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ACM mavlink update/log fix 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1881 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
mich146@hotmail.com 2011-04-15 13:24:05 +00:00
parent 66d3587b62
commit 27e69d73d5
8 changed files with 165 additions and 170 deletions
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3
ArduCopterMega/ArduCopterMega.pde
View File

@ -52,7 +52,6 @@ version 2.1 of the License, or (at your option) any later version.
// Local modules
#include "defines.h"
#include "Parameters.h"
#include "global_data.h"
#include "GCS.h"
#include "HIL.h"
@ -1170,4 +1169,4 @@ adjust_altitude()
}
}
}
}
}

30
ArduCopterMega/GCS.h
View File

@ -65,12 +65,13 @@ public:
///
void send_text(uint8_t severity, const char *str) {}
#define send_text_P(severity, msg) send_text(severity, msg)
/// Send a text message with a PSTR()
///
/// @param severity A value describing the importance of the message.
/// @param str The text to be sent.
///
void send_text_P(uint8_t severity, const prog_char_t *str) {}
void send_text(uint8_t severity, const prog_char_t *str) {}
/// Send acknowledgement for a message.
///
@ -140,7 +141,7 @@ public:
void init(BetterStream *port);
void send_message(uint8_t id, uint32_t param = 0);
void send_text(uint8_t severity, const char *str);
void send_text_P(uint8_t severity, const prog_char_t *str);
void send_text(uint8_t severity, const prog_char_t *str);
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2);
void data_stream_send(uint16_t freqMin, uint16_t freqMax);
private:
@ -152,6 +153,7 @@ private:
AP_Var *_queued_parameter; ///< next parameter to be sent in queue
uint16_t _queued_parameter_index; ///< next queued parameter's index
uint16_t _queued_parameter_count; ///< saved count of parameters for queued send
/// Count the number of reportable parameters.
///
@ -175,6 +177,30 @@ private:
uint16_t rawControllerStreamRate;
uint16_t rcStreamRate;
uint16_t extraStreamRate[3];
// waypoints
uint16_t requested_interface; // request port to use
uint16_t waypoint_request_i; // request index
uint16_t waypoint_dest_sysid; // where to send requests
uint16_t waypoint_dest_compid; // "
bool waypoint_sending; // currently in send process
bool waypoint_receiving; // currently receiving
uint16_t waypoint_count;
uint32_t waypoint_timelast_send; // milliseconds
uint32_t waypoint_timelast_receive; // milliseconds
uint16_t waypoint_send_timeout; // milliseconds
uint16_t waypoint_receive_timeout; // milliseconds
float junk; //used to return a junk value for interface
// data stream rates
uint16_t streamRateRawSensors;
uint16_t streamRateExtendedStatus;
uint16_t streamRateRCChannels;
uint16_t streamRateRawController;
uint16_t streamRatePosition;
uint16_t streamRateExtra1;
uint16_t streamRateExtra2;
uint16_t streamRateExtra3;
};
#endif // GCS_PROTOCOL_MAVLINK

