void debug_vect(const char* string, const float_vect3 vect)
{
char name[DEBUG_VECT_NAME_MAX_LEN];
strncpy(name, string, DEBUG_VECT_NAME_MAX_LEN - 1);
name[DEBUG_VECT_NAME_MAX_LEN - 1] = '\0';
mavlink_msg_debug_vect_send(global_data.param[PARAM_SEND_DEBUGCHAN],
(char*) name, sys_time_clock_get_unix_time(), vect.x, vect.y,
vect.z);
}
/**
* @brief Receive communication packets and handle them
*
* This function decodes packets on the protocol level and also handles
* their value by calling the appropriate functions.
*/
void communication_receive(void)
{
mavlink_message_t msg;
mavlink_status_t status =
{ 0 };
status.packet_rx_drop_count = 0;
// COMMUNICATION WITH ONBOARD COMPUTER
while (uart0_char_available())
{
uint8_t c = uart0_get_char();
if (global_data.state.uart0mode == UART_MODE_MAVLINK)
{
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))
{
// Handle message
handle_mavlink_message(MAVLINK_COMM_0, &msg);
}
}
else if (global_data.state.uart0mode == UART_MODE_BYTE_FORWARD)
{
uart1_transmit(c);
}
// And get the next one
}
// Update global packet drops counter
global_data.comm.uart0_rx_drop_count += status.packet_rx_drop_count;
global_data.comm.uart0_rx_success_count += status.packet_rx_success_count;
status.packet_rx_drop_count = 0;
// COMMUNICATION WITH EXTERNAL COMPUTER
while (uart1_char_available())
{
uint8_t c = uart1_get_char();
// Check if this link is used for MAVLink or GPS
if (global_data.state.uart1mode == UART_MODE_MAVLINK)
{
//uart0_transmit((unsigned char)c);
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_1, c, &msg, &status))
{
// Handle message
handle_mavlink_message(MAVLINK_COMM_1, &msg);
}
}
else if (global_data.state.uart1mode == UART_MODE_GPS)
{
if (global_data.state.gps_mode == 10)
{
static uint8_t gps_i = 0;
static char gps_chars[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
if (c == '$' || gps_i == MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN
- 1)
{
gps_i = 0;
char gps_chars_buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
strncpy(gps_chars_buf, gps_chars,
MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
debug_message_buffer(gps_chars_buf);
}
gps_chars[gps_i++] = c;
}
if (gps_parse(c))
{
// New GPS data received
//debug_message_buffer("RECEIVED NEW GPS DATA");
parse_gps_msg();
if (gps_lat == 0)
{
global_data.state.gps_ok = 0;
//debug_message_buffer("GPS Signal Lost");
}
else
{
global_data.state.gps_ok = 1;
mavlink_msg_gps_raw_send(
global_data.param[PARAM_SEND_DEBUGCHAN],
sys_time_clock_get_unix_time(), gps_mode, gps_lat
/ 1e7f, gps_lon / 1e7f, gps_alt / 100.0f,
0.0f, 0.0f, gps_gspeed / 100.0f, gps_course / 10.0f);
}
// // Output satellite info
// for (int i = 0; i < gps_nb_channels; i++)
// {
// mavlink_msg_gps_status_send(global_data.param[PARAM_SEND_DEBUGCHAN], gps_numSV, gps_svinfos[i].svid, gps_satellite_used(gps_svinfos[i].qi), gps_svinfos[i].elev, ((gps_svinfos[i].azim/360.0f)*255.0f), gps_svinfos[i].cno);
// }
}
}
else if (global_data.state.uart1mode == UART_MODE_BYTE_FORWARD)
{
uart0_transmit(c);
led_toggle(LED_YELLOW);
}
// And get the next one
}
// Update global packet drops counter
global_data.comm.uart0_rx_drop_count += status.packet_rx_drop_count;
global_data.comm.uart0_rx_success_count += status.packet_rx_success_count;
status.packet_rx_drop_count = 0;
}
//@{
void handle_mavlink_message(mavlink_channel_t chan,
mavlink_message_t* msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint32_t len;
