2011-03-19 07:20:11 -03:00
|
|
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2013-09-27 07:39:10 -03:00
|
|
|
// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
|
2014-05-15 07:53:05 -03:00
|
|
|
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS)
|
2013-09-27 07:39:10 -03:00
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
// forward declarations to make compiler happy
|
|
|
|
static bool do_guided(const AP_Mission::Mission_Command& cmd);
|
|
|
|
|
2011-08-23 03:16:37 -03:00
|
|
|
// use this to prevent recursion during sensor init
|
|
|
|
static bool in_mavlink_delay;
|
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
// true if we are out of time in our event timeslice
|
|
|
|
static bool gcs_out_of_time;
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
// check if a message will fit in the payload space available
|
2014-07-27 08:14:39 -03:00
|
|
|
#define CHECK_PAYLOAD_SIZE(id) if (txspace < MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_ ## id ## _LEN) return false
|
2011-10-11 06:12:37 -03:00
|
|
|
|
2012-08-15 21:14:46 -03:00
|
|
|
// prototype this for use inside the GCS class
|
|
|
|
static void gcs_send_text_fmt(const prog_char_t *fmt, ...);
|
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
static void gcs_send_heartbeat(void)
|
|
|
|
{
|
|
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
|
|
}
|
2013-01-06 20:04:00 -04:00
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
static void gcs_send_deferred(void)
|
|
|
|
{
|
|
|
|
gcs_send_message(MSG_RETRY_DEFERRED);
|
2012-12-13 10:09:26 -04:00
|
|
|
}
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
/*
|
2012-08-16 21:50:03 -03:00
|
|
|
* !!NOTE!!
|
|
|
|
*
|
|
|
|
* the use of NOINLINE separate functions for each message type avoids
|
|
|
|
* a compiler bug in gcc that would cause it to use far more stack
|
|
|
|
* space than is needed. Without the NOINLINE we use the sum of the
|
|
|
|
* stack needed for each message type. Please be careful to follow the
|
|
|
|
* pattern below when adding any new messages
|
2011-10-11 06:12:37 -03:00
|
|
|
*/
|
|
|
|
|
|
|
|
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
|
|
|
|
{
|
2012-04-24 06:53:24 -03:00
|
|
|
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
|
2013-09-06 22:55:24 -03:00
|
|
|
uint8_t system_status = ap.land_complete ? MAV_STATE_STANDBY : MAV_STATE_ACTIVE;
|
2012-04-24 06:53:24 -03:00
|
|
|
uint32_t custom_mode = control_mode;
|
2013-09-27 07:39:10 -03:00
|
|
|
|
|
|
|
// set system as critical if any failsafe have triggered
|
2014-07-21 07:12:17 -03:00
|
|
|
if (failsafe.radio || failsafe.battery || failsafe.gps || failsafe.gcs || failsafe.ekf) {
|
2013-02-08 22:11:36 -04:00
|
|
|
system_status = MAV_STATE_CRITICAL;
|
|
|
|
}
|
2014-10-16 06:08:24 -03:00
|
|
|
|
2012-04-24 06:53:24 -03:00
|
|
|
// work out the base_mode. This value is not very useful
|
|
|
|
// for APM, but we calculate it as best we can so a generic
|
|
|
|
// MAVLink enabled ground station can work out something about
|
|
|
|
// what the MAV is up to. The actual bit values are highly
|
|
|
|
// ambiguous for most of the APM flight modes. In practice, you
|
|
|
|
// only get useful information from the custom_mode, which maps to
|
|
|
|
// the APM flight mode and has a well defined meaning in the
|
|
|
|
// ArduPlane documentation
|
|
|
|
base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
|
|
|
|
switch (control_mode) {
|
|
|
|
case AUTO:
|
|
|
|
case RTL:
|
|
|
|
case LOITER:
|
|
|
|
case GUIDED:
|
|
|
|
case CIRCLE:
|
2014-07-11 02:08:09 -03:00
|
|
|
case POSHOLD:
|
2012-04-24 06:53:24 -03:00
|
|
|
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
|
|
|
|
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
|
|
|
|
// APM does in any mode, as that is defined as "system finds its own goal
|
|
|
|
// positions", which APM does not currently do
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// all modes except INITIALISING have some form of manual
|
|
|
|
// override if stick mixing is enabled
|
|
|
|
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
|
|
|
|
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
|
|
base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// we are armed if we are not initialising
|
|
|
|
if (motors.armed()) {
|
|
|
|
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
|
|
|
|
}
|
|
|
|
|
|
|
|
// indicate we have set a custom mode
|
|
|
|
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
mavlink_msg_heartbeat_send(
|
|
|
|
chan,
|
2013-09-09 03:52:23 -03:00
|
|
|
#if (FRAME_CONFIG == QUAD_FRAME)
|
2012-04-24 06:53:24 -03:00
|
|
|
MAV_TYPE_QUADROTOR,
|
2013-09-09 03:52:23 -03:00
|
|
|
#elif (FRAME_CONFIG == TRI_FRAME)
|
|
|
|
MAV_TYPE_TRICOPTER,
|
|
|
|
#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
|
|
|
|
MAV_TYPE_HEXAROTOR,
|
|
|
|
#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
|
|
|
|
MAV_TYPE_OCTOROTOR,
|
|
|
|
#elif (FRAME_CONFIG == HELI_FRAME)
|
|
|
|
MAV_TYPE_HELICOPTER,
|
2013-11-23 06:45:42 -04:00
|
|
|
#elif (FRAME_CONFIG == SINGLE_FRAME) //because mavlink did not define a singlecopter, we use a rocket
|
2013-10-02 06:59:04 -03:00
|
|
|
MAV_TYPE_ROCKET,
|
2014-02-06 08:28:55 -04:00
|
|
|
#elif (FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a rocket
|
|
|
|
MAV_TYPE_ROCKET,
|
2013-09-09 03:52:23 -03:00
|
|
|
#else
|
|
|
|
#error Unrecognised frame type
|
|
|
|
#endif
|
2012-04-24 06:53:24 -03:00
|
|
|
MAV_AUTOPILOT_ARDUPILOTMEGA,
|
|
|
|
base_mode,
|
|
|
|
custom_mode,
|
|
|
|
system_status);
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
static NOINLINE void send_attitude(mavlink_channel_t chan)
|
|
|
|
{
|
2014-02-03 03:25:53 -04:00
|
|
|
const Vector3f &gyro = ins.get_gyro();
|
2011-10-11 06:12:37 -03:00
|
|
|
mavlink_msg_attitude_send(
|
|
|
|
chan,
|
2012-07-19 22:57:15 -03:00
|
|
|
millis(),
|
2012-03-11 05:36:12 -03:00
|
|
|
ahrs.roll,
|
|
|
|
ahrs.pitch,
|
|
|
|
ahrs.yaw,
|
2014-02-03 03:25:53 -04:00
|
|
|
gyro.x,
|
|
|
|
gyro.y,
|
|
|
|
gyro.z);
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
2013-04-26 06:51:07 -03:00
|
|
|
#if AC_FENCE == ENABLED
|
2012-07-14 23:26:17 -03:00
|
|
|
static NOINLINE void send_limits_status(mavlink_channel_t chan)
|
|
|
|
{
|
2013-04-26 06:51:07 -03:00
|
|
|
fence_send_mavlink_status(chan);
|
2012-07-14 23:26:17 -03:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
2014-03-18 21:07:25 -03:00
|
|
|
static NOINLINE void send_extended_status1(mavlink_channel_t chan)
|
2011-10-11 06:12:37 -03:00
|
|
|
{
|
2013-09-27 07:39:10 -03:00
|
|
|
uint32_t control_sensors_present;
|
2012-04-24 06:53:24 -03:00
|
|
|
uint32_t control_sensors_enabled;
|
|
|
|
uint32_t control_sensors_health;
|
|
|
|
|
2013-09-27 07:39:10 -03:00
|
|
|
// default sensors present
|
|
|
|
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
|
|
|
|
|
2012-04-24 06:53:24 -03:00
|
|
|
// first what sensors/controllers we have
|
|
|
|
if (g.compass_enabled) {
|
2013-09-27 07:39:10 -03:00
|
|
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
|
2012-04-24 06:53:24 -03:00
|
|
|
}
|
2014-03-31 04:07:46 -03:00
|
|
|
if (gps.status() > AP_GPS::NO_GPS) {
|
2013-09-27 07:39:10 -03:00
|
|
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
|
2012-04-24 06:53:24 -03:00
|
|
|
}
|
2013-09-27 07:39:10 -03:00
|
|
|
#if OPTFLOW == ENABLED
|
2014-07-11 23:34:55 -03:00
|
|
|
if (optflow.enabled()) {
|
2013-09-27 07:39:10 -03:00
|
|
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
|
|
|
|
}
|
|
|
|
#endif
|
2013-10-21 10:39:25 -03:00
|
|
|
if (ap.rc_receiver_present) {
|
|
|
|
control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
|
|
|
|
}
|
2012-04-24 06:53:24 -03:00
|
|
|
|
2014-09-14 05:27:54 -03:00
|
|
|
// all present sensors enabled by default except altitude and position control and motors which we will set individually
|
|
|
|
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
|
|
|
|
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
|
|
|
|
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS);
|
2012-04-24 06:53:24 -03:00
|
|
|
|
|
|
|
switch (control_mode) {
|
2013-09-27 07:39:10 -03:00
|
|
|
case ALT_HOLD:
|
2012-04-24 06:53:24 -03:00
|
|
|
case AUTO:
|
|
|
