mirror of https://github.com/ArduPilot/ardupilot
220 lines
6.6 KiB
C
220 lines
6.6 KiB
C
|
#ifndef Mavlink_Common_H
|
||
|
|
#define Mavlink_Common_H
|
||
|
|
|
||
|
|
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLIK || GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
|
||
|
|
|
||
|
|
uint16_t system_type = MAV_FIXED_WING;
|
||
|
|
|
||
|
|
static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
|
||
|
|
{
|
||
|
|
if (sysid != mavlink_system.sysid)
|
||
|
|
{
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
else if (compid != mavlink_system.compid)
|
||
|
|
{
|
||
|
|
gcs.send_text(SEVERITY_LOW,"component id mismatch");
|
||
|
|
return 0; // XXX currently not receiving correct compid from gcs
|
||
|
|
}
|
||
|
|
else return 0; // no error
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Send low-priority messages at a maximum rate of xx Hertz
|
||
|
|
*
|
||
|
|
* This function sends messages at a lower rate to not exceed the wireless
|
||
|
|
* bandwidth. It sends one message each time it is called until the buffer is empty.
|
||
|
|
* Call this function with xx Hertz to increase/decrease the bandwidth.
|
||
|
|
*/
|
||
|
|
static void mavlink_queued_send(mavlink_channel_t chan)
|
||
|
|
{
|
||
|
|
//send parameters one by one
|
||
|
|
if (global_data.parameter_i < global_data.param_count)
|
||
|
|
{
|
||
|
|
char param_name[ONBOARD_PARAM_NAME_LENGTH]; /// XXX HACK
|
||
|
|
strcpy_P(param_name, getParamName(global_data.parameter_i)); /// XXX HACK
|
||
|
|
mavlink_msg_param_value_send(chan,
|
||
|
|
(int8_t*)param_name,
|
||
|
|
getParamAsFloat(global_data.parameter_i),
|
||
|
|
global_data.param_count,global_data.parameter_i);
|
||
|
|
global_data.parameter_i++;
|
||
|
|
}
|
||
|
|
|
||
|
|
// request waypoints one by one
|
||
|
|
if (global_data.waypoint_receiving &&
|
||
|
|
global_data.waypoint_request_i < get(PARAM_WP_TOTAL))
|
||
|
|
{
|
||
|
|
mavlink_msg_waypoint_request_send(chan,
|
||
|
|
global_data.waypoint_dest_sysid,
|
||
|
|
global_data.waypoint_dest_compid ,global_data.waypoint_request_i);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, uint16_t packet_drops)
|
||
|
|
{
|
||
|
|
uint64_t timeStamp = micros();
|
||
|
|
switch(id) {
|
||
|
|
|
||
|
|
case MSG_HEARTBEAT:
|
||
|
|
mavlink_msg_heartbeat_send(chan,system_type,MAV_AUTOPILOT_ARDUPILOTMEGA);
|
||
|
|
break;
|
||
|
|
|
||
|
|
case MSG_EXTENDED_STATUS:
|
||
|
|
{
|
||
|
|
uint8_t mode = MAV_MODE_UNINIT;
|
||
|
|
uint8_t nav_mode = MAV_NAV_VECTOR;
|
||
|
|
|
||
|
|
switch(control_mode) {
|
||
|
|
case MANUAL:
|
||
|
|
mode = MAV_MODE_MANUAL;
|
||
|
|
break;
|
||
|
|
case CIRCLE:
|
||
|
|
mode = MAV_MODE_TEST3;
|
||
|
|
break;
|
||
|
|
case STABILIZE:
|
||
|
|
mode = MAV_MODE_GUIDED;
|
||
|
|
break;
|
||
|
|
case FLY_BY_WIRE_A:
|
||
|
|
mode = MAV_MODE_TEST1;
|
||
|
|
break;
|
||
|
|
case FLY_BY_WIRE_B:
|
||
|
|
mode = MAV_MODE_TEST2;
|
||
|
|
break;
|
||
|
|
case AUTO:
|
||
|
|
mode = MAV_MODE_AUTO;
|
||
|
|
nav_mode = MAV_NAV_WAYPOINT;
|
||
|
|
break;
|
||
|
|
case RTL:
|
||
|
|
mode = MAV_MODE_AUTO;
|
||
|
|
nav_mode = MAV_NAV_RETURNING;
|
||
|
|
break;
|
||
|
|
case LOITER:
|
||
|
|
mode = MAV_MODE_AUTO;
|
||
|
|
nav_mode = MAV_NAV_HOLD;
|
||
|
|
break;
|
||
|
|
case TAKEOFF:
|
||
|
|
mode = MAV_MODE_AUTO;
|
||
|
|
nav_mode = MAV_NAV_LIFTOFF;
|
||
|
|
break;
|
||
|
|
case LAND:
|
||
|
|
mode = MAV_MODE_AUTO;
|
||
|
|
nav_mode = MAV_NAV_LANDING;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
uint8_t status = MAV_STATE_ACTIVE;
|
||
|
|
uint8_t motor_block = false;
|
||
|
|
|
||
|
|
mavlink_msg_sys_status_send(chan,mode,nav_mode,status,load*1000,
|
||
|
|
battery_voltage1*1000,motor_block,packet_drops);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
case MSG_ATTITUDE:
|
||
|
|
{
|
||
|
|
Vector3f omega = dcm.get_gyro();
|
||
|
|
mavlink_msg_attitude_send(chan,timeStamp,dcm.roll,dcm.pitch,dcm.yaw,
|
||
|
|
omega.x,omega.y,omega.z);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case MSG_LOCATION:
