#include "Copter.h" #include "version.h" #include "GCS_Mavlink.h" void Copter::gcs_send_heartbeat(void) { gcs_send_message(MSG_HEARTBEAT); } void Copter::gcs_send_deferred(void) { gcs_send_message(MSG_RETRY_DEFERRED); GCS_MAVLINK::service_statustext(); } /* * !!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 */ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan) { uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; uint8_t system_status = ap.land_complete ? MAV_STATE_STANDBY : MAV_STATE_ACTIVE; uint32_t custom_mode = control_mode; // set system as critical if any failsafe have triggered if (failsafe.radio || failsafe.battery || failsafe.gcs || failsafe.ekf || failsafe.terrain || failsafe.adsb) { system_status = MAV_STATE_CRITICAL; } // 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 AVOID_ADSB: case GUIDED: case CIRCLE: case POSHOLD: case BRAKE: 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; default: 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; gcs[chan-MAVLINK_COMM_0].send_heartbeat(FRAME_MAV_TYPE, base_mode, custom_mode, system_status); } NOINLINE void Copter::send_attitude(mavlink_channel_t chan) { const Vector3f &gyro = ins.get_gyro(); mavlink_msg_attitude_send( chan, millis(), ahrs.roll, ahrs.pitch, ahrs.yaw, gyro.x, gyro.y, gyro.z); } #if AC_FENCE == ENABLED NOINLINE void Copter::send_limits_status(mavlink_channel_t chan) { fence_send_mavlink_status(chan); } #endif NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan) { int16_t battery_current = -1; int8_t battery_remaining = -1; if (battery.has_current() && battery.healthy()) { battery_remaining = battery.capacity_remaining_pct(); battery_current = battery.current_amps() * 100; } update_sensor_status_flags(); mavlink_msg_sys_status_send( chan, control_sensors_present, control_sensors_enabled, control_sensors_health, (uint16_t)(scheduler.load_average(MAIN_LOOP_MICROS) * 1000), battery.voltage() * 1000, // mV battery_current, // in 10mA units battery_remaining, // in % 0, // comm drops %, 0, // comm drops in pkts, 0, 0, 0, 0); } void NOINLINE Copter::send_location(mavlink_channel_t chan) { 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 // use the current boot time as the fix time. if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) { fix_time = gps.last_fix_time_ms(); } else { fix_time = millis(); } const Vector3f &vel = inertial_nav.get_velocity(); mavlink_msg_global_position_int_send( chan, fix_time, current_loc.lat, // in 1E7 degrees current_loc.lng, // in 1E7 degrees (ahrs.get_home().alt + current_loc.alt) * 10UL, // millimeters above sea level current_loc.alt * 10, // millimeters above ground vel.x, // X speed cm/s (+ve North) vel.y, // Y speed cm/s (+ve East) vel.z, // Z speed cm/s (+ve up) ahrs.yaw_sensor); // compass heading in 1/100 degree } void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan) { const Vector3f &targets = attitude_control.get_att_target_euler_cd(); mavlink_msg_nav_controller_output_send( chan, targets.x / 1.0e2f, targets.y / 1.0e2f, targets.z / 1.0e2f, wp_bearing / 1.0e2f, wp_distance / 1.0e2f, pos_control.get_alt_error() / 1.0e2f, 0, 0); } // report simulator state void NOINLINE Copter::send_simstate(mavlink_channel_t chan) { #if CONFIG_HAL_BOARD == HAL_BOARD_SITL sitl.simstate_send(chan); #endif } void NOINLINE Copter::send_hwstatus(mavlink_channel_t chan) { mavlink_msg_hwstatus_send( chan, hal.analogin->board_voltage()*1000, 0); } void NOINLINE Copter::send_servo_out(mavlink_channel_t chan) { #if HIL_MODE != HIL_MODE_DISABLED // normalized values scaled to -10000 to 10000 // This is used for HIL. Do not change without discussing with HIL maintainers #if FRAME_CONFIG == HELI_FRAME mavlink_msg_rc_channels_scaled_send( chan, millis(), 0, // port 0 g.rc_1.get_servo_out(), g.rc_2.get_servo_out(), g.rc_3.get_radio_out(), g.rc_4.get_servo_out(), 0, 0, 0, 0, receiver_rssi); #else mavlink_msg_rc_channels_scaled_send( chan, millis(), 0, // port 0 g.rc_1.get_servo_out(), g.rc_2.get_servo_out(), g.rc_3.get_radio_out(), g.rc_4.get_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(), receiver_rssi); #endif #endif // HIL_MODE } void NOINLINE Copter::send_vfr_hud(mavlink_channel_t