|
case GUIDED:
|
2013-09-27 07:39:10 -03:00
|
|
|
case LOITER:
|
|
|
|
case RTL:
|
2012-04-24 06:53:24 -03:00
|
|
|
case CIRCLE:
|
2013-09-27 07:39:10 -03:00
|
|
|
case LAND:
|
|
|
|
case OF_LOITER:
|
2014-07-11 02:08:09 -03:00
|
|
|
case POSHOLD:
|
2013-09-27 07:39:10 -03:00
|
|
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
|
|
|
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
|
|
|
|
break;
|
|
|
|
case SPORT:
|
|
|
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
|
2012-04-24 06:53:24 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2014-09-14 05:27:54 -03:00
|
|
|
// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
|
|
|
|
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
|
|
|
|
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
|
|
|
|
}
|
|
|
|
|
2014-08-13 02:00:13 -03:00
|
|
|
// default to all healthy except baro, compass, gps and receiver which we set individually
|
|
|
|
control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
|
|
|
|
MAV_SYS_STATUS_SENSOR_3D_MAG |
|
|
|
|
MAV_SYS_STATUS_SENSOR_GPS |
|
|
|
|
MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
|
2014-08-13 10:54:41 -03:00
|
|
|
if (barometer.healthy()) {
|
2014-08-13 02:00:13 -03:00
|
|
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
|
|
|
|
}
|
2014-03-23 17:05:03 -03:00
|
|
|
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
|
2013-09-27 07:39:10 -03:00
|
|
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
|
2012-11-11 20:26:54 -04:00
|
|
|
}
|
2014-03-31 04:07:46 -03:00
|
|
|
if (gps.status() > AP_GPS::NO_GPS && (!gps_glitch.glitching()||ap.usb_connected)) {
|
2013-09-27 07:39:10 -03:00
|
|
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
|
2012-11-11 20:26:54 -04:00
|
|
|
}
|
2013-10-21 10:39:25 -03:00
|
|
|
if (ap.rc_receiver_present && !failsafe.radio) {
|
|
|
|
control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
|
|
|
|
}
|
2014-10-08 08:18:37 -03:00
|
|
|
if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
|
2014-09-01 08:22:18 -03:00
|
|
|
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
|
|
|
|
}
|
|
|
|
if (!ins.get_accel_health_all()) {
|
|
|
|
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
|
2013-10-29 19:02:24 -03:00
|
|
|
}
|
2012-11-11 20:26:54 -04:00
|
|
|
|
2014-10-02 01:44:02 -03:00
|
|
|
if (ahrs.initialised() && !ahrs.healthy()) {
|
2014-05-15 07:53:05 -03:00
|
|
|
// AHRS subsystem is unhealthy
|
|
|
|
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
|
|
|
|
}
|
|
|
|
|
2013-10-01 10:34:44 -03:00
|
|
|
int16_t battery_current = -1;
|
|
|
|
int8_t battery_remaining = -1;
|
2012-06-24 21:01:25 -03:00
|
|
|
|
2013-10-01 10:34:44 -03:00
|
|
|
if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) {
|
|
|
|
battery_remaining = battery.capacity_remaining_pct();
|
|
|
|
battery_current = battery.current_amps() * 100;
|
2012-06-24 21:01:25 -03:00
|
|
|
}
|
|
|
|
|
2014-07-24 18:58:58 -03:00
|
|
|
#if AP_TERRAIN_AVAILABLE
|
2014-07-24 07:17:13 -03:00
|
|
|
switch (terrain.status()) {
|
|
|
|
case AP_Terrain::TerrainStatusDisabled:
|
|
|
|
break;
|
|
|
|
case AP_Terrain::TerrainStatusUnhealthy:
|
2014-09-09 10:19:20 -03:00
|
|
|
// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
|
|
|
|
//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
|
|
|
|
//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
|
|
|
|
//break;
|
2014-07-24 07:17:13 -03:00
|
|
|
case AP_Terrain::TerrainStatusOK:
|
|
|
|
control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
|
|
|
|
control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
|
|
|
|
control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
2012-04-24 06:53:24 -03:00
|
|
|
mavlink_msg_sys_status_send(
|
|
|
|
chan,
|
|
|
|
control_sensors_present,
|
|
|
|
control_sensors_enabled,
|
|
|
|
control_sensors_health,
|
2014-04-04 07:37:56 -03:00
|
|
|
(uint16_t)(scheduler.load_average(MAIN_LOOP_MICROS) * 1000),
|
2013-10-01 10:34:44 -03:00
|
|
|
battery.voltage() * 1000, // mV
|
2012-06-24 21:01:25 -03:00
|
|
|
battery_current, // in 10mA units
|
2012-04-24 06:53:24 -03:00
|
|
|
battery_remaining, // in %
|
|
|
|
0, // comm drops %,
|
|
|
|
0, // comm drops in pkts,
|
|
|
|
0, 0, 0, 0);
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
static void NOINLINE send_location(mavlink_channel_t chan)
|
|
|
|
{
|
2012-11-13 01:38:24 -04:00
|
|
|
uint32_t fix_time;
|
|
|
|
// if we have a GPS fix, take the time as the last fix time. That
|
|
|
|
// allows us to correctly calculate velocities and extrapolate
|
|
|
|
// positions.
|
|
|
|
// If we don't have a GPS fix then we are dead reckoning, and will
|
2014-10-16 06:08:24 -03:00
|
|
|
// use the current boot time as the fix time.
|
2014-03-31 04:07:46 -03:00
|
|
|
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
|
|
|
|
fix_time = gps.last_fix_time_ms();
|
2012-11-13 01:38:24 -04:00
|
|
|
} else {
|
|
|
|
fix_time = millis();
|
|
|
|
}
|
2014-03-31 04:07:46 -03:00
|
|
|
const Vector3f &vel = gps.velocity();
|
2011-10-11 06:12:37 -03:00
|
|
|
mavlink_msg_global_position_int_send(
|
|
|
|
chan,
|
2012-11-13 01:38:24 -04:00
|
|
|
fix_time,
|
2012-04-24 06:53:24 -03:00
|
|
|
current_loc.lat, // in 1E7 degrees
|
|
|
|
current_loc.lng, // in 1E7 degrees
|
2014-03-31 04:07:46 -03:00
|
|
|
gps.location().alt * 10UL, // millimeters above sea level
|
2014-06-10 23:03:19 -03:00
|
|
|
current_loc.alt * 10, // millimeters above ground
|
2014-03-31 04:07:46 -03:00
|
|
|
vel.x * 100, // X speed cm/s (+ve North)
|
|
|
|
vel.y * 100, // Y speed cm/s (+ve East)
|
|
|
|
vel.x * -100, // Z speed cm/s (+ve up)
|
2013-12-03 02:41:23 -04:00
|
|
|
ahrs.yaw_sensor); // compass heading in 1/100 degree
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
|
|
|
|
{
|
2014-08-22 10:52:06 -03:00
|
|
|
const Vector3f &targets = attitude_control.angle_ef_targets();
|
2011-10-11 06:12:37 -03:00
|
|
|
mavlink_msg_nav_controller_output_send(
|
|
|
|
chan,
|
2014-02-03 09:04:08 -04:00
|
|
|
targets.x / 1.0e2f,
|
|
|
|
targets.y / 1.0e2f,
|
|
|
|
targets.z / 1.0e2f,
|
2013-01-10 14:42:24 -04:00
|
|
|
wp_bearing / 1.0e2f,
|
|
|
|
wp_distance / 1.0e2f,
|
2014-01-10 03:20:31 -04:00
|
|
|
pos_control.get_alt_error() / 1.0e2f,
|
2011-12-31 03:37:24 -04:00
|
|
|
0,
|
2013-03-17 04:46:31 -03:00
|
|
|
0);
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
2012-03-01 08:36:35 -04:00
|
|
|
// report simulator state
|
|
|
|
static void NOINLINE send_simstate(mavlink_channel_t chan)
|
|
|
|
{
|
2013-04-05 10:25:58 -03:00
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
2012-06-29 02:10:35 -03:00
|
|
|
sitl.simstate_send(chan);
|
2012-03-01 08:36:35 -04:00
|
|
|
#endif
|
2013-04-05 10:25:58 -03:00
|
|
|
}
|
2012-03-01 08:36:35 -04:00
|
|
|
|
|
|
|
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
|
|
|
|
{
|
|
|
|
mavlink_msg_hwstatus_send(
|
|
|
|
chan,
|
2014-02-13 02:12:10 -04:00
|
|
|
hal.analogin->board_voltage()*1000,
|
2012-12-12 21:25:09 -04:00
|
|
|
hal.i2c->lockup_count());
|
2012-03-01 08:36:35 -04:00
|
|
|
}
|
|
|
|
|
2013-09-20 20:27:30 -03:00
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
2011-10-11 06:12:37 -03:00
|
|
|
static void NOINLINE send_servo_out(mavlink_channel_t chan)
|
|
|
|
{
|
|
|
|
// normalized values scaled to -10000 to 10000
|
|
|
|
// This is used for HIL. Do not change without discussing with HIL maintainers
|
2011-11-05 01:41:51 -03:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
#if FRAME_CONFIG == HELI_FRAME
|
2011-11-05 01:41:51 -03:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
mavlink_msg_rc_channels_scaled_send(
|
2011-10-11 06:12:37 -03:00
|
|
|
chan,
|
2012-04-24 06:53:24 -03:00
|
|
|
millis(),
|
|
|
|
0, // port 0
|
2011-11-05 01:41:51 -03:00
|
|
|
g.rc_1.servo_out,
|
|
|
|
g.rc_2.servo_out,
|
|
|
|
g.rc_3.radio_out,
|
2011-10-11 06:12:37 -03:00
|
|
|
g.rc_4.servo_out,
|
|
|
|
0,
|
|
|
|
0,
|
|
|
|
0,
|
|
|
|
0,
|
2012-11-22 05:59:33 -04:00
|
|
|
receiver_rssi);
|
2012-08-16 21:50:03 -03:00
|
|
|
#else
|
|
|
|
#if X_PLANE == ENABLED
|
|
|
|
/* update by JLN for X-Plane HIL */
|
2013-04-17 09:25:32 -03:00
|
|
|
if(motors.armed() && ap.auto_armed) {
|
2012-08-16 21:50:03 -03:00
|
|
|
mavlink_msg_rc_channels_scaled_send(
|
|
|
|
chan,