switch (chan)
{
case MAVLINK_COMM_0:
{
if (msg->msgid != MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE)
{
// Copy to COMM 1
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
uart1_transmit(buf[i]);
}
}
}
break;
case MAVLINK_COMM_1:
{
if (msg->msgid != MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE && msg->msgid != MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE)
{
// Copy to COMM 0
len = mavlink_msg_to_send_buffer(buf, msg);
for (int i = 0; i < len; i++)
{
uart0_transmit(buf[i]);
}
break;
}
}
default:
break;
}
switch (msg->msgid)
{
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(msg, &mode);
// Check if this system should change the mode
if (mode.target == (uint8_t)global_data.param[PARAM_SYSTEM_ID])
{
sys_set_mode(mode.mode);
// Emit current mode
mavlink_msg_sys_status_send(MAVLINK_COMM_0, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
mavlink_msg_sys_status_send(MAVLINK_COMM_1, global_data.state.mav_mode, global_data.state.nav_mode,
global_data.state.status, global_data.cpu_usage, global_data.battery_voltage,
global_data.motor_block, communication_get_uart_drop_rate());
}
}
break;
case MAVLINK_MSG_ID_ACTION:
{
execute_action(mavlink_msg_action_get_action(msg));
//Forwart actions from Xbee to Onboard Computer and vice versa
if (chan == MAVLINK_COMM_1)
{
mavlink_send_uart(MAVLINK_COMM_0, msg);
}
else if (chan == MAVLINK_COMM_0)
{
mavlink_send_uart(MAVLINK_COMM_1, msg);
}
}
break;
case MAVLINK_MSG_ID_SYSTEM_TIME:
{
if (!sys_time_clock_get_unix_offset())
{
int64_t offset = ((int64_t) mavlink_msg_system_time_get_time_usec(
msg)) - (int64_t) sys_time_clock_get_time_usec();
sys_time_clock_set_unix_offset(offset);
debug_message_buffer("UNIX offset updated");
}
else
{
// debug_message_buffer("UNIX offset REFUSED");
}
}
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
mavlink_request_data_stream_t stream;
mavlink_msg_request_data_stream_decode(msg, &stream);
switch (stream.req_stream_id)
{
case 0: // UNIMPLEMENTED
break;
case 1: // RAW SENSOR DATA
global_data.param[PARAM_SEND_SLOT_RAW_IMU] = stream.start_stop;
break;
case 2: // EXTENDED SYSTEM STATUS
global_data.param[PARAM_SEND_SLOT_ATTITUDE] = stream.start_stop;
break;
case 3: // REMOTE CONTROL CHANNELS
global_data.param[PARAM_SEND_SLOT_REMOTE_CONTROL] = stream.start_stop;
break;
case 4: // RAW CONTROLLER
//global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
//global_data.param[PARAM_SEND_SLOT_DEBUG_3] = stream.start_stop;
global_data.param[PARAM_SEND_SLOT_CONTROLLER_OUTPUT] = stream.start_stop;
break;
case 5: // SENSOR FUSION
//LOST IN GROUDNCONTROL
// global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
break;
case 6: // POSITION
global_data.param[PARAM_SEND_SLOT_DEBUG_5] = stream.start_stop;
break;
case 7: // EXTRA1
global_data.param[PARAM_SEND_SLOT_DEBUG_2] = stream.start_stop;
break;
case 8: // EXTRA2
global_data.param[PARAM_SEND_SLOT_DEBUG_4] = stream.start_stop;
break;
case 9: // EXTRA3
global_data.param[PARAM_SEND_SLOT_DEBUG_6] = stream.start_stop;
break;
default:
// Do nothing
break;
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
mavlink_param_request_read_t set;
mavlink_msg_param_request_read_decode(msg, &set);
// Check if this message is for this system
if ((uint8_t) set.target_system
== (uint8_t) global_data.param[PARAM_SYSTEM_ID]
&& (uint8_t) set.target_component
