#include "Sub.h" #include "version.h" #include "GCS_Mavlink.h" // default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control #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) void Sub::gcs_send_heartbeat(void) { gcs_send_message(MSG_HEARTBEAT); } void Sub::gcs_send_deferred(void) { gcs_send_message(MSG_RETRY_DEFERRED); gcs().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 Sub::send_heartbeat(mavlink_channel_t chan) { uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; uint8_t system_status = motors.armed() ? MAV_STATE_STANDBY : MAV_STATE_ACTIVE; uint32_t custom_mode = control_mode; // set system as critical if any failsafe have triggered if (failsafe.pilot_input || failsafe.battery || failsafe.gcs || failsafe.ekf || failsafe.terrain) { 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 GUIDED: case CIRCLE: case POSHOLD: 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; // 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; uint8_t mav_type; mav_type = MAV_TYPE_SUBMARINE; gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(mav_type, base_mode, custom_mode, system_status); } NOINLINE void Sub::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 Sub::send_limits_status(mavlink_channel_t chan) { fence_send_mavlink_status(chan); } #endif NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan) { uint32_t control_sensors_present; uint32_t control_sensors_enabled; uint32_t control_sensors_health; // default sensors present control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT; // first what sensors/controllers we have if (g.compass_enabled) { control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present } if (gps.status() > AP_GPS::NO_GPS) { control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS; } #if OPTFLOW == ENABLED if (optflow.enabled()) { control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; } #endif // 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); switch (control_mode) { case ALT_HOLD: case AUTO: case GUIDED: case CIRCLE: case SURFACE: case POSHOLD: control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; break; default: break; } // 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; } // 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); if (sensor_health.depth) { // check the internal barometer only control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE; } if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; } if (gps.status() > AP_GPS::NO_GPS) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; } #if OPTFLOW == ENABLED if (optflow.healthy()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW; } #endif if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) { control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO; } if (!ins.get_accel_health_all()) { control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL; } if (ahrs.initialised() && !ahrs.healthy()) { // AHRS subsystem is unhealthy control_sensors_health &= ~MAV_SYS_STATUS_AHRS; } int16_t battery_current = -1; int8_t battery_remaining = -1; if (battery.has_current() && battery.healthy()) { // percent remaining is not necessarily accurate at the moment //battery_remaining = battery.capacity_remaining_pct(); battery_current = battery.current_amps() * 100; } #if AP_TERRAIN_AVAILABLE && AC_TERRAIN switch (terrain.status()) { case AP_Terrain::TerrainStatusDisabled: break; case AP_Terrain::TerrainStatusUnhealthy: // To-Do: restore unhealthy terrain status reporting once terrain is used in Sub //control_sensors_present |= MAV_SYS_STATUS_TERRAIN; //control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN; //break; 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 #if RANGEFINDER_ENABLED == ENABLED if (rangefinder_state.enabled) { control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; if (rangefinder.has_data_orient(ROTATION_PITCH_270)) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; } } #endif if (!ap.initialised || ins.calibrating()) { // while initialising the gyros and accels are not enabled control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL); control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL); } 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 Sub::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 Sub::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 * 1.0e-2f, targets.y * 1.0e-2f, targets.z * 1.0e-2f, wp_nav.get_wp_bearing_to_destination() * 1.0e-2f, MIN(wp_nav.get_wp_distance_to_destination() * 1.0e-2f, UINT16_MAX), pos_control.get_alt_error() * 1.0e-2f, 0, 0); } // report simulator state void NOINLINE Sub::send_simstate(mavlink_channel_t chan) { #if CONFIG_HAL_BOARD == HAL_BOARD_SITL sitl.simstate_send(chan); #endif } void NOINLINE Sub::send_hwstatus(mavlink_channel_t chan) { mavlink_msg_hwstatus_send( chan, hal.analogin->board_voltage()*1000, 0); } void NOINLINE Sub::send_radio_out(mavlink_channel_t chan) { mavlink_msg_servo_output_raw_send( chan, micros(), 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), hal.rcout->read(8), hal.rcout->read(9), hal.rcout->read(10), hal.rcout->read(11), hal.rcout->read(12), hal.rcout->read(13), hal.rcout->read(14), hal.rcout->read(15)); } void NOINLINE Sub::send_vfr_hud(mavlink_channel_t chan) { mavlink_msg_vfr_hud_send( chan, gps.ground_speed(), gps.ground_speed(), (ahrs.yaw_sensor / 100) % 360, (int16_t)(motors.get_throttle() * 100), current_loc.alt / 100.0f, climb_rate / 100.0f); } void NOINLINE Sub::send_current_waypoint(mavlink_channel_t