|
|
|
|
millis(),
|
|
|
|
0, // port 0
|
|
|
|
g.rc_1.servo_out,
|
|
|
|
g.rc_2.servo_out,
|
|
|
|
10000 * g.rc_3.norm_output(),
|
|
|
|
g.rc_4.servo_out,
|
|
|
|
10000 * g.rc_1.norm_output(),
|
|
|
|
10000 * g.rc_2.norm_output(),
|
|
|
|
10000 * g.rc_3.norm_output(),
|
|
|
|
10000 * g.rc_4.norm_output(),
|
2012-11-22 05:59:33 -04:00
|
|
|
receiver_rssi);
|
2012-08-16 21:50:03 -03:00
|
|
|
}else{
|
|
|
|
mavlink_msg_rc_channels_scaled_send(
|
|
|
|
chan,
|
|
|
|
millis(),
|
|
|
|
0, // port 0
|
|
|
|
0,
|
|
|
|
0,
|
|
|
|
-10000,
|
|
|
|
0,
|
|
|
|
10000 * g.rc_1.norm_output(),
|
|
|
|
10000 * g.rc_2.norm_output(),
|
|
|
|
10000 * g.rc_3.norm_output(),
|
|
|
|
10000 * g.rc_4.norm_output(),
|
2012-11-22 05:59:33 -04:00
|
|
|
receiver_rssi);
|
2012-08-16 21:50:03 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
#else
|
|
|
|
mavlink_msg_rc_channels_scaled_send(
|
|
|
|
chan,
|
|
|
|
millis(),
|
|
|
|
0, // port 0
|
|
|
|
g.rc_1.servo_out,
|
|
|
|
g.rc_2.servo_out,
|
|
|
|
g.rc_3.radio_out,
|
|
|
|
g.rc_4.servo_out,
|
|
|
|
10000 * g.rc_1.norm_output(),
|
|
|
|
10000 * g.rc_2.norm_output(),
|
|
|
|
10000 * g.rc_3.norm_output(),
|
|
|
|
10000 * g.rc_4.norm_output(),
|
2012-11-22 05:59:33 -04:00
|
|
|
receiver_rssi);
|
2012-08-16 21:50:03 -03:00
|
|
|
#endif
|
|
|
|
#endif
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
2013-09-20 20:27:30 -03:00
|
|
|
#endif // HIL_MODE
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
static void NOINLINE send_radio_out(mavlink_channel_t chan)
|
|
|
|
{
|
|
|
|
mavlink_msg_servo_output_raw_send(
|
|
|
|
chan,
|
2012-04-24 06:53:24 -03:00
|
|
|
micros(),
|
2014-07-30 05:29:48 -03:00
|
|
|
0, // port
|
|
|
|
hal.rcout->read(0),
|
|
|
|
hal.rcout->read(1),
|
|
|
|
hal.rcout->read(2),
|
|
|
|
hal.rcout->read(3),
|
|
|
|
hal.rcout->read(4),
|
|
|
|
hal.rcout->read(5),
|
|
|
|
hal.rcout->read(6),
|
|
|
|
hal.rcout->read(7));
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
|
|
|
|
{
|
|
|
|
mavlink_msg_vfr_hud_send(
|
|
|
|
chan,
|
2014-03-31 04:07:46 -03:00
|
|
|
gps.ground_speed(),
|
|
|
|
gps.ground_speed(),
|
2012-03-11 05:36:12 -03:00
|
|
|
(ahrs.yaw_sensor / 100) % 360,
|
2011-10-11 06:12:37 -03:00
|
|
|
g.rc_3.servo_out/10,
|
2013-01-10 14:42:24 -04:00
|
|
|
current_loc.alt / 100.0f,
|
|
|
|
climb_rate / 100.0f);
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
|
|
|
|
{
|
2014-04-27 03:59:52 -03:00
|
|
|
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
2014-05-16 01:54:24 -03:00
|
|
|
#if CONFIG_SONAR == ENABLED
|
|
|
|
static void NOINLINE send_rangefinder(mavlink_channel_t chan)
|
|
|
|
{
|
2014-05-16 02:45:39 -03:00
|
|
|
// exit immediately if sonar is disabled
|
2014-06-27 01:23:56 -03:00
|
|
|
if (!sonar.healthy()) {
|
2014-05-16 02:45:39 -03:00
|
|
|
return;
|
|
|
|
}
|
2014-07-17 22:42:53 -03:00
|
|
|
mavlink_msg_rangefinder_send(
|
|
|
|
chan,
|
|
|
|
sonar_alt * 0.01f,
|
|
|
|
sonar.voltage_mv() * 0.001f);
|
2014-05-16 01:54:24 -03:00
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
static void NOINLINE send_statustext(mavlink_channel_t chan)
|
|
|
|
{
|
2013-11-23 06:45:42 -04:00
|
|
|
mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
|
2011-10-11 06:12:37 -03:00
|
|
|
mavlink_msg_statustext_send(
|
|
|
|
chan,
|
2013-11-23 06:45:42 -04:00
|
|
|
s->severity,
|
|
|
|
s->text);
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|
|
|
|
|
2012-08-29 20:03:01 -03:00
|
|
|
// are we still delaying telemetry to try to avoid Xbee bricking?
|
|
|
|
static bool telemetry_delayed(mavlink_channel_t chan)
|
|
|
|
{
|
|
|
|
uint32_t tnow = millis() >> 10;
|
2013-09-19 03:24:23 -03:00
|
|
|
if (tnow > (uint32_t)g.telem_delay) {
|
2012-08-29 20:03:01 -03:00
|
|
|
return false;
|
|
|
|
}
|
2013-09-19 03:24:23 -03:00
|
|
|
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
|
|
|
|
// this is USB telemetry, so won't be an Xbee
|
2012-08-29 20:03:01 -03:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
// we're either on the 2nd UART, or no USB cable is connected
|
2013-09-19 03:24:23 -03:00
|
|
|
// we need to delay telemetry by the TELEM_DELAY time
|
2012-08-29 20:03:01 -03:00
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
// try to send a message, return false if it won't fit in the serial tx buffer
|
2014-03-18 21:07:25 -03:00
|
|
|
bool GCS_MAVLINK::try_send_message(enum ap_message id)
|
2011-10-11 06:12:37 -03:00
|
|
|
{
|
2014-07-27 08:14:39 -03:00
|
|
|
uint16_t txspace = comm_get_txspace(chan);
|
2011-10-11 06:12:37 -03:00
|
|
|
|
2012-08-29 20:03:01 -03:00
|
|
|
if (telemetry_delayed(chan)) {
|
2011-10-11 06:12:37 -03:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2013-10-18 20:15:01 -03:00
|
|
|
#if HIL_MODE != HIL_MODE_SENSORS
|
2013-10-23 02:11:28 -03:00
|
|
|
// if we don't have at least 250 micros remaining before the main loop
|
2013-01-08 01:45:12 -04:00
|
|
|
// wants to fire then don't send a mavlink message. We want to
|
|
|
|
// prioritise the main flight control loop over communications
|
2013-10-23 02:11:28 -03:00
|
|
|
if (scheduler.time_available_usec() < 250 && motors.armed()) {
|
2013-01-08 01:45:12 -04:00
|
|
|
gcs_out_of_time = true;
|
2013-01-06 20:02:50 -04:00
|
|
|
return false;
|
|
|
|
}
|
2013-10-18 20:15:01 -03:00
|
|
|
#endif
|
2013-01-06 20:02:50 -04:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
switch(id) {
|
2011-10-11 06:12:37 -03:00
|
|
|
case MSG_HEARTBEAT:
|
|
|
|
CHECK_PAYLOAD_SIZE(HEARTBEAT);
|
2013-12-15 20:24:27 -04:00
|
|
|
gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis();
|
2011-10-11 06:12:37 -03:00
|
|
|
send_heartbeat(chan);
|
2013-01-08 01:45:12 -04:00
|
|
|
break;
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
case MSG_EXTENDED_STATUS1:
|
2014-09-09 10:17:46 -03:00
|
|
|
// send extended status only once vehicle has been initialised
|
|
|
|
// to avoid unnecessary errors being reported to user
|
|
|
|
if (ap.initialised) {
|
|
|
|
CHECK_PAYLOAD_SIZE(SYS_STATUS);
|
|
|
|
send_extended_status1(chan);
|
|
|
|
CHECK_PAYLOAD_SIZE(POWER_STATUS);
|
|
|
|
gcs[chan-MAVLINK_COMM_0].send_power_status();
|
|
|
|
}
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_EXTENDED_STATUS2:
|
|
|
|
CHECK_PAYLOAD_SIZE(MEMINFO);
|
2013-12-28 01:02:32 -04:00
|
|
|
gcs[chan-MAVLINK_COMM_0].send_meminfo();
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_ATTITUDE:
|
|
|
|
CHECK_PAYLOAD_SIZE(ATTITUDE);
|
|
|
|
send_attitude(chan);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_LOCATION:
|
|
|
|
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
|
|
|
|
send_location(chan);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_NAV_CONTROLLER_OUTPUT:
|
|
|
|
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
|
|
|
|
send_nav_controller_output(chan);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_GPS_RAW:
|
2014-06-10 19:55:18 -03:00
|
|
|
return gcs[chan-MAVLINK_COMM_0].send_gps_raw(gps);
|
2011-10-11 06:12:37 -03:00
|
|
|
|
2013-10-23 08:15:21 -03:00
|
|
|
case MSG_SYSTEM_TIME:
|
|
|
|
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
|
2014-05-27 20:35:57 -03:00
|
|
|
gcs[chan-MAVLINK_COMM_0].send_system_time(gps);
|
2013-10-23 08:15:21 -03:00
|
|
|
break;
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
case MSG_SERVO_OUT:
|
2013-09-20 20:27:30 -03:00
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
2011-10-11 06:12:37 -03:00
|
|
|
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
|
|
|
|
send_servo_out(chan);
|
2013-09-20 20:27:30 -03:00
|
|
|
#endif
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_RADIO_IN:
|
|
|
|
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
|
2014-08-16 08:31:24 -03:00
|
|
|
gcs[chan-MAVLINK_COMM_0].send_radio_in(receiver_rssi);
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_RADIO_OUT:
|
|
|
|
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
|
|
|
|
send_radio_out(chan);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_VFR_HUD:
|
|
|
|
CHECK_PAYLOAD_SIZE(VFR_HUD);
|
|
|
|
send_vfr_hud(chan);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_RAW_IMU1:
|
|
|
|
CHECK_PAYLOAD_SIZE(RAW_IMU);
|
2014-07-13 02:37:21 -03:00
|
|
|
gcs[chan-MAVLINK_COMM_0].send_raw_imu(ins, compass);