chan) { mavlink_msg_vfr_hud_send( chan, gps.ground_speed(), ahrs.groundspeed(), (ahrs.yaw_sensor / 100) % 360, (int16_t)(motors.get_throttle() * 100), current_loc.alt / 100.0f, climb_rate / 100.0f); } void NOINLINE Copter::send_current_waypoint(mavlink_channel_t chan) { mavlink_msg_mission_current_send(chan, mission.get_current_nav_index()); } #if RANGEFINDER_ENABLED == ENABLED void NOINLINE Copter::send_rangefinder(mavlink_channel_t chan) { // exit immediately if rangefinder is disabled if (!rangefinder.has_data()) { return; } mavlink_msg_rangefinder_send( chan, rangefinder.distance_cm() * 0.01f, rangefinder.voltage_mv() * 0.001f); } #endif void NOINLINE Copter::send_proximity(mavlink_channel_t chan, uint16_t count_max) { #if PROXIMITY_ENABLED == ENABLED // return immediately if no proximity sensor is present if (g2.proximity.get_status() == AP_Proximity::Proximity_NotConnected) { return; } // return immediately if no tx buffer room to send messages if (count_max == 0) { return; } // send at most 8 distances if (count_max > 8) { count_max = 8; } // send known distances AP_Proximity::Proximity_Distance_Array dist_array; if (g2.proximity.get_distances(dist_array)) { for (uint8_t i=0; imsgid) { case MAVLINK_MSG_ID_HEARTBEAT: // MAV ID: 0 { // We keep track of the last time we received a heartbeat from our GCS for failsafe purposes if(msg->sysid != copter.g.sysid_my_gcs) break; copter.failsafe.last_heartbeat_ms = AP_HAL::millis(); copter.pmTest1++; break; } case MAVLINK_MSG_ID_SET_MODE: // MAV ID: 11 { #ifdef DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE if (!copter.failsafe.radio) { handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::gcs_set_mode, bool, uint8_t)); } else { // don't allow mode changes while in radio failsafe mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, MAV_RESULT_FAILED); } #else handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::gcs_set_mode, bool, uint8_t)); #endif break; } case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // MAV ID: 21 { // mark the firmware version in the tlog send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING); #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION) send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION); #endif send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING); handle_param_request_list(msg); break; } case MAVLINK_MSG_ID_PARAM_SET: // 23 { handle_param_set(msg, &copter.DataFlash); break; } case MAVLINK_MSG_ID_PARAM_VALUE: { #if MOUNT == ENABLED copter.camera_mount.handle_param_value(msg); #endif break; } case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: // MAV ID: 38 { handle_mission_write_partial_list(copter.mission, msg); break; } // GCS has sent us a mission item, store to EEPROM case MAVLINK_MSG_ID_MISSION_ITEM: // MAV ID: 39 { if (handle_mission_item(msg, copter.mission)) { copter.DataFlash.Log_Write_EntireMission(copter.mission); } break; } case MAVLINK_MSG_ID_MISSION_ITEM_INT: { if (handle_mission_item(msg, copter.mission)) { copter.DataFlash.Log_Write_EntireMission(copter.mission); } break; } // read an individual command from EEPROM and send it to the GCS case MAVLINK_MSG_ID_MISSION_REQUEST_INT: case MAVLINK_MSG_ID_MISSION_REQUEST: // MAV ID: 40, 51 { handle_mission_request(copter.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // MAV ID: 41 { handle_mission_set_current(copter.mission, msg); 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 { handle_mission_request_list(copter.mission, msg); 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 { handle_mission_count(copter.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: // MAV ID: 45 { handle_mission_clear_all(copter.mission, msg); break; } case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: // MAV ID: 66 { handle_request_data_stream(msg, false); break; } case MAVLINK_MSG_ID_STATUSTEXT: { // ignore any statustext messages not from our GCS: if (msg->sysid != copter.g.sysid_my_gcs) { break; } mavlink_statustext_t packet; mavlink_msg_statustext_decode(msg, &packet); char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+4] = { 'G','C','S',':'}; memcpy(&text[4], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN); copter.DataFlash.Log_Write_Message(text); break; } case MAVLINK_MSG_ID_GIMBAL_REPORT: { #if MOUNT == ENABLED handle_gimbal_report(copter.camera_mount, msg); #endif 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 // and RC PWM values. if(msg->sysid != copter.