194
ArduCopterMega/GCS_Mavlink.pde
View File

@ -5,7 +5,21 @@
#include "Mavlink_Common.h"
GCS_MAVLINK::GCS_MAVLINK() :
packet_drops(0)
packet_drops(0),
// parameters
// note, all values not explicitly initialised here are zeroed
waypoint_send_timeout(1000), // 1 second
waypoint_receive_timeout(1000), // 1 second
// stream rates
streamRateRawSensors(0),
streamRateExtendedStatus(0),
streamRateRCChannels(0),
streamRateRawController(0),
//streamRateRawSensorFusion(0),
streamRatePosition(0),
streamRateExtra1(0),
streamRateExtra2(0),
streamRateExtra3(0)
{
}
@ -20,6 +34,7 @@ GCS_MAVLINK::init(BetterStream * port)
mavlink_comm_1_port = port;
chan = MAVLINK_COMM_1;
}
_queued_parameter = NULL;
}
void
@ -45,55 +60,58 @@ GCS_MAVLINK::update(void)
_queued_send();
// stop waypoint sending if timeout
if (global_data.waypoint_sending && (millis() - global_data.waypoint_timelast_send) > global_data.waypoint_send_timeout){
if (waypoint_sending && (millis() - waypoint_timelast_send) > waypoint_send_timeout){
send_text_P(SEVERITY_LOW,PSTR("waypoint send timeout"));
global_data.waypoint_sending = false;
waypoint_sending = false;
}
// stop waypoint receiving if timeout
if (global_data.waypoint_receiving && (millis() - global_data.waypoint_timelast_receive) > global_data.waypoint_receive_timeout){
if (waypoint_receiving && (millis() - waypoint_timelast_receive) > waypoint_receive_timeout){
send_text_P(SEVERITY_LOW,PSTR("waypoint receive timeout"));
global_data.waypoint_receiving = false;
waypoint_receiving = false;
}
}
void
GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
{
if (freqLoopMatch(global_data.streamRateRawSensors,freqMin,freqMax))
if (waypoint_sending == false && waypoint_receiving == false && _queued_parameter == NULL) {
if (freqLoopMatch(streamRateRawSensors,freqMin,freqMax))
send_message(MSG_RAW_IMU);
if (freqLoopMatch(global_data.streamRateExtendedStatus,freqMin,freqMax)) {
if (freqLoopMatch(streamRateExtendedStatus,freqMin,freqMax)) {
send_message(MSG_EXTENDED_STATUS);
send_message(MSG_GPS_STATUS);
send_message(MSG_CURRENT_WAYPOINT);
send_message(MSG_GPS_RAW); // TODO - remove this message after location message is working
// send_message(MSG_NAV_CONTROLLER_OUTPUT);
}
if (freqLoopMatch(global_data.streamRatePosition,freqMin,freqMax)) {
if (freqLoopMatch(streamRatePosition,freqMin,freqMax)) {
send_message(MSG_LOCATION);
}
if (freqLoopMatch(global_data.streamRateRawController,freqMin,freqMax)) {
if (freqLoopMatch(streamRateRawController,freqMin,freqMax)) {
// This is used for HIL. Do not change without discussing with HIL maintainers
send_message(MSG_SERVO_OUT);
}
if (freqLoopMatch(global_data.streamRateRCChannels,freqMin,freqMax)) {
if (freqLoopMatch(streamRateRCChannels,freqMin,freqMax)) {
send_message(MSG_RADIO_OUT);
send_message(MSG_RADIO_IN);
}
if (freqLoopMatch(global_data.streamRateExtra1,freqMin,freqMax)){ // Use Extra 1 for AHRS info
if (freqLoopMatch(streamRateExtra1,freqMin,freqMax)){ // Use Extra 1 for AHRS info
send_message(MSG_ATTITUDE);
}
if (freqLoopMatch(global_data.streamRateExtra2,freqMin,freqMax)){ // Use Extra 2 for additional HIL info
if (freqLoopMatch(streamRateExtra2,freqMin,freqMax)){ // Use Extra 2 for additional HIL info
send_message(MSG_VFR_HUD);
}
if (freqLoopMatch(global_data.streamRateExtra3,freqMin,freqMax)){
if (freqLoopMatch(streamRateExtra3,freqMin,freqMax)){
// Available datastream
}
}
}
@ -110,12 +128,12 @@ GCS_MAVLINK::send_text(uint8_t severity, const char *str)
}
void
GCS_MAVLINK::send_text_P(uint8_t severity, const prog_char_t *str)
GCS_MAVLINK::send_text(uint8_t severity, const prog_char_t *str)
{
mavlink_statustext_t m;
uint8_t i;
for (i=0; i<sizeof(m.text); i++) {
m.text[i] = pgm_read_byte((const prog_char *)str++);
m.text[i] = pgm_read_byte((const prog_char *)(str++));
}
if (i < sizeof(m.text)) m.text[i] = 0;
mavlink_send_text(chan, severity, (const char *)m.text);
@ -148,41 +166,41 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch(packet.req_stream_id){
case MAV_DATA_STREAM_ALL:
global_data.streamRateRawSensors = freq;
global_data.streamRateExtendedStatus = freq;
global_data.streamRateRCChannels = freq;
global_data.streamRateRawController = freq;
global_data.streamRatePosition = freq;
global_data.streamRateExtra1 = freq;
global_data.streamRateExtra2 = freq;
global_data.streamRateExtra3 = freq;
streamRateRawSensors = freq;
streamRateExtendedStatus = freq;
streamRateRCChannels = freq;
streamRateRawController = freq;
streamRatePosition = freq;
streamRateExtra1 = freq;
streamRateExtra2 = freq;
streamRateExtra3 = freq;
break;
case MAV_DATA_STREAM_RAW_SENSORS:
global_data.streamRateRawSensors = freq;
streamRateRawSensors = freq;
break;
case MAV_DATA_STREAM_EXTENDED_STATUS:
global_data.streamRateExtendedStatus = freq;
