2016-05-27 10:14:08 -03:00
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#include "GCS_Mavlink.h"
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2015-06-01 02:04:25 -03:00
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#include "Tracker.h"
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2013-10-13 04:14:13 -03:00
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/*
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* !!NOTE!!
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*
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* the use of NOINLINE separate functions for each message type avoids
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* a compiler bug in gcc that would cause it to use far more stack
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* space than is needed. Without the NOINLINE we use the sum of the
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* stack needed for each message type. Please be careful to follow the
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* pattern below when adding any new messages
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*/
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2018-03-22 06:30:44 -03:00
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MAV_TYPE GCS_MAVLINK_Tracker::frame_type() const
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2013-10-13 04:14:13 -03:00
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{
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2018-03-22 06:30:44 -03:00
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return MAV_TYPE_ANTENNA_TRACKER;
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}
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2014-03-06 18:13:53 -04:00
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2018-03-22 06:30:44 -03:00
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MAV_MODE GCS_MAVLINK_Tracker::base_mode() const
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{
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2018-04-03 11:34:55 -03:00
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uint8_t _base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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2014-03-06 18:13:53 -04:00
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// work out the base_mode. This value is not very useful
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// for APM, but we calculate it as best we can so a generic
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// MAVLink enabled ground station can work out something about
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// what the MAV is up to. The actual bit values are highly
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// ambiguous for most of the APM flight modes. In practice, you
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// only get useful information from the custom_mode, which maps to
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// the APM flight mode and has a well defined meaning in the
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// ArduPlane documentation
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2018-03-22 06:30:44 -03:00
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switch (tracker.control_mode) {
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2014-03-06 18:13:53 -04:00
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case MANUAL:
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2018-04-03 11:34:55 -03:00
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_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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2014-03-06 18:13:53 -04:00
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break;
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2014-03-22 05:08:17 -03:00
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case STOP:
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break;
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2014-04-09 02:27:56 -03:00
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case SCAN:
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2014-10-06 08:45:07 -03:00
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case SERVO_TEST:
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2014-03-06 18:13:53 -04:00
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case AUTO:
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2018-04-03 11:34:55 -03:00
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_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED |
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2014-03-12 00:36:51 -03:00
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MAV_MODE_FLAG_STABILIZE_ENABLED;
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2014-03-06 18:13:53 -04:00
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// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
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// APM does in any mode, as that is defined as "system finds its own goal
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// positions", which APM does not currently do
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break;
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case INITIALISING:
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break;
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}
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2016-07-05 23:09:09 -03:00
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// we are armed if safety switch is not disarmed
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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2018-04-03 11:34:55 -03:00
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_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
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2016-07-05 23:09:09 -03:00
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}
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2018-04-03 11:34:55 -03:00
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return (MAV_MODE)_base_mode;
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2018-03-22 06:30:44 -03:00
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}
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uint32_t GCS_MAVLINK_Tracker::custom_mode() const
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{
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return tracker.control_mode;