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); 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; // record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation copter.failsafe.rc_override_active = hal.rcin->set_overrides(v, 8); // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes copter.failsafe.last_heartbeat_ms = AP_HAL::millis(); break; } case MAVLINK_MSG_ID_COMMAND_INT: { // decode packet mavlink_command_int_t packet; mavlink_msg_command_int_decode(msg, &packet); switch(packet.command) { case MAV_CMD_DO_SET_ROI: { // param1 : /* Region of interest mode (not used)*/ // param2 : /* MISSION index/ target ID (not used)*/ // param3 : /* ROI index (not used)*/ // param4 : /* empty */ // x : lat // y : lon // z : alt // sanity check location if (!check_latlng(packet.x, packet.y)) { break; } Location roi_loc; roi_loc.lat = packet.x; roi_loc.lng = packet.y; roi_loc.alt = (int32_t)(packet.z * 100.0f); copter.set_auto_yaw_roi(roi_loc); result = MAV_RESULT_ACCEPTED; break; } default: result = MAV_RESULT_UNSUPPORTED; break; } // send ACK or NAK mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result); break; } // 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); switch(packet.command) { case MAV_CMD_START_RX_PAIR: result = handle_rc_bind(packet); break; case MAV_CMD_NAV_TAKEOFF: { // param3 : horizontal navigation by pilot acceptable // param4 : yaw angle (not supported) // param5 : latitude (not supported) // param6 : longitude (not supported) // param7 : altitude [metres] float takeoff_alt = packet.param7 * 100; // Convert m to cm if(copter.do_user_takeoff(takeoff_alt, is_zero(packet.param3))) { result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } break; } case MAV_CMD_NAV_LOITER_UNLIM: if (copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: if (copter.set_mode(RTL, MODE_REASON_GCS_COMMAND)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_NAV_LAND: if (copter.set_mode(LAND, MODE_REASON_GCS_COMMAND)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_CONDITION_YAW: // param1 : target angle [0-360] // param2 : speed during change [deg per second] // param3 : direction (-1:ccw, +1:cw) // param4 : relative offset (1) or absolute angle (0) if ((packet.param1 >= 0.0f) && (packet.param1 <= 360.0f) && (is_zero(packet.param4) || is_equal(packet.param4,1.0f))) { copter.set_auto_yaw_look_at_heading(packet.param1, packet.param2, (int8_t)packet.param3, (uint8_t)packet.param4); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } break; case MAV_CMD_DO_CHANGE_SPEED: // param1 : unused // param2 : new speed in m/s // param3 : unused // param4 : unused if (packet.param2 > 0.0f) { copter.wp_nav.set_speed_xy(packet.param2 * 100.0f); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } break; case MAV_CMD_DO_SET_HOME: // param1 : use current (1=use current location, 0=use specified location) // param5 : latitude // param6 : longitude // param7 : altitude (absolute) result = MAV_RESULT_FAILED; // assume failure if(is_equal(packet.param1,1.0f) || (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7))) { if (copter.set_home_to_current_location_and_lock()) { result = MAV_RESULT_ACCEPTED; } } else { // sanity check location if (!check_latlng(packet.param5, packet.param6)) { break; } Location new_home_loc; new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f); new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f); new_home_loc.alt = (int32_t)(packet.param7 * 100.0f); if (!copter.far_from_EKF_origin(new_home_loc)) { if (copter.set_home_and_lock(new_home_loc)) { result = MAV_RESULT_ACCEPTED; } } } break; case MAV_CMD_DO_FLIGHTTERMINATION: if (packet.param1 > 0.5f) { copter.init_disarm_motors(); result = MAV_RESULT_ACCEPTED; } break; 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 // sanity check location if (!check_latlng(packet.param5, packet.param6)) { break; } 