|
||
|
|
{
|
||
|
|
float gamma = dcm.pitch; // neglecting angle of attack for now
|
||
|
|
float yaw = dcm.yaw;
|
||
|
|
mavlink_msg_global_position_send(chan,timeStamp,current_loc.lat/1.0e7,
|
||
|
|
current_loc.lng/1.0e7,current_loc.alt/1.0e2,gps.ground_speed/1.0e2*cos(gamma)*cos(yaw),
|
||
|
|
gps.ground_speed/1.0e2*cos(gamma)*sin(yaw),gps.ground_speed/1.0e2*sin(gamma));
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case MSG_LOCAL_LOCATION:
|
||
|
|
{
|
||
|
|
float gamma = dcm.pitch; // neglecting angle of attack for now
|
||
|
|
float yaw = dcm.yaw;
|
||
|
|
mavlink_msg_local_position_send(chan,timeStamp,ToRad((current_loc.lat-home.lat)/1.0e7)*radius_of_earth,
|
||
|
|
ToRad((current_loc.lng-home.lng)/1.0e7)*radius_of_earth*cos(ToRad(home.lat/1.0e7)),
|
||
|
|
(current_loc.alt-home.alt)/1.0e2, gps.ground_speed/1.0e2*cos(gamma)*cos(yaw),
|
||
|
|
gps.ground_speed/1.0e2*cos(gamma)*sin(yaw),gps.ground_speed/1.0e2*sin(gamma));
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case MSG_GPS_RAW:
|
||
|
|
{
|
||
|
|
mavlink_msg_gps_raw_send(chan,timeStamp,gps.status(),
|
||
|
|
gps.latitude/1.0e7,gps.longitude/1.0e7,gps.altitude/100.0,
|
||
|
|
2.0,10.0,gps.ground_speed/100.0,gps.ground_course/100.0);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case MSG_AIRSPEED:
|
||
|
|
{
|
||
|
|
mavlink_msg_airspeed_send(chan,float(airspeed)/100.0);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case MSG_SERVO_OUT:
|
||
|
|
{
|
||
|
|
uint8_t rssi = 1; // TODO: can we calculated this?
|
||
|
|
// receive signal strength 0(0%)-255(100%)
|
||
|
|
Serial.printf_P(PSTR("sending servo out: %d %d %d %d\n"),
|
||
|
|
servo_out[0],servo_out[1], servo_out[2], servo_out[3]);
|
||
|
|
mavlink_msg_rc_channels_scaled_send(chan,
|
||
|
|
servo_out[0],servo_out[1],
|
||
|
|
servo_out[2]*100, // account for throttle scaling 0-100
|
||
|
|
servo_out[3],servo_out[4],servo_out[5],
|
||
|
|
servo_out[6],servo_out[7],rssi);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case MSG_RADIO_OUT:
|
||
|
|
{
|
||
|
|
uint8_t rssi = 1; // TODO: can we calculated this?
|
||
|
|
// receive signal strength 0(0%)-255(100%)
|
||
|
|
mavlink_msg_rc_channels_raw_send(chan,
|
||
|
|
radio_out[0],radio_out[1],radio_out[2],
|
||
|
|
radio_out[3],radio_out[4],radio_out[5],
|
||
|
|
radio_out[6],radio_out[7],rssi);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
||
|
|
case MSG_RAW_IMU:
|
||
|
|
{
|
||
|
|
Vector3f accel = imu.get_accel();
|
||
|
|
Vector3f gyro = imu.get_gyro();
|
||
|
|
//Serial.printf_P(PSTR("sending accel: %f %f %f\n"), accel.x, accel.y, accel.z);
|
||
|
|
//Serial.printf_P(PSTR("sending gyro: %f %f %f\n"), gyro.x, gyro.y, gyro.z);
|
||
|
|
mavlink_msg_raw_imu_send(chan,timeStamp,
|
||
|
|
accel.x*1000.0/gravity,accel.y*1000.0/gravity,accel.z*1000.0/gravity,
|
||
|
|
gyro.x*1000.0,gyro.y*1000.0,gyro.z*1000.0,
|
||
|
|
compass.mag_x,compass.mag_y,compass.mag_z);
|
||
|
|
mavlink_msg_raw_pressure_send(chan,timeStamp,
|
||
|
|
adc.Ch(AIRSPEED_CH),pitot.RawPress,0);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
#endif // HIL_PROTOCOL != HIL_PROTOCOL_ATTITUDE
|
||
|
|
|
||
|
|
case MSG_GPS_STATUS:
|
||
|
|
{
|
||
|
|
mavlink_msg_gps_status_send(chan,gps.num_sats,NULL,NULL,NULL,NULL,NULL);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
case MSG_CURRENT_WAYPOINT:
|
||
|
|
{
|
||
|
|
mavlink_msg_waypoint_current_send(chan,get(PARAM_WP_INDEX));
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
defualt:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void mavlink_send_text(mavlink_channel_t chan, uint8_t severity, const char *str)
|
||
|
|
{
|
||
|
|
mavlink_msg_statustext_send(chan,severity,(const int8_t*)str);
|
||
|
|
}
|
||
|
|
|
||
|
|
void mavlink_acknowledge(mavlink_channel_t chan, uint8_t id, uint8_t sum1, uint8_t sum2)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif // mavlink in use
|
||
|
|
|
||
|
|
#endif // inclusion guard
|