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}
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MAV_STATE GCS_MAVLINK_Tracker::system_status() const
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{
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if (tracker.control_mode == INITIALISING) {
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return MAV_STATE_CALIBRATING;
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}
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return MAV_STATE_ACTIVE;
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2013-10-13 04:14:13 -03:00
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}
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2017-11-26 21:51:11 -04:00
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void Tracker::send_extended_status1(mavlink_channel_t chan)
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{
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int16_t battery_current = -1;
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int8_t battery_remaining = -1;
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if (battery.has_current() && battery.healthy()) {
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battery_remaining = battery.capacity_remaining_pct();
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battery_current = battery.current_amps() * 100;
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}
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2018-09-05 08:52:42 -03:00
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update_sensor_status_flags();
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2017-11-26 21:51:11 -04:00
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mavlink_msg_sys_status_send(
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chan,
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2018-09-05 08:52:42 -03:00
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control_sensors_present,
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control_sensors_enabled,
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control_sensors_health,
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2017-11-26 21:51:11 -04:00
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static_cast<uint16_t>(scheduler.load_average() * 1000),
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battery.voltage() * 1000, // mV
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battery_current, // in 10mA units
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battery_remaining, // in %
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0, // comm drops %,
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0, // comm drops in pkts,
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0, 0, 0, 0);
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}
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2015-06-01 02:04:25 -03:00
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void Tracker::send_nav_controller_output(mavlink_channel_t chan)
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2013-10-13 04:14:13 -03:00
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{
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2016-06-13 05:44:23 -03:00
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float alt_diff = (g.alt_source == ALT_SOURCE_BARO) ? nav_status.alt_difference_baro : nav_status.alt_difference_gps;
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2016-05-24 08:53:57 -03:00
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2013-10-13 04:14:13 -03:00
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mavlink_msg_nav_controller_output_send(
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chan,
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0,
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nav_status.pitch,
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nav_status.bearing,
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nav_status.bearing,
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2017-06-19 02:40:19 -03:00
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MIN(nav_status.distance, UINT16_MAX),
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2016-05-24 08:53:57 -03:00
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alt_diff,
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2013-10-13 04:14:13 -03:00
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0,
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0);
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}
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2016-05-27 10:14:08 -03:00
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bool GCS_MAVLINK_Tracker::handle_guided_request(AP_Mission::Mission_Command&)
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2015-08-15 07:43:48 -03:00
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{
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// do nothing
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2016-04-26 07:15:47 -03:00
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return false;
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2015-08-15 07:43:48 -03:00
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}
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2016-05-27 10:14:08 -03:00
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void GCS_MAVLINK_Tracker::handle_change_alt_request(AP_Mission::Mission_Command&)
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2015-08-15 07:43:48 -03:00
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{
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// do nothing
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}
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2014-03-12 17:30:25 -03:00
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2013-10-13 04:14:13 -03:00
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// try to send a message, return false if it won't fit in the serial tx buffer
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2016-05-27 10:14:08 -03:00
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bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
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2013-10-13 04:14:13 -03:00
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{
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switch (id) {
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case MSG_NAV_CONTROLLER_OUTPUT:
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CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