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_RAW_IMU2:
|
|
|
|
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
|
2014-07-13 02:37:21 -03:00
|
|
|
gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(barometer);
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_RAW_IMU3:
|
|
|
|
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
|
2014-07-13 02:37:21 -03:00
|
|
|
gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(ins, compass, barometer);
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_CURRENT_WAYPOINT:
|
2012-08-08 23:22:46 -03:00
|
|
|
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
|
2011-10-11 06:12:37 -03:00
|
|
|
send_current_waypoint(chan);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_NEXT_PARAM:
|
|
|
|
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
|
2013-11-23 06:45:42 -04:00
|
|
|
gcs[chan-MAVLINK_COMM_0].queued_param_send();
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_NEXT_WAYPOINT:
|
2012-08-08 23:22:46 -03:00
|
|
|
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
|
2013-11-23 06:45:42 -04:00
|
|
|
gcs[chan-MAVLINK_COMM_0].queued_waypoint_send();
|
2011-10-11 06:12:37 -03:00
|
|
|
break;
|
|
|
|
|
2014-05-16 01:54:24 -03:00
|
|
|
case MSG_RANGEFINDER:
|
2014-10-20 23:59:18 -03:00
|
|
|
#if CONFIG_SONAR == ENABLED
|
2014-05-16 01:54:24 -03:00
|
|
|
CHECK_PAYLOAD_SIZE(RANGEFINDER);
|
|
|
|
send_rangefinder(chan);
|
|
|
|
#endif
|
2014-10-20 23:59:18 -03:00
|
|
|
break;
|
2014-05-16 01:54:24 -03:00
|
|
|
|
2014-07-22 05:22:36 -03:00
|
|
|
case MSG_TERRAIN:
|
2014-07-24 18:58:58 -03:00
|
|
|
#if AP_TERRAIN_AVAILABLE
|
2014-07-22 05:22:36 -03:00
|
|
|
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
|
|
|
|
terrain.send_request(chan);
|
|
|
|
#endif
|
|
|
|
break;
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
case MSG_STATUSTEXT:
|
|
|
|
CHECK_PAYLOAD_SIZE(STATUSTEXT);
|
|
|
|
send_statustext(chan);
|
|
|
|
break;
|
|
|
|
|
2012-07-14 23:26:17 -03:00
|
|
|
case MSG_LIMITS_STATUS:
|
2014-10-20 23:59:18 -03:00
|
|
|
#if AC_FENCE == ENABLED
|
2012-08-16 21:50:03 -03:00
|
|
|
CHECK_PAYLOAD_SIZE(LIMITS_STATUS);
|
|
|
|
send_limits_status(chan);
|
2012-07-14 23:26:17 -03:00
|
|
|
#endif
|
2014-10-20 23:59:18 -03:00
|
|
|
break;
|
2012-07-14 23:26:17 -03:00
|
|
|
|
2012-03-11 05:36:12 -03:00
|
|
|
case MSG_AHRS:
|
|
|
|
CHECK_PAYLOAD_SIZE(AHRS);
|
2014-07-13 02:37:21 -03:00
|
|
|
gcs[chan-MAVLINK_COMM_0].send_ahrs(ahrs);
|
2012-03-01 08:36:35 -04:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_SIMSTATE:
|
2012-12-18 06:15:11 -04:00
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
2012-03-11 05:36:12 -03:00
|
|
|
CHECK_PAYLOAD_SIZE(SIMSTATE);
|
2012-03-01 08:36:35 -04:00
|
|
|
send_simstate(chan);
|
2014-01-03 20:30:55 -04:00
|
|
|
#endif
|
|
|
|
#if AP_AHRS_NAVEKF_AVAILABLE
|
|
|
|
CHECK_PAYLOAD_SIZE(AHRS2);
|
|
|
|
gcs[chan-MAVLINK_COMM_0].send_ahrs2(ahrs);
|
2012-03-01 08:36:35 -04:00
|
|
|
#endif
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MSG_HWSTATUS:
|
|
|
|
CHECK_PAYLOAD_SIZE(HWSTATUS);
|
|
|
|
send_hwstatus(chan);
|
|
|
|
break;
|
|
|
|
|
2013-12-15 20:24:27 -04:00
|
|
|
case MSG_FENCE_STATUS:
|
|
|
|
case MSG_WIND:
|
|
|
|
// unused
|
|
|
|
break;
|
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
case MSG_RETRY_DEFERRED:
|
|
|
|
break; // just here to prevent a warning
|
2014-10-20 23:59:18 -03:00
|
|
|
|
|
|
|
case MSG_BATTERY2:
|
|
|
|
break; // just here to prevent a warning
|
2012-08-16 21:50:03 -03:00
|
|
|
}
|
2013-01-08 01:45:12 -04:00
|
|
|
|
2011-10-11 06:12:37 -03:00
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
2012-02-12 07:27:03 -04:00
|
|
|
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Param: RAW_SENS
|
|
|
|
// @DisplayName: Raw sensor stream rate
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 0),
|
2013-01-02 10:36:48 -04:00
|
|
|
|
|
|
|
// @Param: EXT_STAT
|
|
|
|
// @DisplayName: Extended status stream rate to ground station
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 0),
|
2013-01-02 10:36:48 -04:00
|
|
|
|
|
|
|
// @Param: RC_CHAN
|
|
|
|
// @DisplayName: RC Channel stream rate to ground station
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 0),
|
2013-01-02 10:36:48 -04:00
|
|
|
|
|
|
|
// @Param: RAW_CTRL
|
|
|
|
// @DisplayName: Raw Control stream rate to ground station
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 0),
|
2013-01-02 10:36:48 -04:00
|
|
|
|
|
|
|
// @Param: POSITION
|
|
|
|
// @DisplayName: Position stream rate to ground station
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of GLOBAL_POSITION_INT to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 0),
|
2013-01-02 10:36:48 -04:00
|
|
|
|
|
|
|
// @Param: EXTRA1
|
|
|
|
// @DisplayName: Extra data type 1 stream rate to ground station
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 0),
|
2013-01-02 10:36:48 -04:00
|
|
|
|
|
|
|
// @Param: EXTRA2
|
|
|
|
// @DisplayName: Extra data type 2 stream rate to ground station
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of VFR_HUD to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 0),
|
2013-01-02 10:36:48 -04:00
|
|
|
|
|
|
|
// @Param: EXTRA3
|
|
|
|
// @DisplayName: Extra data type 3 stream rate to ground station
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 0),
|
2013-01-02 10:36:48 -04:00
|
|
|
|
|
|
|
// @Param: PARAMS
|
|
|
|
// @DisplayName: Parameter stream rate to ground station
|
2014-04-06 06:00:32 -03:00
|
|
|
// @Description: Stream rate of PARAM_VALUE to ground station
|
2013-01-02 10:36:48 -04:00
|
|
|
// @Units: Hz
|
|
|
|
// @Range: 0 10
|
|
|
|
// @Increment: 1
|
|
|
|
// @User: Advanced
|
2013-11-23 06:45:42 -04:00
|
|
|
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 0),
|
2012-02-12 07:27:03 -04:00
|
|
|
AP_GROUPEND
|
|
|
|
};
|
2011-05-11 03:10:06 -03:00
|
|
|
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
// see if we should send a stream now. Called at 50Hz
|
|
|
|
bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
|
|
|
|
{
|
2013-11-23 06:45:42 -04:00
|
|
|
if (stream_num >= NUM_STREAMS) {
|
|
|
|
return false;
|
2013-02-03 02:40:41 -04:00
|
|
|
}
|
2013-11-23 06:45:42 -04:00
|
|
|
float rate = (uint8_t)streamRates[stream_num].get();
|
2012-04-01 22:18:42 -03:00
|
|
|
|
2013-11-23 06:45:42 -04:00
|
|
|
// send at a much lower rate while handling waypoints and
|
|
|
|
// parameter sends
|
2014-10-16 06:08:24 -03:00
|
|
|
if ((stream_num != STREAM_PARAMS) &&
|
2013-11-23 06:45:42 -04:00
|
|
|
(waypoint_receiving || _queued_parameter != NULL)) {
|
|
|
|
rate *= 0.25;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (rate <= 0) {
|
2012-04-01 22:18:42 -03:00
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (stream_ticks[stream_num] == 0) {
|
|
|
|
// we're triggering now, setup the next trigger point
|
|
|
|
if (rate > 50) {
|
|
|
|
rate = 50;
|
|
|
|
}
|
|
|
|
stream_ticks[stream_num] = (50 / rate) + stream_slowdown;
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
|
|
// count down at 50Hz
|
|
|
|
stream_ticks[stream_num]--;
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2011-02-21 02:36:05 -04:00
|
|
|
void
|
2012-04-01 22:18:42 -03:00
|
|
|
GCS_MAVLINK::data_stream_send(void)
|
2011-02-21 02:36:05 -04:00
|
|
|
{
|
2013-12-14 22:03:57 -04:00
|
|
|
if (waypoint_receiving) {
|
2012-04-01 22:18:42 -03:00
|
|
|
// don't interfere with mission transfer
|
|
|
|
return;
|
|
|
|
}
|
2011-05-29 16:32:55 -03:00
|
|
|
|
2013-12-15 20:24:27 -04:00
|
|
|
if (!in_mavlink_delay && !motors.armed()) {
|
|
|
|
handle_log_send(DataFlash);
|
|
|
|
}
|
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
gcs_out_of_time = false;
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (_queued_parameter != NULL) {
|
2013-11-23 06:45:42 -04:00
|
|
|
if (streamRates[STREAM_PARAMS].get() <= 0) {
|
|
|
|
streamRates[STREAM_PARAMS].set(10);
|
2012-04-01 22:18:42 -03:00
|
|
|
}
|
|
|
|
if (stream_trigger(STREAM_PARAMS)) {
|
|
|
|
send_message(MSG_NEXT_PARAM);
|
|
|
|
}
|
2013-11-25 19:21:03 -04:00
|
|
|
// don't send anything else at the same time as parameters
|
|
|
|
return;
|
2012-04-01 22:18:42 -03:00
|
|
|
}
|
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
if (gcs_out_of_time) return;
|
|
|
|
|
