/// Return mount status information (depends on the previously set mount configuration) /// triggered by a MavLink packet. void AP_Mount::status_msg(mavlink_message_t *msg) { __mavlink_mount_status_t packet; mavlink_msg_mount_status_decode(msg, &packet); if (mavlink_check_target(packet.target_system, packet.target_component)) { // not for us return; } switch ((enum MAV_MOUNT_MODE)_mount_mode.get()) { case MAV_MOUNT_MODE_RETRACT: // safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization case MAV_MOUNT_MODE_NEUTRAL: // neutral position (Roll,Pitch,Yaw) from EEPROM case MAV_MOUNT_MODE_MAVLINK_TARGETING: // neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization case MAV_MOUNT_MODE_RC_TARGETING: // neutral position and start RC Roll,Pitch,Yaw control with stabilization packet.pointing_b = _roll_angle*100; // degrees*100 packet.pointing_a = _tilt_angle*100; // degrees*100 packet.pointing_c = _pan_angle*100; // degrees*100 break; #if MNT_GPSPOINT_OPTION == ENABLED case MAV_MOUNT_MODE_GPS_POINT: // neutral position and start to point to Lat,Lon,Alt packet.pointing_a = _target_GPS_location.lat; // latitude packet.pointing_b = _target_GPS_location.lng; // longitude packet.pointing_c = _target_GPS_location.alt; // altitude break; #endif case MAV_MOUNT_MODE_ENUM_END: break; } // status reply // TODO: is COMM_3 correct ? mavlink_msg_mount_status_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.pointing_a, packet.pointing_b, packet.pointing_c); }
void MAVLink_Message_Handler::handle_message(uint64_t timestamp, mavlink_message_t &msg) { // ::fprintf(stderr, "msg.msgid=%u\n", msg.msgid); switch(msg.msgid) { case MAVLINK_MSG_ID_AHRS2: { mavlink_ahrs2_t decoded; mavlink_msg_ahrs2_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_ATTITUDE: { mavlink_attitude_t decoded; mavlink_msg_attitude_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_EKF_STATUS_REPORT: { mavlink_ekf_status_report_t decoded; mavlink_msg_ekf_status_report_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: { mavlink_global_position_int_t decoded; mavlink_msg_global_position_int_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_GPS_RAW_INT: { mavlink_gps_raw_int_t decoded; mavlink_msg_gps_raw_int_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_HEARTBEAT: { mavlink_heartbeat_t decoded; mavlink_msg_heartbeat_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_MOUNT_STATUS: { mavlink_mount_status_t decoded; mavlink_msg_mount_status_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: { mavlink_nav_controller_output_t decoded; mavlink_msg_nav_controller_output_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_PARAM_VALUE: { mavlink_param_value_t decoded; mavlink_msg_param_value_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_REMOTE_LOG_DATA_BLOCK: { mavlink_remote_log_data_block_t decoded; mavlink_msg_remote_log_data_block_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SCALED_PRESSURE: { mavlink_scaled_pressure_t decoded; mavlink_msg_scaled_pressure_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SCALED_PRESSURE2: { mavlink_scaled_pressure2_t decoded; mavlink_msg_scaled_pressure2_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: { mavlink_servo_output_raw_t decoded; mavlink_msg_servo_output_raw_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_STATUSTEXT: { mavlink_statustext_t decoded; mavlink_msg_statustext_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SYS_STATUS: { mavlink_sys_status_t decoded; mavlink_msg_sys_status_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_SYSTEM_TIME: { mavlink_system_time_t decoded; mavlink_msg_system_time_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } case MAVLINK_MSG_ID_VFR_HUD: { mavlink_vfr_hud_t decoded; mavlink_msg_vfr_hud_decode(&msg, &decoded); handle_decoded_message(timestamp, decoded); break; } } }