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2015-06-01 02:04:25 -03:00
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tracker.send_nav_controller_output(chan);
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2013-10-13 04:14:13 -03:00
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break;
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2017-11-26 21:51:11 -04:00
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case MSG_EXTENDED_STATUS1:
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CHECK_PAYLOAD_SIZE(SYS_STATUS);
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tracker.send_extended_status1(chan);
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break;
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2017-07-18 03:39:57 -03:00
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default:
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return GCS_MAVLINK::try_send_message(id);
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2013-10-13 04:14:13 -03:00
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}
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return true;
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}
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/*
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default stream rates to 1Hz
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*/
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2015-10-25 14:03:46 -03:00
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const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
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2013-10-13 04:14:13 -03:00
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// @Param: RAW_SENS
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// @DisplayName: Raw sensor stream rate
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// @Description: Raw sensor stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 1),
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// @Param: EXT_STAT
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// @DisplayName: Extended status stream rate to ground station
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// @Description: Extended status stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 1),
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// @Param: RC_CHAN
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// @DisplayName: RC Channel stream rate to ground station
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// @Description: RC Channel stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 1),
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// @Param: RAW_CTRL
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// @DisplayName: Raw Control stream rate to ground station
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// @Description: Raw Control stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 1),
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// @Param: POSITION
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// @DisplayName: Position stream rate to ground station
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// @Description: Position stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 1),
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// @Param: EXTRA1
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// @DisplayName: Extra data type 1 stream rate to ground station
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// @Description: Extra data type 1 stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 1),
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// @Param: EXTRA2
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// @DisplayName: Extra data type 2 stream rate to ground station
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// @Description: Extra data type 2 stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 1),
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// @Param: EXTRA3
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// @DisplayName: Extra data type 3 stream rate to ground station
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// @Description: Extra data type 3 stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 1),
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// @Param: PARAMS
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// @DisplayName: Parameter stream rate to ground station
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// @Description: Parameter stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10),
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AP_GROUPEND
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};
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2018-05-21 01:07:13 -03:00
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static const ap_message STREAM_RAW_SENSORS_msgs[] = {
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2017-08-21 03:09:04 -03:00
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MSG_RAW_IMU1, // RAW_IMU, SCALED_IMU2, SCALED_IMU3
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2018-12-04 01:54:06 -04:00
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MSG_SCALED_PRESSURE, // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3
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MSG_SENSOR_OFFSETS
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2017-08-21 03:09:04 -03:00
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};
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2018-05-21 01:07:13 -03:00
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static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
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2017-08-21 03:09:04 -03:00
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MSG_EXTENDED_STATUS1, // SYS_STATUS, POWER_STATUS
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2018-12-04 01:18:26 -04:00
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MSG_MEMINFO,
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2017-08-21 03:09:04 -03:00
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MSG_NAV_CONTROLLER_OUTPUT,
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MSG_GPS_RAW,
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MSG_GPS_RTK,
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MSG_GPS2_RAW,
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MSG_GPS2_RTK,
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};
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2018-05-21 01:07:13 -03:00