2012-05-22 03:08:46 -03:00
|
|
|
if (in_mavlink_delay) {
|
|
|
|
// don't send any other stream types while in the delay callback
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (stream_trigger(STREAM_RAW_SENSORS)) {
|
2012-08-16 21:50:03 -03:00
|
|
|
send_message(MSG_RAW_IMU1);
|
|
|
|
send_message(MSG_RAW_IMU2);
|
|
|
|
send_message(MSG_RAW_IMU3);
|
|
|
|
}
|
2011-05-29 16:32:55 -03:00
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
if (gcs_out_of_time) return;
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
|
2012-08-16 21:50:03 -03:00
|
|
|
send_message(MSG_EXTENDED_STATUS1);
|
|
|
|
send_message(MSG_EXTENDED_STATUS2);
|
|
|
|
send_message(MSG_CURRENT_WAYPOINT);
|
2012-11-27 20:26:19 -04:00
|
|
|
send_message(MSG_GPS_RAW);
|
2012-08-16 21:50:03 -03:00
|
|
|
send_message(MSG_NAV_CONTROLLER_OUTPUT);
|
|
|
|
send_message(MSG_LIMITS_STATUS);
|
|
|
|
}
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
if (gcs_out_of_time) return;
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (stream_trigger(STREAM_POSITION)) {
|
2012-11-27 20:26:19 -04:00
|
|
|
send_message(MSG_LOCATION);
|
2012-08-16 21:50:03 -03:00
|
|
|
}
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
if (gcs_out_of_time) return;
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
|
2012-08-16 21:50:03 -03:00
|
|
|
send_message(MSG_SERVO_OUT);
|
|
|
|
}
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
if (gcs_out_of_time) return;
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (stream_trigger(STREAM_RC_CHANNELS)) {
|
2012-08-16 21:50:03 -03:00
|
|
|
send_message(MSG_RADIO_OUT);
|
|
|
|
send_message(MSG_RADIO_IN);
|
|
|
|
}
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
if (gcs_out_of_time) return;
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (stream_trigger(STREAM_EXTRA1)) {
|
2012-08-16 21:50:03 -03:00
|
|
|
send_message(MSG_ATTITUDE);
|
|
|
|
send_message(MSG_SIMSTATE);
|
|
|
|
}
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
if (gcs_out_of_time) return;
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (stream_trigger(STREAM_EXTRA2)) {
|
2012-08-16 21:50:03 -03:00
|
|
|
send_message(MSG_VFR_HUD);
|
|
|
|
}
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2013-01-08 01:45:12 -04:00
|
|
|
if (gcs_out_of_time) return;
|
|
|
|
|
2012-04-01 22:18:42 -03:00
|
|
|
if (stream_trigger(STREAM_EXTRA3)) {
|
2012-08-16 21:50:03 -03:00
|
|
|
send_message(MSG_AHRS);
|
|
|
|
send_message(MSG_HWSTATUS);
|
2013-10-23 08:15:21 -03:00
|
|
|
send_message(MSG_SYSTEM_TIME);
|
2014-05-16 01:54:24 -03:00
|
|
|
send_message(MSG_RANGEFINDER);
|
2014-07-24 18:58:58 -03:00
|
|
|
#if AP_TERRAIN_AVAILABLE
|
2014-07-22 05:22:36 -03:00
|
|
|
send_message(MSG_TERRAIN);
|
|
|
|
#endif
|
2012-08-16 21:50:03 -03:00
|
|
|
}
|
|
|
|
}
|
2012-04-01 22:18:42 -03:00
|
|
|
|
|
|
|
|
2014-03-18 20:06:48 -03:00
|
|
|
void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
|
|
|
|
{
|
|
|
|
do_guided(cmd);
|
|
|
|
}
|
|
|
|
|
|
|
|
void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
|
|
|
|
{
|
|
|
|
// add home alt if needed
|
2014-06-11 02:41:43 -03:00
|
|
|
if (cmd.content.location.flags.relative_alt) {
|
2014-06-10 23:03:19 -03:00
|
|
|
cmd.content.location.alt += ahrs.get_home().alt;
|
2014-03-18 20:06:48 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
// To-Do: update target altitude for loiter or waypoint controller depending upon nav mode
|
|
|
|
// similar to how do_change_alt works
|
|
|
|
wp_nav.set_desired_alt(cmd.content.location.alt);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
2011-02-21 02:36:05 -04:00
|
|
|
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|
|
|
{
|
2014-02-27 21:24:47 -04:00
|
|
|
uint8_t result = MAV_RESULT_FAILED; // assume failure. Each messages id is responsible for return ACK or NAK if required
|
2013-11-23 06:45:42 -04:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
switch (msg->msgid) {
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_HEARTBEAT: // MAV ID: 0
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
2014-02-27 21:24:47 -04:00
|
|
|
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
|
|
|
|
if(msg->sysid != g.sysid_my_gcs) break;
|
|
|
|
failsafe.last_heartbeat_ms = millis();
|
|
|
|
pmTest1++;
|
|
|
|
break;
|
|
|
|
}
|
2012-04-24 06:53:24 -03:00
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_SET_MODE: // MAV ID: 11
|
|
|
|
{
|
2014-10-01 01:19:31 -03:00
|
|
|
handle_set_mode(msg, set_mode);
|
2014-02-07 01:31:34 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: // MAV ID: 20
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
2014-03-18 18:54:05 -03:00
|
|
|
handle_param_request_read(msg);
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
|
|
|
}
|
2012-08-15 21:14:46 -03:00
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // MAV ID: 21
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
2014-08-22 08:10:59 -03:00
|
|
|
// mark the firmware version in the tlog
|
|
|
|
send_text_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
|
|
|
|
|
|
|
|
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
|
|
|
|
send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
|
|
|
|
#endif
|
2014-09-27 02:35:02 -03:00
|
|
|
send_text_P(SEVERITY_LOW, PSTR("Frame: " FRAME_CONFIG_STRING));
|
2014-03-18 18:54:05 -03:00
|
|
|
handle_param_request_list(msg);
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_PARAM_SET: // 23
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
2014-03-18 18:54:05 -03:00
|
|
|
handle_param_set(msg, &DataFlash);
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
|
|
|
}
|
2011-02-21 02:36:05 -04:00
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: // MAV ID: 38
|
2013-05-29 03:25:05 -03:00
|
|
|
{
|
2014-03-18 10:34:10 -03:00
|
|
|
handle_mission_write_partial_list(mission, msg);
|
2013-05-29 03:25:05 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
// GCS has sent us a command from GCS, store to EEPROM
|
|
|
|
case MAVLINK_MSG_ID_MISSION_ITEM: // MAV ID: 39
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
2014-03-18 20:06:48 -03:00
|
|
|
handle_mission_item(msg, mission);
|
2013-05-29 03:25:05 -03:00
|
|
|
break;
|
2012-08-16 21:50:03 -03:00
|
|
|
}
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
// read an individual command from EEPROM and send it to the GCS
|
|
|
|
case MAVLINK_MSG_ID_MISSION_REQUEST: // MAV ID: 40
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
2014-03-18 20:06:48 -03:00
|
|
|
handle_mission_request(mission, msg);
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
2014-02-27 21:24:47 -04:00
|
|
|
}
|
2011-07-17 07:33:42 -03:00
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // MAV ID: 41
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
2014-03-18 10:34:10 -03:00
|
|
|
handle_mission_set_current(mission, msg);
|
2014-02-27 21:24:47 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// GCS request the full list of commands, we return just the number and leave the GCS to then request each command individually
|
|
|
|
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: // MAV ID: 43
|
|
|
|
{
|
2014-03-18 10:34:10 -03:00
|
|
|
handle_mission_request_list(mission, msg);
|
2014-02-27 21:24:47 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// GCS provides the full number of commands it wishes to upload
|
|
|
|
// individual commands will then be sent from the GCS using the MAVLINK_MSG_ID_MISSION_ITEM message
|
|
|
|
case MAVLINK_MSG_ID_MISSION_COUNT: // MAV ID: 44
|
|
|
|
{
|
2014-03-18 10:34:10 -03:00
|
|
|
handle_mission_count(mission, msg);
|
2014-02-27 21:24:47 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: // MAV ID: 45
|
|
|
|
{
|
2014-03-18 10:34:10 -03:00
|
|
|
handle_mission_clear_all(mission, msg);
|
2014-02-27 21:24:47 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: // MAV ID: 66
|
|
|
|
{
|
2014-03-18 18:54:05 -03:00
|
|
|
handle_request_data_stream(msg, false);
|
2014-02-27 21:24:47 -04:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: // MAV ID: 70
|
|
|
|
{
|
|
|
|
// allow override of RC channel values for HIL
|
|
|
|
// or for complete GCS control of switch position
|
2012-08-16 21:50:03 -03:00
|
|
|
// and RC PWM values.