== (uint8_t) global_data.param[PARAM_COMPONENT_ID])
{
char* key = (char*) set.param_id;
if (set.param_id[0] == '\0')
{
// Choose parameter based on index
if (set.param_index < ONBOARD_PARAM_COUNT)
{
// Report back value
mavlink_msg_param_value_send(chan,
(int8_t*) global_data.param_name[set.param_index],
global_data.param[set.param_index], ONBOARD_PARAM_COUNT, set.param_index);
}
}
else
{
for (int i = 0; i < ONBOARD_PARAM_COUNT; i++)
{
bool match = true;
for (int j = 0; j < ONBOARD_PARAM_NAME_LENGTH; j++)
{
// Compare
if (((char) (global_data.param_name[i][j]))
!= (char) (key[j]))
{
match = false;
}
// End matching if null termination is reached
if (((char) global_data.param_name[i][j]) == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Report back value
mavlink_msg_param_value_send(chan,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
}
}
}
}
}
break;
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// Start sending parameters
m_parameter_i = 0;
}
break;
case MAVLINK_MSG_ID_PARAM_SET:
{
mavlink_param_set_t set;
mavlink_msg_param_set_decode(msg, &set);
// Check if this message is for this system
if ((uint8_t) set.target_system
== (uint8_t) global_data.param[PARAM_SYSTEM_ID]
&& (uint8_t) set.target_component
== (uint8_t) global_data.param[PARAM_COMPONENT_ID])
{
char* key = (char*) set.param_id;
for (int i = 0; i < ONBOARD_PARAM_COUNT; i++)
{
bool match = true;
for (int j = 0; j < ONBOARD_PARAM_NAME_LENGTH; j++)
{
// Compare
if (((char) (global_data.param_name[i][j]))
!= (char) (key[j]))
{
match = false;
}
// End matching if null termination is reached
if (((char) global_data.param_name[i][j]) == '\0')
{
break;
}
}
// Check if matched
if (match)
{
// Only write and emit changes if there is actually a difference
// AND only write if new value is NOT "not-a-number"
// AND is NOT infy
if (global_data.param[i] != set.param_value
&& !isnan(set.param_value)
&& !isinf(set.param_value))
{
global_data.param[i] = set.param_value;
// Report back new value
mavlink_msg_param_value_send(MAVLINK_COMM_0,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
mavlink_msg_param_value_send(MAVLINK_COMM_1,
(int8_t*) global_data.param_name[i],
global_data.param[i], ONBOARD_PARAM_COUNT, m_parameter_i);
debug_message_buffer_sprintf("Parameter received param id=%i",i);
}
}
}
}
}
break;
case MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_SET:
{
mavlink_position_control_setpoint_set_t pos;
mavlink_msg_position_control_setpoint_set_decode(msg, &pos);
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1)
{
// global_data.position_setpoint.x = pos.x;
// global_data.position_setpoint.y = pos.y;
// global_data.position_setpoint.z = pos.z;
debug_message_buffer("Position setpoint updated. OLD?\n");
}
else
{
debug_message_buffer(
"Position setpoint recieved but not updated. OLD?\n");
}
// Send back a message confirming the new position
mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_0, pos.id,
pos.x, pos.y, pos.z, pos.yaw);
mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_1, pos.id,
pos.x, pos.y, pos.z, pos.yaw);
}
break;
case MAVLINK_MSG_ID_POSITION_CONTROL_OFFSET_SET:
{
mavlink_position_control_offset_set_t set;
mavlink_msg_position_control_offset_set_decode(msg, &set);
//global_data.attitude_setpoint_pos_body_offset.z = set.yaw;
//Ball Tracking
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1 && global_data.param[PARAM_POSITION_YAW_TRACKING]==1)