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static const ap_message STREAM_POSITION_msgs[] = {
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2017-08-21 03:09:04 -03:00
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MSG_LOCATION,
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MSG_LOCAL_POSITION
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};
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2018-05-21 01:07:13 -03:00
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static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
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2017-08-21 03:09:04 -03:00
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MSG_SERVO_OUTPUT_RAW,
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};
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2018-05-21 01:07:13 -03:00
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static const ap_message STREAM_RC_CHANNELS_msgs[] = {
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2017-08-21 03:09:04 -03:00
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MSG_RADIO_IN
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};
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2018-05-21 01:07:13 -03:00
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static const ap_message STREAM_EXTRA1_msgs[] = {
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2017-08-21 03:09:04 -03:00
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MSG_ATTITUDE,
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};
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2018-05-21 01:07:13 -03:00
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static const ap_message STREAM_EXTRA3_msgs[] = {
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2017-08-21 03:09:04 -03:00
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MSG_AHRS,
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MSG_HWSTATUS,
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MSG_SIMSTATE, // SIMSTATE, AHRS2
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MSG_MAG_CAL_REPORT,
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MSG_MAG_CAL_PROGRESS,
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};
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2013-10-13 04:14:13 -03:00
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2017-08-21 03:09:04 -03:00
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const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
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MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
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MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
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MAV_STREAM_ENTRY(STREAM_POSITION),
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MAV_STREAM_ENTRY(STREAM_RAW_CONTROLLER),
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MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
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MAV_STREAM_ENTRY(STREAM_EXTRA1),
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MAV_STREAM_ENTRY(STREAM_EXTRA3),
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MAV_STREAM_TERMINATOR // must have this at end of stream_entries
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};
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2013-10-13 04:14:13 -03:00
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2014-12-09 23:32:30 -04:00
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/*
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We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and
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MAVLINK_MSG_ID_SCALED_PRESSUREs
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*/
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2018-03-17 03:38:43 -03:00
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void GCS_MAVLINK_Tracker::packetReceived(const mavlink_status_t &status,
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mavlink_message_t &msg)
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2013-10-13 04:14:13 -03:00
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{
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2015-04-27 04:44:32 -03:00
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// return immediately if sysid doesn't match our target sysid
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2018-03-17 03:38:43 -03:00
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if ((tracker.g.sysid_target != 0) && (tracker.g.sysid_target != msg.sysid)) {
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2015-04-27 04:44:32 -03:00
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return;
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}
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2018-03-17 03:38:43 -03:00
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switch (msg.msgid) {
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2015-04-27 04:44:32 -03:00
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case MAVLINK_MSG_ID_HEARTBEAT:
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{
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mavlink_check_target(msg);
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break;
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}
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2014-12-09 23:32:30 -04:00
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case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
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{
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// decode
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mavlink_global_position_int_t packet;
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2018-03-17 03:38:43 -03:00
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|
|
mavlink_msg_global_position_int_decode(&msg, &packet);
|
|
|
|
tracker.tracking_update_position(packet);
|
2014-12-09 23:32:30 -04:00
|
|
|
break;
|
2014-05-13 23:11:22 -03:00
|
|
|
}
|
2014-12-09 23:32:30 -04:00
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_SCALED_PRESSURE:
|
|
|
|
{
|
|
|
|
// decode
|
|
|
|
mavlink_scaled_pressure_t packet;
|
2018-03-17 03:38:43 -03:00
|
|
|
mavlink_msg_scaled_pressure_decode(&msg, &packet);
|
|
|
|
tracker.tracking_update_pressure(packet);
|
2014-12-09 23:32:30 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
2018-03-17 03:38:43 -03:00
|
|