streamRateExtendedStatus = freq;
break;
case MAV_DATA_STREAM_RC_CHANNELS:
global_data.streamRateRCChannels = freq;
streamRateRCChannels = freq;
break;
case MAV_DATA_STREAM_RAW_CONTROLLER:
global_data.streamRateRawController = freq;
streamRateRawController = freq;
break;
//case MAV_DATA_STREAM_RAW_SENSOR_FUSION:
// global_data.streamRateRawSensorFusion = freq;
// streamRateRawSensorFusion = freq;
// break;
case MAV_DATA_STREAM_POSITION:
global_data.streamRatePosition = freq;
streamRatePosition = freq;
break;
case MAV_DATA_STREAM_EXTRA1:
global_data.streamRateExtra1 = freq;
streamRateExtra1 = freq;
break;
case MAV_DATA_STREAM_EXTRA2:
global_data.streamRateExtra2 = freq;
streamRateExtra2 = freq;
break;
case MAV_DATA_STREAM_EXTRA3:
global_data.streamRateExtra3 = freq;
streamRateExtra3 = freq;
break;
default:
break;
@ -196,6 +214,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_action_t packet;
mavlink_msg_action_decode(msg, &packet);
if (mavlink_check_target(packet.target,packet.target_component)) break;
uint8_t result = 0;
// do action
send_text_P(SEVERITY_LOW,PSTR("action received"));
@ -207,6 +226,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_ACTION_RETURN:
set_mode(RTL);
result=1;
break;
case MAV_ACTION_EMCY_LAND:
@ -215,6 +235,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_ACTION_HALT:
do_loiter_at_location();
result=1;
break;
/* No mappable implementation in APM 2.0
@ -228,26 +249,32 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_ACTION_CONTINUE:
process_next_command();
result=1;
break;
case MAV_ACTION_SET_MANUAL:
set_mode(STABILIZE);
set_mode(STABILIZE);
result=1;
break;
case MAV_ACTION_SET_AUTO:
set_mode(AUTO);
result=1;
break;
case MAV_ACTION_STORAGE_READ:
AP_Var::load_all();
result=1;
break;
case MAV_ACTION_STORAGE_WRITE:
AP_Var::save_all();
result=1;
break;
case MAV_ACTION_CALIBRATE_RC: break;
trim_radio();
result=1;
break;
case MAV_ACTION_CALIBRATE_GYRO:
@ -255,7 +282,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_ACTION_CALIBRATE_ACC:
case MAV_ACTION_CALIBRATE_PRESSURE:
case MAV_ACTION_REBOOT: // this is a rough interpretation
//startup_IMU_ground();
//startup_IMU_ground();
//result=1;
break;
/* For future implemtation
@ -272,6 +300,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_ACTION_NAVIGATE:
set_mode(AUTO);
result=1;
break;
/* Land is not an implemented flight mode in APM 2.0
@ -282,10 +311,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_ACTION_LOITER:
set_mode(LOITER);
result=1;
break;
default: break;
}
mavlink_msg_action_ack_send(
chan,
packet.action,
result
);
break;
}
@ -306,12 +341,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
msg->compid,
g.waypoint_total + 1); // + home
global_data.waypoint_timelast_send = millis();
global_data.waypoint_sending = true;
global_data.waypoint_receiving = false;
global_data.waypoint_dest_sysid = msg->sysid;
global_data.waypoint_dest_compid = msg->compid;
global_data.requested_interface = chan;
waypoint_timelast_send = millis();
waypoint_sending = true;
waypoint_receiving = false;
waypoint_dest_sysid = msg->sysid;
waypoint_dest_compid = msg->compid;
requested_interface = chan;
break;
}
@ -320,7 +355,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
//send_text_P(SEVERITY_LOW,PSTR("waypoint request"));
// Check if sending waypiont
if (!global_data.waypoint_sending) break;
if (!waypoint_sending) break;
// decode
mavlink_waypoint_request_t packet;
@ -331,7 +366,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
tell_command = get_wp_with_index(packet.seq);
// set frame of waypoint
uint8_t frame = MAV_FRAME_GLOBAL; // reference frame
uint8_t frame;
if (tell_command.options & WP_OPTION_ALT_RELATIVE) {
frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // reference frame
} else {
frame = MAV_FRAME_GLOBAL; // reference frame
}
float param1 = 0, param2 = 0 , param3 = 0, param4 = 0;
// time that the mav should loiter in milliseconds
@ -344,7 +384,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// command needs scaling
x = tell_command.lat/1.0e7; // local (x), global (latitude)
y = tell_command.lng/1.0e7; // local (y), global (longitude)
z = tell_command.alt/1.0e2; // local (z), global (altitude)
if (tell_command.options & WP_OPTION_ALT_RELATIVE) {
z = (tell_command.alt - home.alt) / 1.0e2; // because tell_command.alt already includes a += home.alt
} else {
z = tell_command.alt/1.0e2; // local (z), global/relative (altitude)
}
}
switch (tell_command.id) { // Switch to map APM command fields inot MAVLink command fields
@ -391,7 +435,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
param1,param2,param3,param4,x,y,z);
// update last waypoint comm stamp
global_data.waypoint_timelast_send = millis();
waypoint_timelast_send = millis();
break;
