)
{
mavlink_flags.mavlink_send_waypoint_changed = 0;
mavlink_msg_mission_current_send(MAVLINK_COMM_0, mav_waypoint_changed);
}
//static inline void mavlink_msg_mission_item_reached_send(mavlink_channel_t chan, uint16_t seq)
//static inline void mavlink_msg_mission_current_send(mavlink_channel_t chan, uint16_t seq)
// CHECK WHETHER WAYPOINT PROTOCOL HAS TIMED OUT WAITING ON A RESPONSE
if (mavlink_waypoint_timeout <= 0)
{
if (mavlink_flags.mavlink_sending_waypoints || mavlink_flags.mavlink_receiving_waypoints)
{
//send_text((uint8_t *)"Timeout on waypoint protocol.\r\n");
DPRINT("Timeout on waypoint protocol.\r\n");
}
mavlink_flags.mavlink_sending_waypoints = false;
mavlink_flags.mavlink_receiving_waypoints = false;
}
// if (mavlink_flags.mavlink_receiving_waypoints == 1)
if (mavlink_flags.mavlink_request_specific_waypoint == 1)
{
DPRINT("requesting waypoint: %u\r\n", waypoint_request_i);
//mavlink_flags.waypoint_request_i = 0;
//static inline void mavlink_msg_mission_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
mavlink_msg_mission_request_send(MAVLINK_COMM_0, mavlink_waypoint_dest_sysid, mavlink_waypoint_dest_compid, waypoint_request_i);
mavlink_flags.mavlink_request_specific_waypoint = 0;
}
// SEND NUMBER OF WAYPOINTS IN WAYPOINTS LIST
if (mavlink_flags.mavlink_send_waypoint_count == 1)
{
int16_t number_of_waypoints = waypoint_count();
//send_text((uint8_t *)"Sending waypoint count\r\n");
DPRINT("Sending waypoint count: %u\r\n", number_of_waypoints);
mavlink_msg_mission_count_send(MAVLINK_COMM_0, mavlink_waypoint_dest_sysid, mavlink_waypoint_dest_compid, number_of_waypoints);
mavlink_flags.mavlink_send_waypoint_count = 0;
}
// SEND DETAILS OF A SPECIFIC WAYPOINT
if (mavlink_flags.mavlink_send_specific_waypoint == 1)
{
//send_text((uint8_t *)"Time to send a specific waypoint\r\n");
DPRINT("Time to send a specific waypoint: %u\r\n", mavlink_waypoint_requested_sequence_number);
// mavlink_msg_mission_item_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component,
// uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue,
// float param1, float param2, float param3, float param4,
// float x, float y, float z)
//BUILDING
//struct waypoint3D { int32_t x; int32_t y; int16_t z; };
// struct waypoint3D getWaypoint3D(uint16_t wp);
// struct waypoint3D wp;
// wp = getWaypoint3D(mavlink_waypoint_requested_sequence_number);
wp = getWaypoint3D(mavlink_waypoint_requested_sequence_number);
//float lat_float, lon_float, alt_float = 0.0;
//uint32_t accum_long = IMUlocationy._.W1 + (lat_origin.WW / 90); // meters North from Equator
//lat_float = (float)((accum_long * 90) / 10000000.0); // degrees North from Equator
//lon_float = (float)((float) lon_origin.WW + ((float)(IMUlocationx._.W1) * 90.0) / (float)(cos_lat / 16384.0)) / 10000000.0;
//extern struct relWaypointDef wp_to_relative(struct waypointDef wp);
//struct relWaypointDef current_waypoint = wp_to_relative(waypoints[waypointIndex]);
//alt_float = ((float)(IMUlocationz._.W1)) + (float)(alt_origin.WW / 100.0);
mavlink_msg_mission_item_send(MAVLINK_COMM_0, mavlink_waypoint_dest_sysid, mavlink_waypoint_dest_compid, \
mavlink_waypoint_requested_sequence_number, mavlink_waypoint_frame, MAV_CMD_NAV_WAYPOINT, mavlink_waypoint_current, true, \
0.0, 0.0, 0.0, 0.0, \
(float)wp.y / 10000000.0, (float)wp.x / 10000000.0, wp.z);
DPRINT("waypoint %f %f %f\r\n", (double)wp.y / 10000000.0, (double)wp.x / 10000000.0, (double)wp.z);
mavlink_flags.mavlink_send_specific_waypoint = 0;
}
if (mavlink_waypoint_timeout > 0) mavlink_waypoint_timeout--;
#endif // (FLIGHT_PLAN_TYPE == FP_WAYPOINTS)
/*
// Acknowledge a command if flaged to do so.
if (mavlink_send_command_ack == true)
{
mavlink_msg_command_ack_send(MAVLINK_COMM_0, mavlink_command_ack_command, mavlink_command_ack_result);
mavlink_send_command_ack = false;
}
*/
}
