ardupilot/ArduCopterMega/GCS_Mavlink.pde

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK || HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK

#include "Mavlink_Common.h"

GCS_MAVLINK::GCS_MAVLINK() :
packet_drops(0)
{
}

void
GCS_MAVLINK::init(BetterStream * port)
{
    GCS_Class::init(port);
    if (port == &Serial) { // to split hil vs gcs
        mavlink_comm_0_port = port;
        chan = MAVLINK_COMM_0;
    } else {
        mavlink_comm_1_port = port;
        chan = MAVLINK_COMM_1;
    }
}

void
GCS_MAVLINK::update(void)
{
    // receive new packets
    mavlink_message_t msg;
    mavlink_status_t status;

    // process received bytes
    while(comm_get_available(chan))
    {
        uint8_t c = comm_receive_ch(chan);



        // Try to get a new message
        if(mavlink_parse_char(chan, c, &msg, &status)) handleMessage(&msg);
    }

    // Update packet drops counter
    packet_drops += status.packet_rx_drop_count;






    // send out queued params/ waypoints
    _queued_send();

    // stop waypoint sending if timeout
    if (global_data.waypoint_sending &&
            millis() - global_data.waypoint_timelast_send >
            global_data.waypoint_send_timeout)
    {
        send_text(SEVERITY_LOW,"waypoint send timeout");
        global_data.waypoint_sending = false;
    }

    // stop waypoint receiving if timeout
    if (global_data.waypoint_receiving &&
            millis() - global_data.waypoint_timelast_receive >
            global_data.waypoint_receive_timeout)
    {
        send_text(SEVERITY_LOW,"waypoint receive timeout");
        global_data.waypoint_receiving = false;
    }
}

void
GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
{
    if (freqLoopMatch(global_data.streamRateRawSensors,freqMin,freqMax))
    send_message(MSG_RAW_IMU);

    if (freqLoopMatch(global_data.streamRateExtendedStatus,freqMin,freqMax)) {
        send_message(MSG_EXTENDED_STATUS);
        send_message(MSG_GPS_STATUS);
        send_message(MSG_CURRENT_WAYPOINT);
        send_message(MSG_GPS_RAW);            // TODO - remove this message after location message is working
    }

    if (freqLoopMatch(global_data.streamRatePosition,freqMin,freqMax))
    send_message(MSG_LOCATION);

    if (freqLoopMatch(global_data.streamRateRawController,freqMin,freqMax)) {
        // This is used for HIL.  Do not change without discussing with HIL maintainers
        send_message(MSG_SERVO_OUT);
    }

    if (freqLoopMatch(global_data.streamRateRCChannels,freqMin,freqMax)) {
        send_message(MSG_RADIO_OUT);
        send_message(MSG_RADIO_IN);
    }

    if (freqLoopMatch(global_data.streamRateExtra1,freqMin,freqMax))    // Use Extra 1 for AHRS info
    send_message(MSG_ATTITUDE);

    if (freqLoopMatch(global_data.streamRateExtra2,freqMin,freqMax))    // Use Extra 3 for additional HIL info
    send_message(MSG_VFR_HUD);

    if (freqLoopMatch(global_data.streamRateExtra3,freqMin,freqMax))
    {
        // Available datastream
    }
}

void
GCS_MAVLINK::send_message(uint8_t id, uint32_t param)
{
    mavlink_send_message(chan,id,param,packet_drops);
}

void
GCS_MAVLINK::send_text(uint8_t severity, const char *str)
{
    mavlink_send_text(chan,severity,str);
}

void
GCS_MAVLINK::acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2)
{
    mavlink_acknowledge(chan,id,sum1,sum2);
}

void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
    switch (msg->msgid) {

    case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
        {
            // decode
            mavlink_request_data_stream_t packet;
            mavlink_msg_request_data_stream_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            int freq = 0; // packet frequency