}
@ -408,7 +452,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
uint8_t type = packet.type; // ok (0), error(1)
// turn off waypoint send
global_data.waypoint_sending = false;
waypoint_sending = false;
break;
}
@ -425,6 +469,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
_queued_parameter = AP_Var::first();
_queued_parameter_index = 0;
_queued_parameter_count = _count_parameters();
requested_interface = chan;
break;
}
@ -483,17 +529,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
packet.count = MAX_WAYPOINTS;
}
g.waypoint_total.set_and_save(packet.count - 1);
global_data.waypoint_timelast_receive = millis();
global_data.waypoint_receiving = true;
global_data.waypoint_sending = false;
global_data.waypoint_request_i = 0;
waypoint_timelast_receive = millis();
waypoint_receiving = true;
waypoint_sending = false;
waypoint_request_i = 0;
break;
}
case MAVLINK_MSG_ID_WAYPOINT:
{
// Check if receiving waypiont
if (!global_data.waypoint_receiving) break;
if (!waypoint_receiving) break;
// decode
mavlink_waypoint_t packet;
@ -501,7 +547,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
// check if this is the requested waypoint
if (packet.seq != global_data.waypoint_request_i) break;
if (packet.seq != waypoint_request_i) break;
// store waypoint
uint8_t loadAction = 0; // 0 insert in list, 1 exec now
@ -511,12 +557,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch (packet.frame)
{
case MAV_FRAME_GLOBAL:
case MAV_FRAME_MISSION:
case MAV_FRAME_GLOBAL:
{
tell_command.lat = 1.0e7*packet.x; // in as DD converted to * t7
tell_command.lng = 1.0e7*packet.y; // in as DD converted to * t7
tell_command.alt = packet.z*1.0e2; // in as m converted to cm
tell_command.options = 0;
break;
}
@ -525,19 +572,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
tell_command.lat = 1.0e7*ToDeg(packet.x/
(radius_of_earth*cos(ToRad(home.lat/1.0e7)))) + home.lat;
tell_command.lng = 1.0e7*ToDeg(packet.y/radius_of_earth) + home.lng;
tell_command.alt = -packet.z*1.0e2 + home.alt;
tell_command.alt = packet.z*1.0e2;
tell_command.options = 1;
break;
}
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
{
if (!home_is_set) {
send_text_P(SEVERITY_MEDIUM, PSTR("Refusing relative alt wp: home not set"));
return;
}
tell_command.lat = 1.0e7*packet.x; // in as DD converted to * t7
tell_command.lng = 1.0e7*packet.y; // in as DD converted to * t7
tell_command.alt = packet.z*1.0e2 + home.alt;
tell_command.alt = packet.z*1.0e2;
tell_command.options = 1;
break;
}
}
@ -586,15 +631,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// save waypoint - and prevent re-setting home
if (packet.seq != 0)
set_wp_with_index(tell_command, packet.seq);
// update waypoint receiving state machine
global_data.waypoint_timelast_receive = millis();
global_data.waypoint_request_i++;
waypoint_timelast_receive = millis();
waypoint_request_i++;
if (global_data.waypoint_request_i > g.waypoint_total)
if (waypoint_request_i > g.waypoint_total)
{
uint8_t type = 0; // ok (0), error(1)
@ -605,7 +648,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
type);
send_text_P(SEVERITY_LOW,PSTR("flight plan received"));
global_data.waypoint_receiving = false;
waypoint_receiving = false;
// XXX ignores waypoint radius for individual waypoints, can
// only set WP_RADIUS parameter
}
@ -657,7 +700,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
((AP_Int16 *)vp)->set_and_save(packet.param_value+rounding_addition);
} else if (var_type == AP_Var::k_typeid_int8) {
((AP_Int8 *)vp)->set(packet.param_value+rounding_addition);
((AP_Int8 *)vp)->set_and_save(packet.param_value+rounding_addition);
} else {
// we don't support mavlink set on this parameter
break;
@ -846,7 +889,7 @@ GCS_MAVLINK::_queued_send()
{
// Check to see if we are sending parameters
while (NULL != _queued_parameter) {
if (NULL != _queued_parameter && (requested_interface == chan) && mavdelay > 1) {
AP_Var *vp;
float value;
@ -865,13 +908,12 @@ GCS_MAVLINK::_queued_send()
chan,
(int8_t*)param_name,
value,
_count_parameters(),
_queued_parameter_count,
_queued_parameter_index);
_queued_parameter_index++;
break;
}
mavdelay = 0;
@ -882,19 +924,19 @@ GCS_MAVLINK::_queued_send()
// request waypoints one by one
// XXX note that this is pan-interface
if (global_data.waypoint_receiving &&
(global_data.requested_interface == chan) &&
global_data.waypoint_request_i <= g.waypoint_total &&
if (waypoint_receiving &&
(requested_interface == chan) &&
waypoint_request_i <= g.waypoint_total &&
mavdelay > 15) { // limits to 3.33 hz
mavlink_msg_waypoint_request_send(
chan,
global_data.waypoint_dest_sysid,
global_data.waypoint_dest_compid,
global_data.waypoint_request_i);
waypoint_dest_sysid,
waypoint_dest_compid,
waypoint_request_i);
mavdelay = 0;
}
}
#endif