|
GCS_MAVLINK::packetReceived(status, msg);
|
2014-12-09 23:32:30 -04:00
|
|
|
}
|
2014-05-13 23:11:22 -03:00
|
|
|
|
2015-04-27 04:44:32 -03:00
|
|
|
// locks onto a particular target sysid and sets it's position data stream to at least 1hz
|
2018-03-17 03:38:43 -03:00
|
|
|
void GCS_MAVLINK_Tracker::mavlink_check_target(const mavlink_message_t &msg)
|
2015-04-27 04:44:32 -03:00
|
|
|
{
|
|
|
|
// exit immediately if the target has already been set
|
2018-03-17 03:38:43 -03:00
|
|
|
if (tracker.target_set) {
|
2015-04-27 04:44:32 -03:00
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
// decode
|
|
|
|
mavlink_heartbeat_t packet;
|
2018-03-17 03:38:43 -03:00
|
|
|
mavlink_msg_heartbeat_decode(&msg, &packet);
|
2015-04-27 04:44:32 -03:00
|
|
|
|
|
|
|
// exit immediately if this is not a vehicle we would track
|
|
|
|
if ((packet.type == MAV_TYPE_ANTENNA_TRACKER) ||
|
|
|
|
(packet.type == MAV_TYPE_GCS) ||
|
|
|
|
(packet.type == MAV_TYPE_ONBOARD_CONTROLLER) ||
|
|
|
|
(packet.type == MAV_TYPE_GIMBAL)) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
// set our sysid to the target, this ensures we lock onto a single vehicle
|
2018-03-17 03:38:43 -03:00
|
|
|
if (tracker.g.sysid_target == 0) {
|
|
|
|
tracker.g.sysid_target = msg.sysid;
|
2015-04-27 04:44:32 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
// send data stream request to target on all channels
|
|
|
|
// Note: this doesn't check success for all sends meaning it's not guaranteed the vehicle's positions will be sent at 1hz
|
2018-03-17 03:38:43 -03:00
|
|
|
tracker.gcs().request_datastream_position(msg.sysid, msg.compid);
|
|
|
|
tracker.gcs().request_datastream_airpressure(msg.sysid, msg.compid);
|
2015-04-27 04:44:32 -03:00
|
|
|
|
|
|
|
// flag target has been set
|
2018-03-17 03:38:43 -03:00
|
|
|
tracker.target_set = true;
|
2015-04-27 04:44:32 -03:00
|
|
|
}
|
|
|
|
|
2017-07-12 04:51:08 -03:00
|
|
|
uint8_t GCS_MAVLINK_Tracker::sysid_my_gcs() const
|
|
|
|
{
|
|
|
|
return tracker.g.sysid_my_gcs;
|
|
|
|
}
|
|
|
|
|
2018-03-18 01:15:13 -03:00
|
|
|
MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration_baro()
|
2018-03-17 08:40:57 -03:00
|
|
|
{
|
2018-03-18 01:15:13 -03:00
|
|
|
MAV_RESULT ret = GCS_MAVLINK::_handle_command_preflight_calibration_baro();
|
|
|
|
if (ret == MAV_RESULT_ACCEPTED) {
|
2018-03-17 08:40:57 -03:00
|
|
|
// zero the altitude difference on next baro update
|
|
|
|
tracker.nav_status.need_altitude_calibration = true;
|
|
|
|
}
|
2018-03-18 01:15:13 -03:00
|
|
|
return ret;
|
2018-03-17 08:40:57 -03:00
|
|
|
}
|
|
|
|
|
2018-07-03 23:23:52 -03:00
|
|
|
MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command_long_t &packet)
|
|
|
|
{
|
|
|
|
// do command
|
|
|
|
send_text(MAV_SEVERITY_INFO,"Command received: ");
|
|
|
|
|
|
|
|
switch(packet.command) {
|
|
|
|
|
|
|
|
case MAV_CMD_COMPONENT_ARM_DISARM:
|
|
|
|
if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
|
|
|
|
if (is_equal(packet.param1,1.0f)) {
|
|
|
|
tracker.arm_servos();
|
|
|
|
return MAV_RESULT_ACCEPTED;
|
|
|
|
} else if (is_zero(packet.param1)) {
|
|
|
|
tracker.disarm_servos();
|
|
|
|
return MAV_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
|
|
return MAV_RESULT_UNSUPPORTED;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
return MAV_RESULT_UNSUPPORTED;
|
|
|
|
|
|
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
|
|
if (!tracker.servo_test_set_servo(packet.param1, packet.param2)) {
|
|
|
|
return MAV_RESULT_FAILED;
|
|
|
|
}
|
|
|
|
return MAV_RESULT_ACCEPTED;
|
|
|
|
|
|
|
|
// mavproxy/mavutil sends this when auto command is entered
|
|
|
|
case MAV_CMD_MISSION_START:
|
|
|
|
tracker.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
|
|
|
|
return MAV_RESULT_ACCEPTED;
|
|
|
|
|
|
|
|
default:
|
|
|
|
return GCS_MAVLINK::handle_command_long_packet(packet);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2016-05-27 10:14:08 -03:00
|
|
|
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
|
2014-12-09 23:32:30 -04:00
|
|
|
{
|
2013-10-13 04:14:13 -03:00
|
|
|
switch (msg->msgid) {
|
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_HEARTBEAT:
|
|
|
|
break;
|
|
|
|
|
2014-03-02 03:00:37 -04:00
|
|
|
// When mavproxy 'wp sethome'
|
|
|
|
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
|
|
|
|
{
|
|
|
|
// decode
|
|
|
|
mavlink_mission_write_partial_list_t packet;
|
|
|
|
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
|
|
|
|
if (packet.start_index == 0)
|
|
|
|
{
|
|
|
|
// New home at wp index 0. Ask for it
|
|
|
|
waypoint_receiving = true;
|
|
|
|
waypoint_request_i = 0;
|
|
|
|
waypoint_request_last = 0;
|
|
|
|
send_message(MSG_NEXT_WAYPOINT);
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// XXX receive a WP from GCS and store in EEPROM if it is HOME
|
|
|
|
case MAVLINK_MSG_ID_MISSION_ITEM:
|
|
|
|
{
|
|
|
|
// decode
|
|
|
|
mavlink_mission_item_t packet;
|
2017-11-27 02:18:14 -04:00
|
|
|
MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
|
2014-03-02 03:00:37 -04:00
|
|
|
|
|
|
|
mavlink_msg_mission_item_decode(msg, &packet);
|
|
|
|
|
|
|
|
struct Location tell_command = {};
|
|
|
|
|
|
|
|
switch (packet.frame)
|
|
|
|
{
|
|
|
|
case MAV_FRAME_MISSION:
|
|
|
|
case MAV_FRAME_GLOBAL:
|
|
|
|
{
|
|
|
|
tell_command.lat = 1.0e7f*packet.x; // in as DD converted to * t7
|
|
|
|
tell_command.lng = 1.0e7f*packet.y; // in as DD converted to * t7
|
|
|
|
tell_command.alt = packet.z*1.0e2f; // in as m converted to cm
|
|
|
|
tell_command.options = 0; // absolute altitude
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
#ifdef MAV_FRAME_LOCAL_NED
|
|
|
|
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
|
|
|
|
{
|
|
|
|
tell_command.lat = 1.0e7f*ToDeg(packet.x/
|
|
|
|
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
|
|
|
|
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
|
|
|
|
tell_command.alt = -packet.z*1.0e2f;
|
|
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef MAV_FRAME_LOCAL
|
|
|
|
case MAV_FRAME_LOCAL: // local (relative to home position)
|
|
|
|
{
|
|
|
|
tell_command.lat = 1.0e7f*ToDeg(packet.x/
|
|
|
|
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
|
|
|
|
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
|
|
|
|
tell_command.alt = packet.z*1.0e2f;
|
|
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
|
|
|
|
{
|
|
|
|
tell_command.lat = 1.0e7f * packet.x; // in as DD converted to * t7
|
|
|
|
tell_command.lng = 1.0e7f * packet.y; // in as DD converted to * t7
|
|
|
|
tell_command.alt = packet.z * 1.0e2f;
|
|
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!!