{
global_data.param[PARAM_POSITION_SETPOINT_YAW]
= global_data.attitude.z + set.yaw;
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 92, set.yaw);
}
}
break;
case MAVLINK_MSG_ID_SET_CAM_SHUTTER:
{
// Decode the desired shutter
mavlink_set_cam_shutter_t cam;
mavlink_msg_set_cam_shutter_decode(msg, &cam);
shutter_set(cam.interval, cam.exposure);
debug_message_buffer_sprintf("set_cam_shutter. interval %i",
cam.interval);
}
break;
case MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL:
{
uint8_t enable = mavlink_msg_image_trigger_control_get_enable(msg);
shutter_control(enable);
if (enable)
{
debug_message_buffer("CAM: Enabling hardware trigger");
}
else
{
debug_message_buffer("CAM: Disabling hardware trigger");
}
}
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
vision_buffer_handle_data(&pos);
// Update validity time is done in vision buffer
}
break;
case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
{
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
global_data.vicon_data.x = pos.x;
global_data.vicon_data.y = pos.y;
global_data.vicon_data.z = pos.z;
global_data.state.vicon_new_data=1;
// Update validity time
global_data.vicon_last_valid = sys_time_clock_get_time_usec();
global_data.state.vicon_ok=1;
// //Set data from Vicon into vision filter
// global_data.vision_data.ang.x = pos.roll;
// global_data.vision_data.ang.y = pos.pitch;
// global_data.vision_data.ang.z = pos.yaw;
//
// global_data.vision_data.pos.x = pos.x;
// global_data.vision_data.pos.y = pos.y;
// global_data.vision_data.pos.z = pos.z;
//
// global_data.vision_data.new_data = 1;
if (!global_data.state.vision_ok)
{
//Correct YAW
global_data.attitude.z = pos.yaw;
//If yaw goes to infy (no idea why) set it to setpoint, next time will be better
if (global_data.attitude.z > 18.8495559 || global_data.attitude.z
< -18.8495559)
{
global_data.attitude.z = global_data.yaw_pos_setpoint;
debug_message_buffer(
"vicon CRITICAL FAULT yaw was bigger than 6 PI! prevented crash");
}
}
//send the vicon message to UART0 with new timestamp
mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_0, global_data.vicon_last_valid, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
}
break;
case MAVLINK_MSG_ID_PING:
{
mavlink_ping_t ping;
mavlink_msg_ping_decode(msg, &ping);
if (ping.target_system == 0 && ping.target_component == 0)
{
// Respond to ping
uint64_t r_timestamp = sys_time_clock_get_unix_time();
mavlink_msg_ping_send(chan, ping.seq, msg->sysid, msg->compid, r_timestamp);
}
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
{
mavlink_local_position_setpoint_set_t sp;
mavlink_msg_local_position_setpoint_set_decode(msg, &sp);
if (sp.target_system == global_data.param[PARAM_SYSTEM_ID])
{
if (global_data.param[PARAM_POSITIONSETPOINT_ACCEPT] == 1)
{
if (sp.x >= global_data.position_setpoint_min.x && sp.y
>= global_data.position_setpoint_min.y && sp.z
>= global_data.position_setpoint_min.z && sp.x
<= global_data.position_setpoint_max.x && sp.y
<= global_data.position_setpoint_max.y && sp.z
<= global_data.position_setpoint_max.z)
{
debug_message_buffer("Setpoint accepted and set.");
global_data.param[PARAM_POSITION_SETPOINT_X] = sp.x;
global_data.param[PARAM_POSITION_SETPOINT_Y] = sp.y;
global_data.param[PARAM_POSITION_SETPOINT_Z] = sp.z;
if (global_data.param[PARAM_POSITION_YAW_TRACKING] == 0)
{
// Only update yaw if we are not tracking ball.