15
ArduCopterMega/Log.pde
View File

@ -449,7 +449,6 @@ void Log_Write_GPS( long log_Time, long log_Lattitude, long log_Longitude, long
DataFlash.WriteLong(log_Ground_Speed);
DataFlash.WriteLong(log_Ground_Course);
DataFlash.WriteByte(END_BYTE);
DataFlash.WriteByte(END_BYTE);
}
// Write an raw accel/gyro data packet. Total length : 28 bytes
@ -532,7 +531,7 @@ void Log_Read_Performance()
long pm_time;
int logvar;
Serial.print("PM:");
Serial.printf_P(PSTR("PM:"));
pm_time = DataFlash.ReadLong();
Serial.print(pm_time);
Serial.print(comma);
@ -554,7 +553,7 @@ void Log_Read_Cmd()
byte logvarb;
long logvarl;
Serial.print("CMD:");
Serial.printf_P(PSTR("CMD:"));
for(int i = 1; i < 4; i++) {
logvarb = DataFlash.ReadByte();
Serial.print(logvarb, DEC);
@ -585,7 +584,7 @@ void Log_Read_Startup()
// Read an attitude packet
void Log_Read_Attitude()
{
Serial.printf_P(PSTR("ATT: %d, %d, %d\n"),
Serial.printf_P(PSTR("ATT: %d, %d, %u\n"),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
(uint16_t)DataFlash.ReadInt());
@ -594,7 +593,7 @@ void Log_Read_Attitude()
// Read a mode packet
void Log_Read_Mode()
{
Serial.print("MOD:");
Serial.printf_P(PSTR("MOD:"));
Serial.println(flight_mode_strings[DataFlash.ReadByte()]);
}
@ -618,7 +617,7 @@ void Log_Read_GPS()
void Log_Read_Raw()
{
float logvar;
Serial.print("RAW:");
Serial.printf_P(PSTR("RAW:"));
for (int y = 0; y < 6; y++) {
logvar = (float)DataFlash.ReadLong() / t7;
Serial.print(logvar);
@ -631,8 +630,8 @@ void Log_Read_Raw()
void Log_Read(int start_page, int end_page)
{
byte data;
byte log_step;
int packet_count;
byte log_step = 0;
int packet_count = 0;
int page = start_page;