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); copter.set_auto_yaw_roi(roi_loc); result = MAV_RESULT_ACCEPTED; break; #if CAMERA == ENABLED case MAV_CMD_DO_DIGICAM_CONFIGURE: copter.camera.configure(packet.param1, packet.param2, packet.param3, packet.param4, packet.param5, packet.param6, packet.param7); result = MAV_RESULT_ACCEPTED; break; case MAV_CMD_DO_DIGICAM_CONTROL: if (copter.camera.control(packet.param1, packet.param2, packet.param3, packet.param4, packet.param5, packet.param6)) { copter.log_picture(); } result = MAV_RESULT_ACCEPTED; break; #endif // CAMERA == ENABLED case MAV_CMD_DO_MOUNT_CONTROL: #if MOUNT == ENABLED copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7); result = MAV_RESULT_ACCEPTED; #endif break; case MAV_CMD_MISSION_START: if (copter.motors.armed() && copter.set_mode(AUTO, MODE_REASON_GCS_COMMAND)) { copter.set_auto_armed(true); if (copter.mission.state() != AP_Mission::MISSION_RUNNING) { copter.mission.start_or_resume(); } result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_PREFLIGHT_CALIBRATION: // exit immediately if armed if (copter.motors.armed()) { result = MAV_RESULT_FAILED; break; } if (is_equal(packet.param1,1.0f)) { if (copter.calibrate_gyros()) { result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else if (is_equal(packet.param3,1.0f)) { // fast barometer calibration copter.init_barometer(false); result = MAV_RESULT_ACCEPTED; } else if (is_equal(packet.param4,1.0f)) { result = MAV_RESULT_UNSUPPORTED; } else if (is_equal(packet.param5,1.0f)) { // 3d accel calibration result = MAV_RESULT_ACCEPTED; if (!copter.calibrate_gyros()) { result = MAV_RESULT_FAILED; break; } copter.ins.acal_init(); copter.ins.get_acal()->start(this); } else if (is_equal(packet.param5,2.0f)) { // calibrate gyros if (!copter.calibrate_gyros()) { result = MAV_RESULT_FAILED; break; } // accel trim float trim_roll, trim_pitch; if(copter.ins.calibrate_trim(trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine copter.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else if (is_equal(packet.param6,1.0f)) { // compassmot calibration result = copter.mavlink_compassmot(chan); } break; case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: { uint8_t compassNumber = -1; if (is_equal(packet.param1, 2.0f)) { compassNumber = 0; } else if (is_equal(packet.param1, 5.0f)) { compassNumber = 1; } else if (is_equal(packet.param1, 6.0f)) { compassNumber = 2; } if (compassNumber != (uint8_t) -1) { copter.compass.set_and_save_offsets(compassNumber, packet.param2, packet.param3, packet.param4); result = MAV_RESULT_ACCEPTED; } break; } case MAV_CMD_COMPONENT_ARM_DISARM: if (is_equal(packet.param1,1.0f)) { // attempt to arm and return success or failure if (copter.init_arm_motors(true)) { result = MAV_RESULT_ACCEPTED; } } else if (is_zero(packet.param1) && (copter.ap.land_complete || is_equal(packet.param2,21196.0f))) { // force disarming by setting param2 = 21196 is deprecated copter.init_disarm_motors(); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_GET_HOME_POSITION: if (copter.ap.home_state != HOME_UNSET) { send_home(copter.ahrs.get_home()); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } break; case MAV_CMD_DO_SET_SERVO: if (copter.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_REPEAT_SERVO: if (copter.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 (copter.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_REPEAT_RELAY: if (copter.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) { AP_Notify::flags.firmware_update = 1; copter.update_notify(); hal.scheduler->delay(200); // when packet.param1 == 3 we reboot to hold in bootloader hal.scheduler->reboot(is_equal(packet.param1,3.0f)); result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_FENCE_ENABLE: #if AC_FENCE == ENABLED result = MAV_RESULT_ACCEPTED; switch ((uint16_t)packet.param1) { case 0: copter.fence.enable(false); break; case 1: copter.