|
|
|
|
if(msg->sysid != g.sysid_my_gcs) break; // Only accept control from our gcs
|
|
|
|
mavlink_rc_channels_override_t packet;
|
|
|
|
int16_t v[8];
|
|
|
|
mavlink_msg_rc_channels_override_decode(msg, &packet);
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
// exit immediately if this command is not meant for this vehicle
|
|
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) {
|
2011-07-17 07:33:42 -03:00
|
|
|
break;
|
2014-02-27 21:24:47 -04:00
|
|
|
}
|
2012-08-16 21:50:03 -03:00
|
|
|
|
|
|
|
v[0] = packet.chan1_raw;
|
|
|
|
v[1] = packet.chan2_raw;
|
|
|
|
v[2] = packet.chan3_raw;
|
|
|
|
v[3] = packet.chan4_raw;
|
|
|
|
v[4] = packet.chan5_raw;
|
|
|
|
v[5] = packet.chan6_raw;
|
|
|
|
v[6] = packet.chan7_raw;
|
|
|
|
v[7] = packet.chan8_raw;
|
2012-12-12 21:25:09 -04:00
|
|
|
hal.rcin->set_overrides(v, 8);
|
2013-04-29 09:30:22 -03:00
|
|
|
|
|
|
|
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
|
2013-09-26 05:54:33 -03:00
|
|
|
failsafe.rc_override_active = true;
|
2013-04-29 09:30:22 -03:00
|
|
|
// a RC override message is consiered to be a 'heartbeat' from the ground station for failsafe purposes
|
2013-09-26 05:54:33 -03:00
|
|
|
failsafe.last_heartbeat_ms = millis();
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
|
|
|
}
|
2012-06-26 02:19:51 -03:00
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
// Pre-Flight calibration requests
|
|
|
|
case MAVLINK_MSG_ID_COMMAND_LONG: // MAV ID: 76
|
|
|
|
{
|
|
|
|
// decode packet
|
|
|
|
mavlink_command_long_t packet;
|
|
|
|
mavlink_msg_command_long_decode(msg, &packet);
|
|
|
|
|
|
|
|
// exit immediately if this command is not meant for this vehicle
|
|
|
|
if (mavlink_check_target(packet.target_system, packet.target_component)) {
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
switch(packet.command) {
|
|
|
|
|
2014-08-04 11:10:36 -03:00
|
|
|
case MAV_CMD_NAV_TAKEOFF:
|
|
|
|
// param4 : yaw angle (not supported)
|
|
|
|
// param5 : latitude (not supported)
|
|
|
|
// param6 : longitude (not supported)
|
|
|
|
// param7 : altitude [metres]
|
|
|
|
if (motors.armed() && control_mode == GUIDED) {
|
|
|
|
set_auto_armed(true);
|
|
|
|
float takeoff_alt = packet.param7 * 100; // Convert m to cm
|
|
|
|
takeoff_alt = max(takeoff_alt,current_loc.alt);
|
|
|
|
takeoff_alt = max(takeoff_alt,100.0f);
|
|
|
|
guided_takeoff_start(takeoff_alt);
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM:
|
|
|
|
if (set_mode(LOITER)) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
|
|
if (set_mode(RTL)) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MAV_CMD_NAV_LAND:
|
|
|
|
if (set_mode(LAND)) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2014-06-13 06:17:35 -03:00
|
|
|
case MAV_CMD_CONDITION_YAW:
|
|
|
|
// param1 : target angle [0-360]
|
|
|
|
// param2 : speed during change [deg per second]
|
2014-09-26 00:20:40 -03:00
|
|
|
// param3 : direction (-1:ccw, +1:cw)
|
2014-06-13 06:17:35 -03:00
|
|
|
// param4 : relative offset (1) or absolute angle (0)
|
|
|
|
if ((packet.param1 >= 0.0f) &&
|
|
|
|
(packet.param1 <= 360.0f) &&
|
|
|
|
((packet.param4 == 0) || (packet.param4 == 1))) {
|
2014-09-26 00:20:40 -03:00
|
|
|
set_auto_yaw_look_at_heading(packet.param1, packet.param2, (int8_t)packet.param3, (uint8_t)packet.param4);
|
2014-06-13 06:17:35 -03:00
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2014-05-29 12:04:53 -03:00
|
|
|
case MAV_CMD_DO_CHANGE_SPEED:
|
|
|
|
// param1 : unused
|
|
|
|
// param2 : new speed in m/s
|
|
|
|
// param3 : unused
|
|
|
|
// param4 : unused
|
|
|
|
if (packet.param2 > 0.0f) {
|
|
|
|
wp_nav.set_speed_xy(packet.param2 * 100.0f);
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2014-07-04 03:40:12 -03:00
|
|
|
case MAV_CMD_DO_SET_ROI:
|
|
|
|
// param1 : regional of interest mode (not supported)
|
|
|
|
// param2 : mission index/ target id (not supported)
|
|
|
|
// param3 : ROI index (not supported)
|
|
|
|
// param5 : x / lat
|
|
|
|
// param6 : y / lon
|
|
|
|
// param7 : z / alt
|
|
|
|
Location roi_loc;
|
|
|
|
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
|
|
|
|
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
|
|
|
|
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
|
|
|
|
set_auto_yaw_roi(roi_loc);
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
break;
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAV_CMD_MISSION_START:
|
|
|
|
if (set_mode(AUTO)) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MAV_CMD_PREFLIGHT_CALIBRATION:
|
2014-10-08 08:19:18 -03:00
|
|
|
if (packet.param1 == 1) {
|
|
|
|
// gyro offset calibration
|
|
|
|
ins.init_gyro();
|
2014-10-28 08:23:18 -03:00
|
|
|
// reset ahrs gyro bias
|
|
|
|
ahrs.reset_gyro_drift();
|
2014-02-27 21:24:47 -04:00
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
if (packet.param3 == 1) {
|
|
|
|
init_barometer(false); // fast barometer calibration
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
if (packet.param4 == 1) {
|
|
|
|
trim_radio();
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
if (packet.param5 == 1) {
|
|
|
|
float trim_roll, trim_pitch;
|
|
|
|
// this blocks
|
|
|
|
AP_InertialSensor_UserInteract_MAVLink interact(chan);
|
|
|
|
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
|
|
|
|
// reset ahrs's trim to suggested values from calibration routine
|
|
|
|
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
|
|
|
|
}
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
if (packet.param6 == 1) {
|
|
|
|
// compassmot calibration
|
|
|
|
result = mavlink_compassmot(chan);
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2014-07-09 05:14:31 -03:00
|
|
|
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
|
|
|
|
if (packet.param1 == 2) {
|
|
|
|
// save first compass's offsets
|
|
|
|
compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4);
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
if (packet.param1 == 5) {
|
|
|
|
// save secondary compass's offsets
|
|
|
|
compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4);
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAV_CMD_COMPONENT_ARM_DISARM:
|
2014-03-19 19:06:28 -03:00
|
|
|
if (packet.param1 == 1.0f) {
|
|
|
|
// run pre_arm_checks and arm_checks and display failures
|
|
|
|
pre_arm_checks(true);
|
2014-10-10 06:29:10 -03:00
|
|
|
if(ap.pre_arm_check && arm_checks(true, true)) {
|
2014-10-29 03:19:10 -03:00
|
|
|
if (init_arm_motors()) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
} else {
|
|
|
|
AP_Notify::flags.arming_failed = true; // init_arm_motors function will reset flag back to false
|
|
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
|
|
}
|
2014-03-19 19:06:28 -03:00
|
|
|
}else{
|
2014-03-31 08:32:22 -03:00
|
|
|
AP_Notify::flags.arming_failed = true; // init_arm_motors function will reset flag back to false
|
2014-02-27 21:24:47 -04:00
|
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
|
|
}
|
2014-10-10 06:29:10 -03:00
|
|
|
} else if (packet.param1 == 0.0f && (manual_flight_mode(control_mode) || ap.land_complete)) {
|
2014-03-19 19:06:28 -03:00
|
|
|
init_disarm_motors();
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
2014-02-27 21:24:47 -04:00
|
|
|
} else {
|
|
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
|
|
if (ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MAV_CMD_DO_REPEAT_SERVO:
|
|
|
|
if (ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MAV_CMD_DO_SET_RELAY:
|
|
|
|
if (ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MAV_CMD_DO_REPEAT_RELAY:
|
|
|
|
if (ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
|
|
|
|
if (packet.param1 == 1 || packet.param1 == 3) {
|
|
|
|
// when packet.param1 == 3 we reboot to hold in bootloader
|
|
|
|
hal.scheduler->reboot(packet.param1 == 3);
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2014-04-27 04:17:05 -03:00
|
|
|
case MAV_CMD_DO_FENCE_ENABLE:
|
|
|
|
#if AC_FENCE == ENABLED
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
switch ((uint16_t)packet.param1) {
|
|
|
|
case 0:
|
|
|
|
fence.enable(false);
|
|
|
|
break;
|
|
|
|
case 1:
|
|
|
|
fence.enable(true);
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