19
ArduCopterMega/Mavlink_Common.h
View File

@ -5,7 +5,6 @@
#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK || GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
uint16_t system_type = MAV_FIXED_WING;
byte mavdelay = 0;
// what does this do?
@ -31,7 +30,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
case MSG_HEARTBEAT:
mavlink_msg_heartbeat_send(
chan,
system_type,
mavlink_system.type,
MAV_AUTOPILOT_ARDUPILOTMEGA);
break;
@ -149,10 +148,10 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
// This is used for HIL. Do not change without discussing with HIL maintainers
mavlink_msg_rc_channels_scaled_send(
chan,
g.rc_1.norm_output(),
g.rc_2.norm_output(),
g.rc_3.norm_output(),
g.rc_4.norm_output(),
10000 * g.rc_1.norm_output(),
10000 * g.rc_2.norm_output(),
10000 * g.rc_3.norm_output(),
10000 * g.rc_4.norm_output(),
0,
0,
0,
@ -199,10 +198,10 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
chan,
(float)airspeed / 100.0,
(float)g_gps->ground_speed / 100.0,
dcm.yaw_sensor,
(dcm.yaw_sensor / 100) % 360,
nav_throttle,
current_loc.alt / 100.0,
climb_rate,
nav_throttle);
climb_rate);
break;
}
@ -258,7 +257,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
break;
}
defualt:
default:
break;
}
}

2
ArduCopterMega/defines.h
View File

@ -271,3 +271,5 @@
// parameters get the first 1KiB of EEPROM, remainder is for waypoints
#define WP_START_BYTE 0x400 // where in memory home WP is stored + all other WP
#define WP_SIZE 15
#define ONBOARD_PARAM_NAME_LENGTH 15
#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe

52
ArduCopterMega/global_data.h
View File

@ -1,52 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __GLOBAL_DATA_H
#define __GLOBAL_DATA_H
#define ONBOARD_PARAM_NAME_LENGTH 15
#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
#define FIRMWARE_VERSION 18 // <-- change on param data struct modifications
#ifdef __cplusplus
///
// global data structure
// This structure holds all the vehicle parameters.
// TODO: bring in varibles floating around in ArduPilotMega.pde
//
struct global_struct
{
// waypoints
uint16_t requested_interface; // request port to use
uint16_t waypoint_request_i; // request index
uint16_t waypoint_dest_sysid; // where to send requests
uint16_t waypoint_dest_compid; // "
bool waypoint_sending; // currently in send process
bool waypoint_receiving; // currently receiving
uint16_t waypoint_count;
uint32_t waypoint_timelast_send; // milliseconds
uint32_t waypoint_timelast_receive; // milliseconds
uint16_t waypoint_send_timeout; // milliseconds
uint16_t waypoint_receive_timeout; // milliseconds
float junk; //used to return a junk value for interface
// data stream rates
uint16_t streamRateRawSensors;
uint16_t streamRateExtendedStatus;
uint16_t streamRateRCChannels;
uint16_t streamRateRawController;
uint16_t streamRatePosition;
uint16_t streamRateExtra1;
uint16_t streamRateExtra2;
uint16_t streamRateExtra3;
// struct constructor
global_struct();
} global_data;
extern "C" const char *param_nametab[];
#endif // __cplusplus
#endif // __GLOBAL_DATA_H

20
ArduCopterMega/global_data.pde
View File

@ -1,20 +0,0 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
global_struct::global_struct() :
// parameters
// note, all values not explicitly initialised here are zeroed
waypoint_send_timeout(1000), // 1 second
waypoint_receive_timeout(1000), // 1 second
// stream rates
streamRateRawSensors(0),
streamRateExtendedStatus(0),
streamRateRCChannels(0),
streamRateRawController(0),
//streamRateRawSensorFusion(0),
streamRatePosition(0),
streamRateExtra1(0),
streamRateExtra2(0),
streamRateExtra3(0)
{
}