            if (packet.start_stop == 0) freq = 0; // stop sending
            else if (packet.start_stop == 1) freq = packet.req_message_rate; // start sending
            else break;

            switch(packet.req_stream_id)
            {
            case MAV_DATA_STREAM_ALL:
                global_data.streamRateRawSensors = freq;
                global_data.streamRateExtendedStatus = freq;
                global_data.streamRateRCChannels = freq;
                global_data.streamRateRawController = freq;
                global_data.streamRatePosition = freq;
                global_data.streamRateExtra1 = freq;
                global_data.streamRateExtra2 = freq;
                global_data.streamRateExtra3 = freq;
                break;
            case MAV_DATA_STREAM_RAW_SENSORS:
                global_data.streamRateRawSensors = freq;
                break;
            case MAV_DATA_STREAM_EXTENDED_STATUS:
                global_data.streamRateExtendedStatus = freq;
                break;
            case MAV_DATA_STREAM_RC_CHANNELS:
                global_data.streamRateRCChannels = freq;
                break;
            case MAV_DATA_STREAM_RAW_CONTROLLER:
                global_data.streamRateRawController = freq;
                break;
                //case MAV_DATA_STREAM_RAW_SENSOR_FUSION:
                //    global_data.streamRateRawSensorFusion = freq;
                //    break;
            case MAV_DATA_STREAM_POSITION:
                global_data.streamRatePosition = freq;
                break;
            case MAV_DATA_STREAM_EXTRA1:
                global_data.streamRateExtra1 = freq;
                break;
            case MAV_DATA_STREAM_EXTRA2:
                global_data.streamRateExtra2 = freq;
                break;
            case MAV_DATA_STREAM_EXTRA3:
                global_data.streamRateExtra3 = freq;
                break;
            default:
                break;
            }
            break;
        }

    case MAVLINK_MSG_ID_ACTION:
        {
            // decode
            mavlink_action_t packet;
            mavlink_msg_action_decode(msg, &packet);
            if (mavlink_check_target(packet.target,packet.target_component)) break;

            // do action
            send_text(SEVERITY_LOW,"action received");
            switch(packet.action)
            {

            case MAV_ACTION_LAUNCH:
                set_mode(TAKEOFF);
                break;

            case MAV_ACTION_RETURN:
                set_mode(RTL);
                break;

            case MAV_ACTION_EMCY_LAND:
                set_mode(LAND);
                break;

            case MAV_ACTION_HALT:
                loiter_at_location();
                break;

                // can't implement due to APM configuration
                // just setting to manual to be safe
            case MAV_ACTION_MOTORS_START:
            case MAV_ACTION_CONFIRM_KILL:
            case MAV_ACTION_EMCY_KILL:
            case MAV_ACTION_MOTORS_STOP:
            case MAV_ACTION_SHUTDOWN:
                set_mode(MANUAL);
                break;

            case MAV_ACTION_CONTINUE:
                process_next_command();
                break;

            case MAV_ACTION_SET_MANUAL:
                set_mode(MANUAL);
                break;

            case MAV_ACTION_SET_AUTO:
                set_mode(AUTO);
                break;

            case MAV_ACTION_STORAGE_READ:
                //read_EEPROM_startup();
                //read_EEPROM_airstart_critical();
                //read_command_index();
                //read_EEPROM_flight_modes();
                break;

            case MAV_ACTION_STORAGE_WRITE:
                //save_EEPROM_trims();
                //save_EEPROM_waypoint_info();
                //save_EEPROM_gains();
                //save_command_index();
                //save_pressure_data();
                //save_EEPROM_radio_minmax();
                //save_user_configs();
                //save_EEPROM_flight_modes();
                break;

            case MAV_ACTION_CALIBRATE_RC: break;
                trim_radio();
                break;

            case MAV_ACTION_CALIBRATE_GYRO:
            case MAV_ACTION_CALIBRATE_MAG:
            case MAV_ACTION_CALIBRATE_ACC:
            case MAV_ACTION_CALIBRATE_PRESSURE:
            case MAV_ACTION_REBOOT:  // this is a rough interpretation
                startup_IMU_ground();
                break;