#else
|
|
|
|
// if fence code is not included return failure
|
|
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
#endif
|
|
|
|
break;
|
|
|
|
|
2014-09-17 09:00:27 -03:00
|
|
|
#if PARACHUTE == ENABLED
|
|
|
|
case MAV_CMD_DO_PARACHUTE:
|
|
|
|
// configure or release parachute
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
switch ((uint16_t)packet.param1) {
|
|
|
|
case PARACHUTE_DISABLE:
|
|
|
|
parachute.enabled(false);
|
|
|
|
Log_Write_Event(DATA_PARACHUTE_DISABLED);
|
|
|
|
break;
|
|
|
|
case PARACHUTE_ENABLE:
|
|
|
|
parachute.enabled(true);
|
|
|
|
Log_Write_Event(DATA_PARACHUTE_ENABLED);
|
|
|
|
break;
|
|
|
|
case PARACHUTE_RELEASE:
|
|
|
|
// treat as a manual release which performs some additional check of altitude
|
|
|
|
parachute_manual_release();
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
2014-04-28 04:27:27 -03:00
|
|
|
case MAV_CMD_DO_MOTOR_TEST:
|
|
|
|
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
|
|
|
|
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
|
|
|
|
// param3 : throttle (range depends upon param2)
|
|
|
|
// param4 : timeout (in seconds)
|
|
|
|
result = mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4);
|
|
|
|
break;
|
|
|
|
|
2014-09-17 08:31:30 -03:00
|
|
|
#if EPM_ENABLED == ENABLED
|
|
|
|
case MAV_CMD_DO_GRIPPER:
|
|
|
|
// param1 : gripper number (ignored)
|
|
|
|
// param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
|
|
|
|
if(!epm.enabled()) {
|
|
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
} else {
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
switch ((uint8_t)packet.param2) {
|
|
|
|
case GRIPPER_ACTION_RELEASE:
|
|
|
|
epm.release();
|
|
|
|
break;
|
|
|
|
case GRIPPER_ACTION_GRAB:
|
|
|
|
epm.grab();
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
#endif
|
2014-02-27 21:24:47 -04:00
|
|
|
default:
|
|
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// send ACK or NAK
|
2014-03-18 18:54:05 -03:00
|
|
|
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
|
2014-02-27 21:24:47 -04:00
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_COMMAND_ACK: // MAV ID: 77
|
|
|
|
{
|
|
|
|
command_ack_counter++;
|
|
|
|
break;
|
|
|
|
}
|
2011-07-17 07:33:42 -03:00
|
|
|
|
2014-10-13 08:31:40 -03:00
|
|
|
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: // MAV ID: 84
|
|
|
|
{
|
|
|
|
// decode packet
|
|
|
|
mavlink_set_position_target_local_ned_t packet;
|
|
|
|
mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
|
|
|
|
|
|
|
|
// exit immediately if this command is not meant for this vehicle
|
|
|
|
if (mavlink_check_target(packet.target_system, packet.target_component)) {
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2014-10-13 23:26:08 -03:00
|
|
|
// exit if vehicle is not in Guided mode or Auto-Guided mode
|
|
|
|
if ((control_mode != GUIDED) && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) {
|
2014-10-13 08:31:40 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// create 3-axis velocity vector and sent to guided controller
|
|
|
|
guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: // MAV ID: 86
|
|
|
|
{
|
|
|
|
// decode packet
|
|
|
|
mavlink_set_position_target_global_int_t packet;
|
|
|
|
mavlink_msg_set_position_target_global_int_decode(msg, &packet);
|
|
|
|
|
|
|
|
// exit immediately if this command is not meant for this vehicle
|
|
|
|
if (mavlink_check_target(packet.target_system, packet.target_component)) {
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2014-10-13 23:26:08 -03:00
|
|
|
// exit if vehicle is not in Guided mode or Auto-Guided mode
|
|
|
|
if ((control_mode != GUIDED) && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) {
|
2014-10-13 08:31:40 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// create 3-axis velocity vector and sent to guided controller
|
|
|
|
guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2012-07-04 21:55:58 -03:00
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_HIL_STATE: // MAV ID: 90
|
2012-08-16 21:50:03 -03:00
|
|
|
{
|
|
|
|
mavlink_hil_state_t packet;
|
|
|
|
mavlink_msg_hil_state_decode(msg, &packet);
|
2012-06-26 02:19:51 -03:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
// set gps hil sensor
|
2014-03-31 04:07:46 -03:00
|
|
|
Location loc;
|
|
|
|
loc.lat = packet.lat;
|
|
|
|
loc.lng = packet.lon;
|
|
|
|
loc.alt = packet.alt/10;
|
|
|
|
Vector3f vel(packet.vx, packet.vy, packet.vz);
|
|
|
|
vel *= 0.01f;
|
|
|
|
|
2014-04-01 17:51:19 -03:00
|
|
|
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
|
2014-03-31 04:07:46 -03:00
|
|
|
packet.time_usec/1000,
|
2014-04-01 17:51:19 -03:00
|
|
|
loc, vel, 10, 0, true);
|
2012-06-26 02:19:51 -03:00
|
|
|
|
2012-11-10 01:55:51 -04:00
|
|
|
if (!ap.home_is_set) {
|
2012-08-16 21:50:03 -03:00
|
|
|
init_home();
|
|
|
|
}
|
2012-06-26 02:19:51 -03:00
|
|
|
|
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
// rad/sec
|
|
|
|
Vector3f gyros;
|
|
|
|
gyros.x = packet.rollspeed;
|
|
|
|
gyros.y = packet.pitchspeed;
|
|
|
|
gyros.z = packet.yawspeed;
|
2013-03-19 03:07:15 -03:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
// m/s/s
|
|
|
|
Vector3f accels;
|
2013-03-19 03:07:15 -03:00
|
|
|
accels.x = packet.xacc * (GRAVITY_MSS/1000.0);
|
|
|
|
accels.y = packet.yacc * (GRAVITY_MSS/1000.0);
|
|
|
|
accels.z = packet.zacc * (GRAVITY_MSS/1000.0);
|
2012-06-04 05:24:08 -03:00
|
|
|
|
2014-02-22 17:18:20 -04:00
|
|
|
ins.set_gyro(0, gyros);
|
2012-06-04 05:24:08 -03:00
|
|
|
|
2014-02-22 17:18:20 -04:00
|
|
|
ins.set_accel(0, accels);
|
2012-06-26 02:19:51 -03:00
|
|
|
|
2013-05-02 02:26:54 -03:00
|
|
|
barometer.setHIL(packet.alt*0.001f);
|
2013-05-02 02:00:07 -03:00
|
|
|
compass.setHIL(packet.roll, packet.pitch, packet.yaw);
|
2012-06-04 05:24:08 -03:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
|
|
|
}
|
2012-07-04 21:55:58 -03:00
|
|
|
#endif // HIL_MODE != HIL_MODE_DISABLED
|
2012-06-26 02:19:51 -03:00
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_RADIO:
|
|
|
|
case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109
|
2013-04-29 09:30:22 -03:00
|
|
|
{
|
2014-10-16 21:37:49 -03:00
|
|
|
handle_radio_status(msg, DataFlash, should_log(MASK_LOG_PM));
|
2013-04-29 09:30:22 -03:00
|
|
|
break;
|
|
|
|
}
|
2012-04-01 22:18:42 -03:00
|
|
|
|
2014-10-16 21:37:49 -03:00
|
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
|
|
|
|
case MAVLINK_MSG_ID_LOG_ERASE:
|
|
|
|
in_log_download = true;
|
|
|
|
// fallthru
|
|
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
|
|
|
|
if (!in_mavlink_delay && !motors.armed()) {
|
|
|
|
handle_log_message(msg, DataFlash);
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_END:
|
|
|
|
in_log_download = false;
|
2014-02-27 21:24:47 -04:00
|
|
|
if (!in_mavlink_delay && !motors.armed()) {
|
|
|
|
handle_log_message(msg, DataFlash);
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
2014-04-04 17:07:51 -03:00
|
|
|
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
|
|
|
|
case MAVLINK_MSG_ID_SERIAL_CONTROL:
|
|
|
|
handle_serial_control(msg, gps);
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
2012-07-24 23:02:54 -03:00
|
|
|
#if CAMERA == ENABLED
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: // MAV ID: 202
|
2012-12-22 04:26:27 -04:00
|
|
|
camera.configure_msg(msg);
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
2012-07-24 23:02:54 -03:00
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
|
2012-12-22 04:26:27 -04:00
|
|
|
camera.control_msg(msg);
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
2012-07-24 23:02:54 -03:00
|
|
|
#endif // CAMERA == ENABLED
|
|
|
|
|
|
|
|
#if MOUNT == ENABLED
|
2014-02-27 21:24:47 -04:00
|
|
|
case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // MAV ID: 204
|
2012-08-16 21:50:03 -03:00
|
|
|
camera_mount.configure_msg(msg);
|
|
|
|
break;
|
2012-07-24 23:02:54 -03:00
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_MOUNT_CONTROL:
|
2012-08-16 21:50:03 -03:00
|
|
|
camera_mount.control_msg(msg);
|
|
|
|
break;
|
2012-07-24 23:02:54 -03:00
|
|
|
|
|
|
|
case MAVLINK_MSG_ID_MOUNT_STATUS:
|
2014-06-17 23:04:48 -03:00
|
|
|