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
default:
|
|
|
|
result = MAV_MISSION_UNSUPPORTED_FRAME;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
|
|
|
|
|
|
|
|
// Check if receiving waypoints (mission upload expected)
|
|
|
|
if (!waypoint_receiving) {
|
|
|
|
result = MAV_MISSION_ERROR;
|
|
|
|
goto mission_failed;
|
|
|
|
}
|
|
|
|
|
|
|
|
// check if this is the HOME wp
|
|
|
|
if (packet.seq == 0) {
|
2015-06-01 02:04:25 -03:00
|
|
|
tracker.set_home(tell_command); // New home in EEPROM
|
2015-11-18 14:47:45 -04:00
|
|
|
send_text(MAV_SEVERITY_INFO,"New HOME received");
|
2014-03-02 03:00:37 -04:00
|
|
|
waypoint_receiving = false;
|
|
|
|
}
|
|
|
|
|
|
|
|
mission_failed:
|
|
|
|
// we are rejecting the mission/waypoint
|
|
|
|
mavlink_msg_mission_ack_send(
|
|
|
|
chan,
|
|
|
|
msg->sysid,
|
|
|
|
msg->compid,
|
2017-04-11 08:43:56 -03:00
|
|
|
result,
|
|
|
|
MAV_MISSION_TYPE_MISSION);
|
2014-03-02 03:00:37 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2014-03-15 19:17:04 -03:00
|
|
|
case MAVLINK_MSG_ID_MANUAL_CONTROL:
|
|
|
|
{
|
|
|
|
mavlink_manual_control_t packet;
|
|
|
|
mavlink_msg_manual_control_decode(msg, &packet);
|
2015-06-01 02:04:25 -03:00
|
|
|
tracker.tracking_manual_control(packet);
|
2014-03-15 19:17:04 -03:00
|
|
|
break;
|
|
|
|
}
|
2014-03-02 03:00:37 -04:00
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
|
|
|
|
{
|
2013-10-13 04:14:13 -03:00
|
|
|
// decode
|
|
|
|
mavlink_global_position_int_t packet;
|
|
|
|
mavlink_msg_global_position_int_decode(msg, &packet);
|
2015-06-01 02:04:25 -03:00
|
|
|
tracker.tracking_update_position(packet);
|
2013-10-13 04:14:13 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2014-03-12 00:36:51 -03:00
|
|
|
case MAVLINK_MSG_ID_SCALED_PRESSURE:
|
|
|
|
{
|
|
|
|
// decode
|
|
|
|
mavlink_scaled_pressure_t packet;
|
|
|
|
mavlink_msg_scaled_pressure_decode(msg, &packet);
|
2015-06-01 02:04:25 -03:00
|
|
|
tracker.tracking_update_pressure(packet);
|
2014-03-12 00:36:51 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2016-11-06 20:06:43 -04:00
|
|
|
default:
|
|
|
|
handle_common_message(msg);
|
2016-01-20 22:50:48 -04:00
|
|
|
break;
|
2013-10-13 04:14:13 -03:00
|
|
|
} // end switch
|
|
|
|
} // end handle mavlink
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
* a delay() callback that processes MAVLink packets. We set this as the
|
|
|
|
* callback in long running library initialisation routines to allow
|
|
|
|
* MAVLink to process packets while waiting for the initialisation to
