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
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_Sub::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 != sub.g.sysid_my_gcs) { break; } sub.failsafe.last_heartbeat_ms = AP_HAL::millis(); break; } case MAVLINK_MSG_ID_MANUAL_CONTROL: { // MAV ID: 69 if (msg->sysid != sub.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 != sub.g.sysid_this_mav) { break; // only accept control aimed at us } sub.transform_manual_control_to_rc_override(packet.x,packet.y,packet.z,packet.r,packet.buttons); sub.failsafe.last_pilot_input_ms = AP_HAL::millis(); // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes sub.failsafe.last_heartbeat_ms = AP_HAL::millis(); break; } case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: { // MAV ID: 70 // allow override of RC input if (msg->sysid != sub.g.sysid_my_gcs) { break; // Only accept control from our gcs } 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); sub.failsafe.last_pilot_input_ms = tnow; // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes sub.failsafe.last_heartbeat_ms = tnow; 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); // ensure type_mask specifies to use attitude // the thrust can be used from the altitude hold if (packet.type_mask & (1<<6)) { sub.set_attitude_target_no_gps = {AP_HAL::millis(), packet}; } // 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 * sub.wp_nav.get_default_speed_up(); } else { // descend at up to WPNAV_SPEED_DN climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * fabsf(sub.wp_nav.get_default_speed_down()); } sub.guided_set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]), climb_rate_cms); 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 ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)) { 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; /* * for future use: * bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE; * 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 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) { sub.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 += sub.inertial_nav.get_position(); } else { // convert from alt-above-home to alt-above-ekf-origin pos_vector.z = sub.pv_alt_above_origin(pos_vector.z); } } // 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) { sub.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y); } } // send request if (!pos_ignore && !vel_ignore && acc_ignore) { sub.guided_set_destination_posvel(pos_vector, vel_vector); } else if (pos_ignore && !vel_ignore && acc_ignore) { sub.guided_set_velocity(vel_vector); } else if (!pos_ignore && vel_ignore && acc_ignore) { sub.guided_set_destination(pos_vector); } 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 ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)) { 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 && // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT 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; /* * for future use: * bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE; * 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; */ 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 loc; loc.lat = packet.lat_int; loc.lng = packet.lon_int; loc.alt = packet.alt*100; switch (packet.coordinate_frame) { case MAV_FRAME_GLOBAL_RELATIVE_ALT: // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT: loc.relative_alt = true; loc.terrain_alt = false; break; case MAV_FRAME_GLOBAL_TERRAIN_ALT: case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT: loc.relative_alt = true; loc.terrain_alt = true; break; case MAV_FRAME_GLOBAL: case MAV_FRAME_GLOBAL_INT: default: loc.relative_alt = false; loc.terrain_alt = false; break; } pos_neu_cm = sub.pv_location_to_vector(loc); } if (!pos_ignore && !vel_ignore && acc_ignore) { sub.guided_set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f)); } else if (pos_ignore && !vel_ignore && acc_ignore) { sub.guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f)); } else if (!pos_ignore && vel_ignore && acc_ignore) { sub.guided_set_destination(pos_neu_cm); } break; } case MAVLINK_MSG_ID_DISTANCE_SENSOR: { sub.rangefinder.handle_msg(msg); break; } #if AC_FENCE == ENABLED // send or receive fence points with GCS case MAVLINK_MSG_ID_FENCE_POINT: // MAV ID: 160 case MAVLINK_MSG_ID_FENCE_FETCH_POINT: sub.fence.handle_msg(*this, msg); break; #endif // AC_FENCE == ENABLED case MAVLINK_MSG_ID_TERRAIN_DATA: case MAVLINK_MSG_ID_TERRAIN_CHECK: #if AP_TERRAIN_AVAILABLE && AC_TERRAIN sub.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)) { sub.set_home_to_current_location(true); } else { // sanity check location if (!check_latlng(packet.latitude, packet.longitude)) { break; } Location new_home_loc; new_home_loc.lat = packet.latitude; new_home_loc.lng = packet.longitude; new_home_loc.alt = packet.altitude / 10; if (sub.far_from_EKF_origin(new_home_loc)) { break; } sub.set_home(new_home_loc, true); } break; } // This adds support for leak detectors in a separate enclosure // connected to a mavlink enabled subsystem case MAVLINK_MSG_ID_SYS_STATUS: { uint32_t MAV_SENSOR_WATER = 0x20000000; mavlink_sys_status_t packet; mavlink_msg_sys_status_decode(msg, &packet); if ((packet.onboard_control_sensors_enabled & MAV_SENSOR_WATER) && !(packet.onboard_control_sensors_health & MAV_SENSOR_WATER)) { sub.leak_detector.set_detect(); } } break; default: handle_common_message(msg); break; } // end switch } // end handle mavlink