camera_mount.status_msg(msg, chan);
|
2012-08-16 21:50:03 -03:00
|
|
|
break;
|
2012-07-24 23:02:54 -03:00
|
|
|
#endif // MOUNT == ENABLED
|
2014-04-06 22:18:43 -03:00
|
|
|
|
2014-07-22 05:22:36 -03:00
|
|
|
case MAVLINK_MSG_ID_TERRAIN_DATA:
|
|
|
|
case MAVLINK_MSG_ID_TERRAIN_CHECK:
|
2014-07-24 18:58:58 -03:00
|
|
|
#if AP_TERRAIN_AVAILABLE
|
2014-07-22 05:22:36 -03:00
|
|
|
terrain.handle_data(chan, msg);
|
|
|
|
#endif
|
|
|
|
break;
|
|
|
|
|
2014-04-06 22:18:43 -03:00
|
|
|
#if AC_RALLY == ENABLED
|
|
|
|
// receive a rally point from GCS and store in EEPROM
|
|
|
|
case MAVLINK_MSG_ID_RALLY_POINT: {
|
|
|
|
mavlink_rally_point_t packet;
|
|
|
|
mavlink_msg_rally_point_decode(msg, &packet);
|
|
|
|
if (mavlink_check_target(packet.target_system, packet.target_component))
|
|
|
|
break;
|
2014-10-16 06:08:24 -03:00
|
|
|
|
|
|
|
if (packet.idx >= rally.get_rally_total() ||
|
2014-08-13 01:44:31 -03:00
|
|
|
packet.idx >= rally.get_rally_max()) {
|
2014-04-06 22:18:43 -03:00
|
|
|
send_text_P(SEVERITY_LOW,PSTR("bad rally point message ID"));
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (packet.count != rally.get_rally_total()) {
|
|
|
|
send_text_P(SEVERITY_LOW,PSTR("bad rally point message count"));
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
RallyLocation rally_point;
|
|
|
|
rally_point.lat = packet.lat;
|
|
|
|
rally_point.lng = packet.lng;
|
|
|
|
rally_point.alt = packet.alt;
|
|
|
|
rally_point.break_alt = packet.break_alt;
|
|
|
|
rally_point.land_dir = packet.land_dir;
|
|
|
|
rally_point.flags = packet.flags;
|
|
|
|
|
|
|
|
if (!rally.set_rally_point_with_index(packet.idx, rally_point)) {
|
|
|
|
send_text_P(SEVERITY_HIGH, PSTR("error setting rally point"));
|
|
|
|
}
|
|
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
//send a rally point to the GCS
|
|
|
|
case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.pde 1")); // #### TEMP
|
|
|
|
|
|
|
|
mavlink_rally_fetch_point_t packet;
|
|
|
|
mavlink_msg_rally_fetch_point_decode(msg, &packet);
|
|
|
|
if (mavlink_check_target(packet.target_system, packet.target_component))
|
|
|
|
break;
|
|
|
|
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.pde 2")); // #### TEMP
|
|
|
|
|
|
|
|
if (packet.idx > rally.get_rally_total()) {
|
2014-10-16 06:08:24 -03:00
|
|
|
send_text_P(SEVERITY_LOW, PSTR("bad rally point index"));
|
2014-04-06 22:18:43 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.pde 3")); // #### TEMP
|
|
|
|
|
|
|
|
RallyLocation rally_point;
|
|
|
|
if (!rally.get_rally_point_with_index(packet.idx, rally_point)) {
|
2014-10-16 06:08:24 -03:00
|
|
|
send_text_P(SEVERITY_LOW, PSTR("failed to set rally point"));
|
2014-04-06 22:18:43 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.pde 4")); // #### TEMP
|
|
|
|
|
|
|
|
mavlink_msg_rally_point_send_buf(msg,
|
2014-10-16 06:08:24 -03:00
|
|
|
chan, msg->sysid, msg->compid, packet.idx,
|
|
|
|
rally.get_rally_total(), rally_point.lat, rally_point.lng,
|
|
|
|
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
|
2014-04-06 22:18:43 -03:00
|
|
|
rally_point.flags);
|
|
|
|
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.pde 5")); // #### TEMP
|
|
|
|
|
|
|
|
break;
|
2014-10-16 06:08:24 -03:00
|
|
|
}
|
2014-04-06 22:18:43 -03:00
|
|
|
#endif // AC_RALLY == ENABLED
|
|
|
|
|
|
|
|
|
2014-02-27 21:24:47 -04:00
|
|
|
} // end switch
|
|
|
|
} // end handle mavlink
|
2012-07-24 23:02:54 -03:00
|
|
|
|
2013-03-20 23:54:04 -03:00
|
|
|
|
2011-08-01 05:08:52 -03:00
|
|
|
/*
|
2012-08-16 21:50:03 -03:00
|
|
|
* 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
|
|
|
|
*/
|
2012-12-12 21:25:09 -04:00
|
|
|
static void mavlink_delay_cb()
|
2011-08-01 05:08:52 -03:00
|
|
|
{
|
2012-05-22 03:08:46 -03:00
|
|
|
static uint32_t last_1hz, last_50hz, last_5s;
|
2014-01-13 23:37:48 -04:00
|
|
|
if (!gcs[0].initialised || in_mavlink_delay) return;
|
2011-09-04 21:15:36 -03:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
in_mavlink_delay = true;
|
2011-08-01 05:08:52 -03:00
|
|
|
|
2012-12-12 21:25:09 -04:00
|
|
|
uint32_t tnow = millis();
|
|
|
|
if (tnow - last_1hz > 1000) {
|
|
|
|
last_1hz = tnow;
|
2013-01-08 01:45:12 -04:00
|
|
|
gcs_send_heartbeat();
|
2012-12-12 21:25:09 -04:00
|
|
|
gcs_send_message(MSG_EXTENDED_STATUS1);
|
|
|
|
}
|
|
|
|
if (tnow - last_50hz > 20) {
|
|
|
|
last_50hz = tnow;
|
2013-01-08 01:45:12 -04:00
|
|
|
gcs_check_input();
|
2012-12-12 21:25:09 -04:00
|
|
|
gcs_data_stream_send();
|
2013-01-08 01:45:12 -04:00
|
|
|
gcs_send_deferred();
|
2013-08-29 00:14:07 -03:00
|
|
|
notify.update();
|
2012-12-12 21:25:09 -04:00
|
|
|
}
|
|
|
|
if (tnow - last_5s > 5000) {
|
|
|
|
last_5s = tnow;
|
|
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
|
|
|
|
}
|
|
|
|
check_usb_mux();
|
2011-09-04 21:15:36 -03:00
|
|
|
|
2012-08-16 21:50:03 -03:00
|
|
|
in_mavlink_delay = false;
|
2011-08-23 03:16:37 -03:00
|
|
|
}
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
/*
|
2012-08-16 21:50:03 -03:00
|
|
|
* send a message on both GCS links
|
2011-10-11 06:12:37 -03:00
|
|
|
*/
|
|
|
|
static void gcs_send_message(enum ap_message id)
|
|
|
|
{
|
2013-11-23 06:45:42 -04:00
|
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
|
|
if (gcs[i].initialised) {
|
|
|
|
gcs[i].send_message(id);
|
|
|
|
}
|
2012-05-22 03:08:46 -03:00
|
|
|
}
|
2011-11-20 05:42:51 -04:00
|
|
|
}
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
/*
|
2012-08-16 21:50:03 -03:00
|
|
|
* send data streams in the given rate range on both links
|
2011-10-11 06:12:37 -03:00
|
|
|
*/
|
2012-04-01 22:18:42 -03:00
|
|
|
static void gcs_data_stream_send(void)
|
2011-10-11 06:12:37 -03:00
|
|
|
{
|
2013-11-23 06:45:42 -04:00
|
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
|
|
if (gcs[i].initialised) {
|
|
|
|
gcs[i].data_stream_send();
|
|
|
|
}
|
2012-04-01 22:18:42 -03:00
|
|
|
}
|
2011-11-20 05:42:51 -04:00
|
|
|
}
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
/*
|
2012-08-16 21:50:03 -03:00
|
|
|
* look for incoming commands on the GCS links
|
2011-10-11 06:12:37 -03:00
|
|
|
*/
|
2013-01-08 01:45:12 -04:00
|
|
|
static void gcs_check_input(void)
|
2011-10-11 06:12:37 -03:00
|
|
|
{
|
2013-11-23 06:45:42 -04:00
|
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
|
|
if (gcs[i].initialised) {
|
2014-05-20 23:43:46 -03:00
|
|
|
#if CLI_ENABLED == ENABLED
|
|
|
|
gcs[i].update(run_cli);
|
|
|
|
#else
|
|
|
|
gcs[i].update(NULL);
|
|
|
|
#endif
|
2013-11-23 06:45:42 -04:00
|
|
|
}
|
2012-05-22 03:08:46 -03:00
|
|
|
}
|
2011-11-20 05:42:51 -04:00
|
|
|
}
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
|
|
|
|
{
|
2013-11-23 06:45:42 -04:00
|
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
|
|
if (gcs[i].initialised) {
|
|
|
|
gcs[i].send_text_P(severity, str);
|
|
|
|
}
|
2012-05-22 03:08:46 -03:00
|
|
|
}
|
2011-11-20 05:42:51 -04:00
|
|
|
}
|
2011-10-11 06:12:37 -03:00
|
|
|
|
|
|
|
/*
|
2012-08-16 21:50:03 -03:00
|
|
|
* send a low priority formatted message to the GCS
|
|
|
|
* only one fits in the queue, so if you send more than one before the
|
|
|
|
* last one gets into the serial buffer then the old one will be lost
|
2011-10-11 06:12:37 -03:00
|
|
|
*/
|
2013-11-23 06:45:42 -04:00
|
|
|
void gcs_send_text_fmt(const prog_char_t *fmt, ...)
|
2011-10-11 06:12:37 -03:00
|
|
|
{
|
2012-11-12 00:30:04 -04:00
|
|
|
va_list arg_list;
|
2013-11-23 06:45:42 -04:00
|
|
|
gcs[0].pending_status.severity = (uint8_t)SEVERITY_LOW;
|
2012-11-12 00:30:04 -04:00
|
|
|
va_start(arg_list, fmt);
|
2013-11-23 06:45:42 -04:00
|
|
|
hal.util->vsnprintf_P((char *)gcs[0].pending_status.text,
|
|
|
|
sizeof(gcs[0].pending_status.text), fmt, arg_list);
|
2012-11-12 00:30:04 -04:00
|
|
|
va_end(arg_list);
|
2014-03-18 21:07:25 -03:00
|
|
|
gcs[0].send_message(MSG_STATUSTEXT);
|
2013-11-23 06:45:42 -04:00
|
|
|
for (uint8_t i=1; i<num_gcs; i++) {
|
|
|
|
if (gcs[i].initialised) {
|
|
|
|
gcs[i].pending_status = gcs[0].pending_status;
|
2014-03-18 21:07:25 -03:00
|
|
|
gcs[i].send_message(MSG_STATUSTEXT);
|
2013-11-23 06:45:42 -04:00
|
|
|
}
|
2011-12-03 18:06:08 -04:00
|
|
|
}
|
2011-10-11 06:12:37 -03:00
|
|
|
}
|