|
|
|
|
* complete
|
|
|
|
*/
|
2015-06-01 02:04:25 -03:00
|
|
|
void Tracker::mavlink_delay_cb()
|
2013-10-13 04:14:13 -03:00
|
|
|
{
|
|
|
|
static uint32_t last_1hz, last_50hz, last_5s;
|
2017-02-13 21:30:32 -04:00
|
|
|
if (!gcs().chan(0).initialised) {
|
|
|
|
return;
|
|
|
|
}
|
2013-10-13 04:14:13 -03:00
|
|
|
|
2017-06-14 23:08:27 -03:00
|
|
|
DataFlash.EnableWrites(false);
|
2013-10-13 04:14:13 -03:00
|
|
|
|
2015-11-19 23:04:37 -04:00
|
|
|
uint32_t tnow = AP_HAL::millis();
|
2013-10-13 04:14:13 -03:00
|
|
|
if (tnow - last_1hz > 1000) {
|
|
|
|
last_1hz = tnow;
|
2017-07-07 23:02:52 -03:00
|
|
|
gcs().send_message(MSG_HEARTBEAT);
|
|
|
|
gcs().send_message(MSG_EXTENDED_STATUS1);
|
2013-10-13 04:14:13 -03:00
|
|
|
}
|
|
|
|
if (tnow - last_50hz > 20) {
|
|
|
|
last_50hz = tnow;
|
2018-11-21 23:27:51 -04:00
|
|
|
gcs().update();
|
|
|
|
gcs().data_stream_send();
|
2013-10-13 04:14:13 -03:00
|
|
|
notify.update();
|
|
|
|
}
|
|
|
|
if (tnow - last_5s > 5000) {
|
|
|
|
last_5s = tnow;
|
2017-07-08 21:28:33 -03:00
|
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
|
2013-10-13 04:14:13 -03:00
|
|
|
}
|
2017-06-14 23:08:27 -03:00
|
|
|
DataFlash.EnableWrites(true);
|
2013-10-13 04:14:13 -03:00
|
|
|
}
|
|
|
|
|
2017-08-11 03:15:34 -03:00
|
|
|
/*
|
|
|
|
set_mode() wrapper for MAVLink SET_MODE
|
|
|
|
*/
|
|
|
|
bool GCS_MAVLINK_Tracker::set_mode(uint8_t mode)
|
|
|
|
{
|
|
|
|
switch (mode) {
|
|
|
|
case AUTO:
|
|
|
|
case MANUAL:
|
|
|
|
case SCAN:
|
|
|
|
case SERVO_TEST:
|
|
|
|
case STOP:
|
2018-02-21 19:02:00 -04:00
|
|
|
tracker.set_mode((enum ControlMode)mode, MODE_REASON_GCS_COMMAND);
|
2017-08-11 03:15:34 -03:00
|
|
|
return true;
|
|
|
|
}
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2017-07-26 03:35:27 -03:00
|
|
|
/* dummy methods to avoid having to link against AP_Camera */
|
|
|
|
void AP_Camera::control_msg(mavlink_message_t const*) {}
|
|
|
|
void AP_Camera::configure(float, float, float, float, float, float, float) {}
|
|
|
|
void AP_Camera::control(float, float, float, float, float, float) {}
|
2017-08-04 13:30:22 -03:00
|
|
|
void AP_Camera::send_feedback(mavlink_channel_t chan) {}
|
2017-07-26 03:35:27 -03:00
|
|
|
/* end dummy methods to avoid having to link against AP_Camera */
|
2017-07-27 02:23:00 -03:00
|
|
|
|
|
|
|
// dummy method to avoid linking AFS
|
2018-03-01 23:38:30 -04:00
|
|
|
bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate, const char *reason) {return false;}
|