global_data.param[PARAM_POSITION_SETPOINT_YAW] = sp.yaw;
}
//check if we want to start or land
if (global_data.state.status == MAV_STATE_ACTIVE
|| global_data.state.status == MAV_STATE_CRITICAL)
{
if (sp.z > -0.1)
{
if (!(global_data.state.fly == FLY_GROUNDED
|| global_data.state.fly == FLY_SINKING
|| global_data.state.fly
== FLY_WAIT_LANDING
|| global_data.state.fly == FLY_LANDING
|| global_data.state.fly == FLY_RAMP_DOWN))
{
//if setpoint is lower that ground iate landing
global_data.state.fly = FLY_SINKING;
global_data.param[PARAM_POSITION_SETPOINT_Z]
= -0.2;//with lowpass
debug_message_buffer(
"Sinking for LANDING. (z-sp lower than 10cm)");
}
else if (!(global_data.state.fly == FLY_GROUNDED))
{
global_data.param[PARAM_POSITION_SETPOINT_Z]
= -0.2;//with lowpass
}
}
else if (global_data.state.fly == FLY_GROUNDED && sp.z
< -0.50)
{
//start if we were grounded and get a sp over 0.5m
global_data.state.fly = FLY_WAIT_MOTORS;
debug_message_buffer(
"STARTING wait motors. (z-sp higher than 50cm)");
//set point changed with lowpass, after 5s it will be ok.
}
}
//SINK TO 0.7m if we are critical or emergency
if (global_data.state.status == MAV_STATE_EMERGENCY
|| global_data.state.status == MAV_STATE_CRITICAL)
{
global_data.param[PARAM_POSITION_SETPOINT_Z] = -0.7;//with lowpass
}
}
else
{
debug_message_buffer("Setpoint refused. Out of range.");
}
}
else
{
debug_message_buffer("Setpoint refused. Param setpoint accept=0.");
}
}
}
break;
default:
break;
}
}
/**
* @brief Send one of the buffered messages
* @param pos data from vision
*/
void vision_buffer_handle_data(mavlink_vision_position_estimate_t* pos)
{
if (vision_buffer_index_write == vision_buffer_index_read)
{
//buffer empty
return;
}
vision_buffer_index_read = (vision_buffer_index_read + 1)
% VISION_BUFFER_COUNT;
//TODO: find data and process it
uint8_t for_count = 0;
uint8_t i = vision_buffer_index_read;
for (; (vision_buffer[i].time_captured < pos->usec)
&& (vision_buffer_index_write - i != 1); i = (i + 1)
% VISION_BUFFER_COUNT)
{
if (++for_count > VISION_BUFFER_COUNT)
{
debug_message_buffer("vision_buffer PREVENTED HANG");
break;
}
}
if (vision_buffer[i].time_captured == pos->usec)
{
//we found the right data
if (!isnumber(pos->x) || !isnumber(pos->y) || !isnumber(pos->z)
|| !isnumber(pos->roll) || !isnumber(pos->pitch) || !isnumber(pos->yaw)
|| pos->x == 0.0 || pos->y == 0.0 || pos->z == 0.0)
{
//reject invalid data
debug_message_buffer("vision_buffer invalid data (inf,nan,0) rejected");
}
else if (fabs(vision_buffer[i].ang.x - pos->roll)
< global_data.param[PARAM_VISION_ANG_OUTLAYER_TRESHOLD]
&& fabs(vision_buffer[i].ang.y - pos->pitch)
< global_data.param[PARAM_VISION_ANG_OUTLAYER_TRESHOLD])
{
// Update validity time
global_data.pos_last_valid = sys_time_clock_get_time_usec();
//Pack new vision_data package
global_data.vision_data.time_captured
= vision_buffer[i].time_captured;
global_data.vision_data.comp_end = sys_time_clock_get_unix_time();
//Set data from Vision directly
global_data.vision_data.ang.x = pos->roll;
global_data.vision_data.ang.y = pos->pitch;
global_data.vision_data.ang.z = pos->yaw;
global_data.vision_data.pos.x = pos->x;
global_data.vision_data.pos.y = pos->y;
global_data.vision_data.pos.z = pos->z;
// If yaw input from vision is enabled, feed vision
// directly into state estimator
global_data.vision_magnetometer_replacement.x = 200.0f*lookup_cos(pos->yaw);
global_data.vision_magnetometer_replacement.y = -200.0f*lookup_sin(pos->yaw);