            case MAV_ACTION_REC_START: break;
            case MAV_ACTION_REC_PAUSE: break;
            case MAV_ACTION_REC_STOP: break;

            case MAV_ACTION_TAKEOFF:
                set_mode(TAKEOFF);
                break;

            case MAV_ACTION_NAVIGATE:
                set_mode(AUTO);
                break;

            case MAV_ACTION_LAND:
                set_mode(LAND);
                break;

            case MAV_ACTION_LOITER:
                set_mode(LOITER);
                break;

            default: break;
            }
            break;
        }

    case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
        {
            //send_text(SEVERITY_LOW,"waypoint request list");

            // decode
            mavlink_waypoint_request_list_t packet;
            mavlink_msg_waypoint_request_list_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            // Start sending waypoints
            mavlink_msg_waypoint_count_send(chan,msg->sysid,
            msg->compid,g.waypoint_total + 1); // + home
            global_data.waypoint_timelast_send = millis();
            global_data.waypoint_sending = true;
            global_data.waypoint_receiving = false;
            global_data.waypoint_dest_sysid = msg->sysid;
            global_data.waypoint_dest_compid = msg->compid;
            global_data.requested_interface = chan;
            break;
        }

    case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
        {
            //send_text(SEVERITY_LOW,"waypoint request");

            // Check if sending waypiont
            if (!global_data.waypoint_sending) break;

            // decode
            mavlink_waypoint_request_t packet;
            mavlink_msg_waypoint_request_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            // send waypoint
            tell_command = get_wp_with_index(packet.seq);

            // set frame of waypoint
            uint8_t frame = MAV_FRAME_GLOBAL; // reference frame
            uint8_t command = tell_command.id; // command
            float param1 = 0, param2 = 0 , param3 = 0, param4 = 0;

            param1 = tell_command.p1;

            // time that the mav should loiter in milliseconds
            uint8_t current = 0; // 1 (true), 0 (false)
            if (packet.seq == g.waypoint_index) current = 1;
            uint8_t autocontinue = 1; // 1 (true), 0 (false)
            float x = 0, y = 0, z = 0;

            if (command < MAV_CMD_NAV_LAST) {
                // command needs scaling
                x = tell_command.lat/1.0e7; // local (x), global (longitude)
                y = tell_command.lng/1.0e7; // local (y), global (latitude)
                z = tell_command.alt/1.0e2; // local (z), global (altitude)
            } else {
                // command is raw
                x = tell_command.lat;
                y = tell_command.lng;
                z = tell_command.alt;
            }
            // TODO - Need to add translation for many of the commands > MAV_CMD_NAV_LAST

            // note XXX: documented x,y,z order does not match with gps raw
            mavlink_msg_waypoint_send(chan,msg->sysid,
            msg->compid,packet.seq,frame,command,current,autocontinue,
            param1,param2,param3,param4,x,y,z);

            // update last waypoint comm stamp
            global_data.waypoint_timelast_send = millis();
            break;
        }

    case MAVLINK_MSG_ID_WAYPOINT_ACK:
        {
            //send_text(SEVERITY_LOW,"waypoint ack");

            // decode
            mavlink_waypoint_ack_t packet;
            mavlink_msg_waypoint_ack_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            // check for error
            uint8_t type = packet.type; // ok (0), error(1)

            // turn off waypoint send
            global_data.waypoint_sending = false;
            break;
        }

    case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
        {
            //send_text(SEVERITY_LOW,"param request list");

            // decode
            mavlink_param_request_list_t packet;
            mavlink_msg_param_request_list_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            // Start sending parameters - next call to ::update will kick the first one out

            _queued_parameter = AP_Var::first();
            _queued_parameter_index = 0;
            break;
        }

    case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
        {
            //send_text(SEVERITY_LOW,"waypoint clear all");