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; #if PARACHUTE == ENABLED case MAV_CMD_DO_PARACHUTE: // configure or release parachute result = MAV_RESULT_ACCEPTED; switch ((uint16_t)packet.param1) { case PARACHUTE_DISABLE: copter.parachute.enabled(false); copter.Log_Write_Event(DATA_PARACHUTE_DISABLED); break; case PARACHUTE_ENABLE: copter.parachute.enabled(true); copter.Log_Write_Event(DATA_PARACHUTE_ENABLED); break; case PARACHUTE_RELEASE: // treat as a manual release which performs some additional check of altitude copter.parachute_manual_release(); break; default: result = MAV_RESULT_FAILED; break; } break; #endif 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 = copter.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4); break; #if GRIPPER_ENABLED == ENABLED case MAV_CMD_DO_GRIPPER: // param1 : gripper number (ignored) // param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum. if(!copter.g2.gripper.enabled()) { result = MAV_RESULT_FAILED; } else { result = MAV_RESULT_ACCEPTED; switch ((uint8_t)packet.param2) { case GRIPPER_ACTION_RELEASE: copter.g2.gripper.release(); break; case GRIPPER_ACTION_GRAB: copter.g2.gripper.grab(); break; default: result = MAV_RESULT_FAILED; break; } } break; #endif case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: { if (is_equal(packet.param1,1.0f)) { send_autopilot_version(FIRMWARE_VERSION); result = MAV_RESULT_ACCEPTED; } break; } case MAV_CMD_DO_START_MAG_CAL: case MAV_CMD_DO_ACCEPT_MAG_CAL: case MAV_CMD_DO_CANCEL_MAG_CAL: result = copter.compass.handle_mag_cal_command(packet); break; case MAV_CMD_DO_SEND_BANNER: { result = MAV_RESULT_ACCEPTED; send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING); #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION) send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION); #endif send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING); // send system ID if we can char sysid[40]; if (hal.util->get_system_id(sysid)) { send_text(MAV_SEVERITY_INFO, sysid); } break; } /* Solo user presses Fly button */ case MAV_CMD_SOLO_BTN_FLY_CLICK: { result = MAV_RESULT_ACCEPTED; if (copter.failsafe.radio) { break; } // set mode to Loiter or fall back to AltHold if (!copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) { copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND); } break; } /* Solo user holds down Fly button for a couple of seconds */ case MAV_CMD_SOLO_BTN_FLY_HOLD: { result = MAV_RESULT_ACCEPTED; if (copter.failsafe.radio) { break; } if (!copter.motors.armed()) { // if disarmed, arm motors copter.init_arm_motors(true); } else if (copter.ap.land_complete) { // if armed and landed, takeoff if (copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) { copter.do_user_takeoff(packet.param1*100, true); } } else { // if flying, land copter.set_mode(LAND, MODE_REASON_GCS_COMMAND); } break; } /* Solo user presses pause button */ case MAV_CMD_SOLO_BTN_PAUSE_CLICK: { result = MAV_RESULT_ACCEPTED; if (copter.failsafe.radio) { break; } if (copter.motors.armed()) { if (copter.ap.land_complete) { // if landed, disarm motors copter.init_disarm_motors(); } else { // assume that shots modes are all done in guided. // NOTE: this may need to change if we add a non-guided shot mode bool shot_mode = (!is_zero(packet.param1) && (copter.control_mode == GUIDED || copter.control_mode == GUIDED_NOGPS)); if (!shot_mode) { if (copter.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) { copter.brake_timeout_to_loiter_ms(2500); } else { copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND); } } else { // SoloLink is expected to handle pause in shots } } } break; } case MAV_CMD_ACCELCAL_VEHICLE_POS: result = MAV_RESULT_FAILED; if (copter.ins.get_acal()->gcs_vehicle_position(packet.param1)) { result = MAV_RESULT_ACCEPTED; } break; default: result = MAV_RESULT_UNSUPPORTED; break; } // send ACK or NAK mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result); break; } case MAVLINK_MSG_ID_COMMAND_ACK: // MAV ID: 77 { copter.command_ack_counter++; break; } case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82 { // decode packet mavlink_set_attitude_target_t packet; mavlink_msg_set_attitude_target_decode(msg, &packet); // exit if vehicle is not in Guided mode or Auto-Guided mode if ((copter.control_mode != GUIDED) && (copter.control_mode != GUIDED_NOGPS) && !