global_data.vision_magnetometer_replacement.z = 0.f;
//If yaw goes to infinity (no idea why) set it to setpoint, next time will be better
if (global_data.attitude.z > 18.8495559 || global_data.attitude.z < -18.8495559)
{
global_data.attitude.z = global_data.yaw_pos_setpoint;
debug_message_buffer("vision_buffer CRITICAL FAULT yaw was bigger than 6 PI! prevented crash");
}
global_data.vision_data.new_data = 1;
//TODO correct also all buffer data needed if we are going to have overlapping vision data
}
else
{
//rejected outlayer
if (vision_buffer_reject_count++ % 16 == 0)
{
debug_message_buffer_sprintf("vision_buffer rejected outlier #%u",
vision_buffer_reject_count);
}
}
if (global_data.param[PARAM_SEND_SLOT_DEBUG_1] == 1)
{
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 202, global_data.attitude.z);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 210, pos->x);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 211, pos->y);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 212, pos->z);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 215, pos->yaw);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 212, pos.z);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 203, pos.r1);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 204, pos.confidence);
}
if (for_count)
{
debug_message_buffer_sprintf(
"vision_buffer data found skipped %i data sets", for_count);
}
}
else
{
//we didn't find it
// debug_message_buffer("vision_buffer data NOT found");
if (for_count)
{
debug_message_buffer_sprintf(
"vision_buffer data NOT found skipped %i data sets",
for_count);
}
}
vision_buffer_index_read = i;//skip all images that are older;
// if (for_count)
// {
// debug_message_buffer_sprintf("vision_buffer skipped %i data sets",
// for_count);
// }
}
/**
* @brief Send one of the buffered messages
* @param pos data from vision
*/
void vision_buffer_handle_global_data(mavlink_global_vision_position_estimate_t* pos)
{
//#define PROJECT_GLOBAL_DATA_FORWARD
#ifdef PROJECT_GLOBAL_DATA_FORWARD
if (vision_buffer_index_write == vision_buffer_index_read)
{
//buffer empty
debug_message_buffer("ERROR VIS BUF: buffer empty");
return;
}
vision_buffer_index_read = (vision_buffer_index_read + 1) % VISION_BUFFER_COUNT;
//TODO: find data and process it
uint8_t for_count = 0;
uint8_t i = vision_buffer_index_read;
for (; (vision_buffer[i].time_captured < pos->usec)
&& (vision_buffer_index_write - i != 1); i = (i + 1)
% VISION_BUFFER_COUNT)
{
if (++for_count > VISION_BUFFER_COUNT) break;
}
if (vision_buffer[i].time_captured == pos->usec)
{
//we found the right data
if (!isnumber(pos->x) || !isnumber(pos->y) || !isnumber(pos->z)
|| !isnumber(pos->roll) || !isnumber(pos->pitch) || !isnumber(pos->yaw)
|| pos->x == 0.0 || pos->y == 0.0 || pos->z == 0.0)
{
//reject invalid data
debug_message_buffer("ERROR VIS BUF: invalid data (inf,nan,0) rejected");
}
else if (fabs(vision_buffer[i].ang.x - pos->roll) < global_data.param[PARAM_VISION_ANG_OUTLAYER_TRESHOLD]
&& fabs(vision_buffer[i].ang.y - pos->pitch) < global_data.param[PARAM_VISION_ANG_OUTLAYER_TRESHOLD])
{
// Update validity time
global_data.pos_last_valid = sys_time_clock_get_time_usec();
//Pack new vision_data package
global_data.vision_data_global.time_captured
= vision_buffer[i].time_captured;
global_data.vision_data_global.comp_end = sys_time_clock_get_unix_time();
// FIXME currently visodo is not allowed to run in parallel, else race condititions!