            // decode
            mavlink_waypoint_clear_all_t packet;
            mavlink_msg_waypoint_clear_all_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            // clear all waypoints
            uint8_t type = 0; // ok (0), error(1)
            g.waypoint_total.set_and_save(0);

            // send acknowledgement 3 times to makes sure it is received
            for (int i=0;i<3;i++) mavlink_msg_waypoint_ack_send(chan,msg->sysid,msg->compid,type);

            break;
        }

    case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
        {
            //send_text(SEVERITY_LOW,"waypoint set current");

            // decode
            mavlink_waypoint_set_current_t packet;
            mavlink_msg_waypoint_set_current_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            // set current waypoint
            g.waypoint_index.set_and_save(packet.seq);

            {
                Location temp;  // XXX this is gross
                temp = get_wp_with_index(packet.seq);
                set_next_WP(&temp);
            }

            mavlink_msg_waypoint_current_send(chan, g.waypoint_index);
            break;
        }

    case MAVLINK_MSG_ID_WAYPOINT_COUNT:
        {
            //send_text(SEVERITY_LOW,"waypoint count");

            // decode
            mavlink_waypoint_count_t packet;
            mavlink_msg_waypoint_count_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            // start waypoint receiving
            if (packet.count > MAX_WAYPOINTS) {
                packet.count = MAX_WAYPOINTS;
            }
            g.waypoint_total.set_and_save(packet.count - 1);
            global_data.waypoint_timelast_receive = millis();
            global_data.waypoint_receiving = true;
            global_data.waypoint_sending = false;
            global_data.waypoint_request_i = 0;
            break;
        }

    case MAVLINK_MSG_ID_WAYPOINT:
        {
            // Check if receiving waypiont
            if (!global_data.waypoint_receiving) break;

            // decode
            mavlink_waypoint_t packet;
            mavlink_msg_waypoint_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component)) break;

            // check if this is the requested waypoint
            if (packet.seq != global_data.waypoint_request_i) break;

            // store waypoint
            uint8_t loadAction = 0; // 0 insert in list, 1 exec now

            // defaults
            tell_command.id = packet.command;

            switch (packet.frame)
            {
            case MAV_FRAME_GLOBAL:
                {
                    tell_command.p1 = packet.param1; // in as byte no conversion
                    //tell_command.p1 = packet.param1; // in as byte no conversion
                    tell_command.lat = 1.0e7*packet.x; // in as DD converted to * t7
                    tell_command.lng = 1.0e7*packet.y; // in as DD converted to * t7
                    tell_command.alt = packet.z*1.0e2; // in as m converted to cm
                    break;
                }

            case MAV_FRAME_LOCAL: // local (relative to home position)
                {
                    tell_command.lat = 1.0e7*ToDeg(packet.x/
                    (radius_of_earth*cos(ToRad(home.lat/1.0e7)))) + home.lng;
                    tell_command.lng = 1.0e7*ToDeg(packet.y/radius_of_earth) + home.lat;
                    tell_command.alt = -packet.z*1.0e2 + home.alt;
                    break;
                }

            case MAV_FRAME_MISSION:
                {
                    if(tell_command.id >= MAV_CMD_NAV_LAST){
                        // these are raw values
                        tell_command.p1 = packet.param1; // in as byte no conversion
                        tell_command.lat = packet.x; // in as long no conversion
                        tell_command.lng = packet.y; // in as long no conversion
                        tell_command.alt = packet.z; // in as int no conversion
                    } else {
                        tell_command.p1 = packet.param1; // in as byte no conversion
                        tell_command.lat = 1.0e7*packet.x; // in as DD converted to * t7
                        tell_command.lng = 1.0e7*packet.y; // in as DD converted to * t7
                        tell_command.alt = packet.z*1.0e2; // in as m converted to cm
                    }
                    break;
                }