(copter.control_mode == AUTO && copter.auto_mode == Auto_NavGuided)) { break; } // ensure type_mask specifies to use attitude and thrust if ((packet.type_mask & ((1<<7)|(1<<6))) != 0) { break; } // convert thrust to climb rate packet.thrust = constrain_float(packet.thrust, 0.0f, 1.0f); float climb_rate_cms = 0.0f; if (is_equal(packet.thrust, 0.5f)) { climb_rate_cms = 0.0f; } else if (packet.thrust > 0.5f) { // climb at up to WPNAV_SPEED_UP climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * copter.wp_nav.get_speed_up(); } else { // descend at up to WPNAV_SPEED_DN climb_rate_cms = (0.5f - packet.thrust) * 2.0f * -fabsf(copter.wp_nav.get_speed_down()); } // if the body_yaw_rate field is ignored, use the commanded yaw position // otherwise use the commanded yaw rate bool use_yaw_rate = false; if ((packet.type_mask & (1<<2)) == 0) { use_yaw_rate = true; } copter.guided_set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]), climb_rate_cms, use_yaw_rate, packet.body_yaw_rate); break; } 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 if vehicle is not in Guided mode or Auto-Guided mode if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.auto_mode == Auto_NavGuided)) { break; } // check for supported coordinate frames if (packet.coordinate_frame != MAV_FRAME_LOCAL_NED && packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED && packet.coordinate_frame != MAV_FRAME_BODY_NED && packet.coordinate_frame != MAV_FRAME_BODY_OFFSET_NED) { break; } bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE; bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE; bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE; /* * for future use: * bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE; * bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE; * bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE; */ // prepare position Vector3f pos_vector; if (!pos_ignore) { // convert to cm pos_vector = Vector3f(packet.x * 100.0f, packet.y * 100.0f, -packet.z * 100.0f); // rotate to body-frame if necessary if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) { copter.rotate_body_frame_to_NE(pos_vector.x, pos_vector.y); } // add body offset if necessary if (packet.coordinate_frame == MAV_FRAME_LOCAL_OFFSET_NED || packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) { pos_vector += copter.inertial_nav.get_position(); } else { // convert from alt-above-home to alt-above-ekf-origin pos_vector.z = copter.pv_alt_above_origin(pos_vector.z); } } // prepare velocity Vector3f vel_vector; if (!vel_ignore) { // convert to cm vel_vector = Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f); // rotate to body-frame if necessary if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) { copter.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y); } } // send request if (!pos_ignore && !vel_ignore && acc_ignore) { copter.guided_set_destination_posvel(pos_vector, vel_vector); } else if (pos_ignore && !vel_ignore && acc_ignore) { copter.guided_set_velocity(vel_vector); } else if (!pos_ignore && vel_ignore && acc_ignore) { if (!copter.guided_set_destination(pos_vector)) { result = MAV_RESULT_FAILED; } } else { result = MAV_RESULT_FAILED; } 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 if vehicle is not in Guided mode or Auto-Guided mode if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.auto_mode == Auto_NavGuided)) { break; } // check for supported coordinate frames if (packet.coordinate_frame != MAV_FRAME_GLOBAL_INT && packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT && packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) { break; } bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE; bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE; bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE; /* * for future use: * bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE; * bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE; * bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE; */ Vector3f pos_ned; if(!pos_ignore) { // sanity check location if (!check_latlng(packet.lat_int, packet.lon_int)) { result = MAV_RESULT_FAILED; break; } Location loc; loc.lat = packet.lat_int; loc.lng = packet.lon_int; loc.alt = packet.alt*100; switch (packet.coordinate_frame) { case MAV_FRAME_GLOBAL_RELATIVE_ALT: // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT: loc.flags.relative_alt = true; loc.flags.terrain_alt = false; break; case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT: loc.flags.relative_alt = true; loc.flags.terrain_alt = true; break; case MAV_FRAME_GLOBAL_INT: default: // Copter does not support navigation to absolute altitudes. This convert the WGS84 altitude // to a home-relative altitude before passing it to the navigation controller loc.alt -= copter.ahrs.get_home().alt; loc.flags.relative_alt = true; loc.flags.terrain_alt = false; break; } pos_ned = copter.pv_location_to_vector(loc); } if (!pos_ignore && !vel_ignore && acc_ignore) { copter.guided_set_destination_posvel(pos_ned, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f)); } else if (pos_ignore && !vel_ignore && acc_ignore) { copter.guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f)); } else if (!pos_ignore && vel_ignore && acc_ignore) { if (!copter.guided_set_destination(pos_ned)) { result = MAV_RESULT_FAILED; } } else { result = MAV_RESULT_FAILED; } break; } case MAVLINK_MSG_ID_DISTANCE_SENSOR: { result = MAV_RESULT_ACCEPTED; copter.rangefinder.handle_msg(msg); break; } case MAVLINK_MSG_ID_GPS_RTCM_DATA: case MAVLINK_MSG_ID_GPS_INPUT: case MAVLINK_MSG_ID_HIL_GPS: { result = MAV_RESULT_ACCEPTED; copter.gps.handle_msg(msg); break; } #if HIL_MODE != HIL_MODE_DISABLED case MAVLINK_MSG_ID_HIL_STATE: // MAV ID: 90 { mavlink_hil_state_t packet; mavlink_msg_hil_state_decode(msg, &packet); // sanity check location if (!check_latlng(packet.lat, packet.lon)) { break; } // set gps hil sensor 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; gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D, packet.time_usec/1000, loc, vel, 10, 0); // rad/sec Vector3f gyros; gyros.x = packet.rollspeed; gyros.y = packet.pitchspeed; gyros.z = packet.yawspeed; // m/s/s Vector3f accels; accels.x = packet.xacc * (GRAVITY_MSS/1000.0f); accels.y = packet.yacc * (GRAVITY_MSS/1000.0f); accels.z = packet.zacc * (GRAVITY_MSS/1000.0f); ins.set_gyro(0, gyros); ins.set_accel(0, accels); copter.barometer.setHIL(packet.alt*0.001f); copter.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw); copter.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw); break; } #endif // HIL_MODE != HIL_MODE_DISABLED case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109 { handle_radio_status(msg, copter.DataFlash, copter.should_log(MASK_LOG_PM)); break; } case MAVLINK_MSG_ID_LOG_REQUEST_DATA: case MAVLINK_MSG_ID_LOG_ERASE: copter.in_log_download = true; /* no break */ case MAVLINK_MSG_ID_LOG_REQUEST_LIST: if (!copter.in_mavlink_delay && !copter.motors.armed()) { handle_log_message(msg, copter.DataFlash); } break; case MAVLINK_MSG_ID_LOG_REQUEST_END: copter.in_log_download = false; if (!copter.in_mavlink_delay && !copter.motors.armed()) { handle_log_message(msg, copter.DataFlash); } break; case MAVLINK_MSG_ID_SERIAL_CONTROL: handle_serial_control(msg, copter.gps); break; case MAVLINK_MSG_ID_GPS_INJECT_DATA: handle_gps_inject(msg, copter.gps); result = MAV_RESULT_ACCEPTED; break; #if PRECISION_LANDING == ENABLED case MAVLINK_MSG_ID_LANDING_TARGET: result = MAV_RESULT_ACCEPTED; copter.precland.handle_msg(msg); break; #endif #if AC_FENCE == ENABLED // send or receive fence points with GCS case MAVLINK_MSG_ID_FENCE_POINT: // MAV ID: 160 case MAVLINK_MSG_ID_FENCE_FETCH_POINT: copter.fence.handle_msg(chan, msg); break; #endif // AC_FENCE == ENABLED #if CAMERA == ENABLED //deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: // MAV ID: 202 break; //deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL case MAVLINK_MSG_ID_DIGICAM_CONTROL: copter.camera.control_msg(msg); copter.log_picture(); break; #endif // CAMERA == ENABLED #if MOUNT == ENABLED //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // MAV ID: 204 copter.camera_mount.configure_msg(msg); break; //deprecated. Use MAV_CMD_DO_MOUNT_CONTROL case MAVLINK_MSG_ID_MOUNT_CONTROL: copter.camera_mount.control_msg(msg); break; #endif // MOUNT == ENABLED case MAVLINK_MSG_ID_TERRAIN_DATA: case MAVLINK_MSG_ID_TERRAIN_CHECK: #if AP_TERRAIN_AVAILABLE && AC_TERRAIN copter.terrain.handle_data(chan, msg); #endif break; #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 (packet.idx >= copter.rally.get_rally_total() || packet.idx >= copter.rally.get_rally_max()) { send_text(MAV_SEVERITY_NOTICE,"Bad rally point message ID"); break; } if (packet.count != copter.rally.get_rally_total()) { send_text(MAV_SEVERITY_NOTICE,"Bad rally point message count"); break; } // sanity check location if (!check_latlng(packet.lat, packet.lng)) { 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 (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) { send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point"); } break; } //send a rally point to the GCS case MAVLINK_MSG_ID_RALLY_FETCH_POINT: { mavlink_rally_fetch_point_t packet; mavlink_msg_rally_fetch_point_decode(msg, &packet); if (packet.idx > copter.rally.get_rally_total()) { send_text(MAV_SEVERITY_NOTICE, "Bad rally point index"); break; } RallyLocation rally_point; if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) { send_text(MAV_SEVERITY_NOTICE, "Failed to set rally point"); break; } mavlink_msg_rally_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, copter.rally.get_rally_total(), rally_point.lat, rally_point.lng, rally_point.alt, rally_point.break_alt, rally_point.land_dir, rally_point.flags); break; } #endif // AC_RALLY == ENABLED case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS: copter.DataFlash.remote_log_block_status_msg(chan, msg); break; case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: send_autopilot_version(FIRMWARE_VERSION); break; case MAVLINK_MSG_ID_LED_CONTROL: // send message to Notify AP_Notify::handle_led_control(msg); break; case MAVLINK_MSG_ID_PLAY_TUNE: // send message to Notify AP_Notify::handle_play_tune(msg); break; case MAVLINK_MSG_ID_SET_HOME_POSITION: { mavlink_set_home_position_t packet; mavlink_msg_set_home_position_decode(msg, &packet); if((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) { copter.set_home_to_current_location_and_lock(); } else { // sanity check location if (!check_latlng(packet.latitude, packet.longitude)) { break; } Location new_home_loc; new_home_loc.lat = packet.latitude; new_home_loc.lng = packet.longitude; new_home_loc.alt = packet.altitude / 10; if (copter.far_from_EKF_origin(new_home_loc)) { break; } copter.set_home_and_lock(new_home_loc); } break; } case MAVLINK_MSG_ID_ADSB_VEHICLE: case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG: case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC: case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT: #if ADSB_ENABLED == ENABLED copter.adsb.handle_message(chan, msg); #endif break; default: handle_common_message(msg); break; } // end switch } // end handle mavlink /* * a delay() callback that processes MAVLink packets. We set this as the * callback in long running library initialisation routines to allow * MAVLink to process packets while waiting for the initialisation to * complete */ void Copter::mavlink_delay_cb() { static uint32_t last_1hz, last_50hz, last_5s; if (!gcs[0].initialised || in_mavlink_delay) return; in_mavlink_delay = true; uint32_t tnow = millis(); if (tnow - last_1hz > 1000) { last_1hz = tnow; gcs_send_heartbeat(); gcs_send_message(MSG_EXTENDED_STATUS1); } if (tnow - last_50hz > 20) { last_50hz = tnow; gcs_check_input(); gcs_data_stream_send(); gcs_send_deferred(); notify.update(); } if (tnow - last_5s > 5000) { last_5s = tnow; gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM"); } check_usb_mux(); in_mavlink_delay = false; } /* * send a message on both GCS links */ void Copter::gcs_send_message(enum ap_message id) { for (uint8_t i=0; ivsnprintf((char *)str, sizeof(str), fmt, arg_list); GCS_MAVLINK::send_statustext(severity, 0xFF, str); } /* return true if we will accept this packet. Used to implement SYSID_ENFORCE */ bool GCS_MAVLINK_Copter::accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) { if (!copter.g2.sysid_enforce) { return true; } if (msg.msgid == MAVLINK_MSG_ID_RADIO || msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) { return true; } return (msg.sysid == copter.g.sysid_my_gcs); }