// Project position measurement
global_data.vision_data_global.pos.x = pos->x + (global_data.position.x - vision_buffer[i].pos.x);
global_data.vision_data_global.pos.y = pos->y + (global_data.position.y - vision_buffer[i].pos.y);
global_data.vision_data_global.pos.z = pos->z + (global_data.position.z - vision_buffer[i].pos.z);
// Set roll and pitch absolutely
global_data.vision_data_global.ang.x = pos->roll;
global_data.vision_data_global.ang.y = pos->pitch;
global_data.vision_data_global.ang.z = pos->yaw;
// Project yaw
//global_data.vision_data_global.ang.z = pos->yaw-vision_buffer[i].ang.z;
for (uint8_t j = (i+1) % VISION_BUFFER_COUNT; j != i; j = (j + 1) % VISION_BUFFER_COUNT)
{
vision_buffer[j].pos.x = vision_buffer[j].pos.x + (pos->x - vision_buffer[i].pos.x);
vision_buffer[j].pos.y = vision_buffer[j].pos.y + (pos->y - vision_buffer[i].pos.y);
vision_buffer[j].pos.z = vision_buffer[j].pos.z + (pos->z - vision_buffer[i].pos.z);
}
// If yaw input from vision is enabled, feed vision
// directly into state estimator
float lpYaw = pos->yaw*0.5f+global_data.attitude.z*0.5f;
global_data.vision_global_magnetometer_replacement.x = 200.0f*lookup_cos(lpYaw);
global_data.vision_global_magnetometer_replacement.y = -200.0f*lookup_sin(lpYaw);
global_data.vision_global_magnetometer_replacement.z = 0.f;
//If yaw goes to infinity (no idea why) set it to setpoint, next time will be better
if (global_data.attitude.z > 18.8495559 || global_data.attitude.z < -18.8495559)
{
global_data.attitude.z = global_data.yaw_pos_setpoint;
debug_message_buffer("vision_buffer CRITICAL FAULT yaw was bigger than 6 PI! prevented crash");
}
global_data.vision_data_global.new_data = 1;
global_data.state.global_vision_attitude_new_data = 1;
debug_message_buffer_sprintf("vision_buffer data found skipped %i data sets", for_count);
//TODO correct also all buffer data needed if we are going to have overlapping vision data
if (global_data.param[PARAM_SEND_SLOT_DEBUG_1] == 1)
{
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 202, global_data.attitude.z);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 220, pos->x);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 221, pos->y);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 222, pos->z);
mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 0, 225, pos->yaw);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 212, pos.z);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 203, pos.r1);
//mavlink_msg_debug_send(global_data.param[PARAM_SEND_DEBUGCHAN], 204, pos.confidence);
}
}
else
{
//rejected outlier
//if (vision_buffer_reject_count++ % 16 == 0)
{
debug_message_buffer_sprintf("vision_buffer rejected outlier #%u",
vision_buffer_reject_count);
}
}
}
else
{
//we didn't find it
debug_message_buffer_sprintf("vision_buffer data NOT found skipped %i data sets", for_count);
}
vision_buffer_index_read = i;//skip all images that are older;
#else
global_data.vision_data_global.pos.x = pos->x;
global_data.vision_data_global.pos.y = pos->y;
global_data.vision_data_global.pos.z = pos->z;
//Set data from Vision directly
global_data.vision_data_global.ang.x = pos->roll;
global_data.vision_data_global.ang.y = pos->pitch;
global_data.vision_data_global.ang.z = pos->yaw;
global_data.vision_data_global.new_data = 1;
global_data.state.global_vision_attitude_new_data = 1;
#endif
mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_0, sys_time_clock_get_unix_loop_start_time(), global_data.vision_data_global.pos.x, global_data.vision_data_global.pos.y, global_data.vision_data_global.pos.z, global_data.vision_data_global.ang.x, global_data.vision_data_global.ang.y, global_data.vision_data_global.ang.z);
}