            }

            // save waypoint - and prevent re-setting home
            if (packet.seq != 0)
            set_wp_with_index(tell_command, packet.seq);

            // update waypoint receiving state machine
            global_data.waypoint_timelast_receive = millis();
            global_data.waypoint_request_i++;

            if (global_data.waypoint_request_i > g.waypoint_total)
            {
                uint8_t type = 0; // ok (0), error(1)
                mavlink_msg_waypoint_ack_send(chan,msg->sysid,msg->compid,type);
                send_text(SEVERITY_LOW,"flight plan received");
                global_data.waypoint_receiving = false;
                // XXX ignores waypoint radius for individual waypoints, can
                // only set WP_RADIUS parameter
            }
            break;
        }

    case MAVLINK_MSG_ID_PARAM_SET:
        {
            AP_Var                  *vp;
            AP_Meta_class::Type_id  var_type;

            // decode
            mavlink_param_set_t packet;
            mavlink_msg_param_set_decode(msg, &packet);
            if (mavlink_check_target(packet.target_system,packet.target_component))
            break;

            // set parameter
            const char * key = (const char*) packet.param_id;

            // find the requested parameter
            vp = AP_Var::find(key);
            if ((NULL != vp) &&                             // exists
                    !isnan(packet.param_value) &&               // not nan
                    !isinf(packet.param_value)) {               // not inf

                // fetch the variable type ID
                var_type = vp->meta_type_id();

                // handle variables with standard type IDs
                if (var_type == AP_Var::k_typeid_float) {
                    ((AP_Float *)vp)->set(packet.param_value);

                } else if (var_type == AP_Var::k_typeid_float16) {
                    ((AP_Float16 *)vp)->set(packet.param_value);

                } else if (var_type == AP_Var::k_typeid_int32) {
                    ((AP_Int32 *)vp)->set(packet.param_value);

                } else if (var_type == AP_Var::k_typeid_int16) {
                    ((AP_Int16 *)vp)->set(packet.param_value);

                } else if (var_type == AP_Var::k_typeid_int8) {
                    ((AP_Int8 *)vp)->set(packet.param_value);
                }
            }

            // Report back new value
            char param_name[ONBOARD_PARAM_NAME_LENGTH];             // XXX HACK - need something to return a char *
            vp->copy_name(param_name, sizeof(param_name));
            mavlink_msg_param_value_send(chan,
            (int8_t*)param_name,
            packet.param_value,
            _count_parameters(),
            -1);                       // XXX we don't actually know what its index is...

            break;
        } // end case

#if HIL_MODE != HIL_MODE_DISABLED
        // This is used both as a sensor and to pass the location
        // in HIL_ATTITUDE mode.
    case MAVLINK_MSG_ID_GPS_RAW:
        {
            // decode
            mavlink_gps_raw_t packet;
            mavlink_msg_gps_raw_decode(msg, &packet);

            // set gps hil sensor
            g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt,
            packet.v,packet.hdg,0,0);
            break;
        }

        //    Is this resolved? - MAVLink protocol change.....
    case MAVLINK_MSG_ID_VFR_HUD:
        {
            // decode
            mavlink_vfr_hud_t packet;
            mavlink_msg_vfr_hud_decode(msg, &packet);

            // set airspeed
            airspeed = 100*packet.airspeed;
            break;
        }
#endif
#if HIL_MODE == HIL_MODE_ATTITUDE
    case MAVLINK_MSG_ID_ATTITUDE:
        {
            // decode
            mavlink_attitude_t packet;
            mavlink_msg_attitude_decode(msg, &packet);

            // set dcm hil sensor
            dcm.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
            packet.pitchspeed,packet.yawspeed);
            break;
        }
#endif
#if HIL_MODE == HIL_MODE_SENSORS

    case MAVLINK_MSG_ID_RAW_IMU:
        {
            // decode
            mavlink_raw_imu_t packet;
            mavlink_msg_raw_imu_decode(msg, &packet);

            // set imu hil sensors
            // TODO: check scaling for temp/absPress
            float temp = 70;
            float absPress = 1;
            //      Serial.printf_P(PSTR("accel:\t%d\t%d\t%d\n"), packet.xacc, packet.yacc, packet.zacc);
            //      Serial.printf_P(PSTR("gyro:\t%d\t%d\t%d\n"), packet.xgyro, packet.ygyro, packet.zgyro);

            // rad/sec
            Vector3f gyros;
            gyros.x = (float)packet.xgyro / 1000.0;
            gyros.y = (float)packet.ygyro / 1000.0;
            gyros.z = (float)packet.zgyro / 1000.0;
            // m/s/s
            Vector3f accels;
            accels.x = (float)packet.xacc / 1000.0;
            accels.y = (float)packet.yacc / 1000.0;
            accels.z = (float)packet.zacc / 1000.0;

            imu.set_gyro(gyros);

            imu.set_accel(accels);

            compass.setHIL(packet.xmag,packet.ymag,packet.zmag);
            break;
        }

    case MAVLINK_MSG_ID_RAW_PRESSURE:
        {
            // decode
            mavlink_raw_pressure_t packet;
            mavlink_msg_raw_pressure_decode(msg, &packet);

            // set pressure hil sensor
            // TODO: check scaling
            float temp = 70;
            barometer.setHIL(temp,packet.press_diff1);
            break;
        }
#endif // HIL_MODE
    } // end switch
} // end handle mavlink

uint16_t
GCS_MAVLINK::_count_parameters()
{
    // if we haven't cached the parameter count yet...
    if (0 == _parameter_count) {
        AP_Var  *vp;

        vp = AP_Var::first();
        do {
            // if a parameter responds to cast_to_float then we are going to be able to report it
            if (!isnan(vp->cast_to_float())) {
                _parameter_count++;
            }
        } while (NULL != (vp = vp->next()));
    }
    return _parameter_count;
}

AP_Var *
GCS_MAVLINK::_find_parameter(uint16_t index)
{
    AP_Var  *vp;

    vp = AP_Var::first();
    while (NULL != vp) {

        // if the parameter is reportable
        if (!(isnan(vp->cast_to_float()))) {
            // if we have counted down to the index we want
            if (0 == index) {
                // return the parameter
                return vp;
            }
            // count off this parameter, as it is reportable but not
            // the one we want
            index--;
        }
        // and move to the next parameter
        vp = vp->next();
    }
    return NULL;
}

/**
* @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.
*/
void
GCS_MAVLINK::_queued_send()
{

    // Check to see if we are sending parameters
    while (NULL != _queued_parameter) {
        AP_Var      *vp;
        float       value;



        // copy the current parameter and prepare to move to the next
        vp = _queued_parameter;
        _queued_parameter = _queued_parameter->next();



        // if the parameter can be cast to float, report it here and break out of the loop
        value = vp->cast_to_float();
        if (!isnan(value)) {

            char param_name[ONBOARD_PARAM_NAME_LENGTH];         /// XXX HACK
            vp->copy_name(param_name, sizeof(param_name));

            mavlink_msg_param_value_send(chan,
            (int8_t*)param_name,
            value,
            _count_parameters(),
            _queued_parameter_index);

            _queued_parameter_index++;
            break;
        }




    }

    // this is called at 50hz, count runs to prevent flooding serialport and delayed to allow eeprom write
    mavdelay++;

    // request waypoints one by one
    // XXX note that this is pan-interface
    if (global_data.waypoint_receiving && global_data.requested_interface == chan &&
            global_data.waypoint_request_i <= g.waypoint_total && mavdelay > 15) // limits to 3.33 hz
    {
        mavlink_msg_waypoint_request_send(chan,
        global_data.waypoint_dest_sysid,
        global_data.waypoint_dest_compid ,global_data.waypoint_request_i);
        mavdelay = 0;
    }
}

#endif