chan) { mavlink_msg_mission_current_send(chan, mission.get_current_nav_index()); } /* send RPM packet */ #if RPM_ENABLED == ENABLED void NOINLINE Sub::send_rpm(mavlink_channel_t chan) { if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) { mavlink_msg_rpm_send( chan, rpm_sensor.get_rpm(0), rpm_sensor.get_rpm(1)); } } #endif // Work around to get temperature sensor data out void NOINLINE Sub::send_temperature(mavlink_channel_t chan) { if (!celsius.healthy()) { return; } mavlink_msg_scaled_pressure3_send( chan, AP_HAL::millis(), 0, 0, celsius.temperature() * 100); } /* send PID tuning message */ void Sub::send_pid_tuning(mavlink_channel_t chan) { const Vector3f &gyro = ahrs.get_gyro(); if (g.gcs_pid_mask & 1) { const DataFlash_Class::PID_Info &pid_info = attitude_control.get_rate_roll_pid().get_pid_info(); mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL, pid_info.desired*0.01f, degrees(gyro.x), pid_info.FF*0.01f, pid_info.P*0.01f, pid_info.I*0.01f, pid_info.D*0.01f); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; } } if (g.gcs_pid_mask & 2) { const DataFlash_Class::PID_Info &pid_info = attitude_control.get_rate_pitch_pid().get_pid_info(); mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH, pid_info.desired*0.01f, degrees(gyro.y), pid_info.FF*0.01f, pid_info.P*0.01f, pid_info.I*0.01f, pid_info.D*0.01f); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; } } if (g.gcs_pid_mask & 4) { const DataFlash_Class::PID_Info &pid_info = attitude_control.get_rate_yaw_pid().get_pid_info(); mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW, pid_info.desired*0.01f, degrees(gyro.z), pid_info.FF*0.01f, pid_info.P*0.01f, pid_info.I*0.01f, pid_info.D*0.01f); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; } } if (g.gcs_pid_mask & 8) { const DataFlash_Class::PID_Info &pid_info = g.pid_accel_z.get_pid_info(); mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ, pid_info.desired*0.01f, -(ahrs.get_accel_ef_blended().z + GRAVITY_MSS), pid_info.FF*0.01f, pid_info.P*0.01f, pid_info.I*0.01f, pid_info.D*0.01f); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; } } } // try to send a message, return false if it won't fit in the serial tx buffer bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id) { if (telemetry_delayed(chan)) { return false; } // if we don't have at least 250 micros remaining before the main loop // wants to fire then don't send a mavlink message. We want to // prioritise the main flight control loop over communications if (sub.scheduler.time_available_usec() < 250 && sub.motors.armed()) { sub.gcs_out_of_time = true; return false; } switch (id) { case MSG_HEARTBEAT: CHECK_PAYLOAD_SIZE(HEARTBEAT); last_heartbeat_time = AP_HAL::millis(); sub.send_heartbeat(chan); break; case MSG_EXTENDED_STATUS1: // send extended status only once vehicle has been initialised // to avoid unnecessary errors being reported to user if (sub.ap.initialised) { CHECK_PAYLOAD_SIZE(SYS_STATUS); sub.send_extended_status1(chan); CHECK_PAYLOAD_SIZE(POWER_STATUS); send_power_status(); } break; case MSG_EXTENDED_STATUS2: CHECK_PAYLOAD_SIZE(MEMINFO); send_meminfo(); break; case MSG_ATTITUDE: CHECK_PAYLOAD_SIZE(ATTITUDE); sub.send_attitude(chan); break; case MSG_LOCATION: CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT); sub.send_location(chan); break; case MSG_LOCAL_POSITION: CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED); send_local_position(sub.ahrs); break; case MSG_NAV_CONTROLLER_OUTPUT: CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT); sub.send_nav_controller_output(chan); break; case MSG_GPS_RAW: send_gps_raw(sub.gps); case MSG_SYSTEM_TIME: CHECK_PAYLOAD_SIZE(SYSTEM_TIME); send_system_time(sub.gps); break; case MSG_SERVO_OUT: break; case MSG_RADIO_IN: CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW); send_radio_in(0); break; case MSG_SERVO_OUTPUT_RAW: CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW); sub.send_radio_out(chan); break; case MSG_VFR_HUD: CHECK_PAYLOAD_SIZE(VFR_HUD); sub.send_vfr_hud(chan); break; case MSG_RAW_IMU1: CHECK_PAYLOAD_SIZE(RAW_IMU); send_raw_imu(sub.ins, sub.compass); break; case MSG_RAW_IMU2: CHECK_PAYLOAD_SIZE(SCALED_PRESSURE); send_scaled_pressure(sub.barometer); sub.send_temperature(chan); break; case MSG_RAW_IMU3: CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS); send_sensor_offsets(sub.ins, sub.compass, sub.barometer); break; case MSG_CURRENT_WAYPOINT: CHECK_PAYLOAD_SIZE(MISSION_CURRENT); sub.send_current_waypoint(chan); break; case MSG_NEXT_PARAM: CHECK_PAYLOAD_SIZE(PARAM_VALUE); queued_param_send(); break; case MSG_NEXT_WAYPOINT: CHECK_PAYLOAD_SIZE(MISSION_REQUEST); queued_waypoint_send(); break; case MSG_RANGEFINDER: #if RANGEFINDER_ENABLED == ENABLED CHECK_PAYLOAD_SIZE(RANGEFINDER); send_rangefinder_downward(sub.rangefinder); CHECK_PAYLOAD_SIZE(DISTANCE_SENSOR); send_distance_sensor_downward(sub.rangefinder); #endif break; case MSG_RPM: #if RPM_ENABLED == ENABLED CHECK_PAYLOAD_SIZE(RPM); sub.send_rpm(chan); #endif break; case MSG_TERRAIN: #if AP_TERRAIN_AVAILABLE && AC_TERRAIN CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST); sub.terrain.send_request(chan); #endif break; case MSG_CAMERA_FEEDBACK: #if CAMERA == ENABLED CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK); sub.camera.send_feedback(chan, sub.gps, sub.ahrs, sub.current_loc); #endif break; case MSG_STATUSTEXT: // deprecated, use gcs().send_statustext* return false; case MSG_LIMITS_STATUS: #if AC_FENCE == ENABLED CHECK_PAYLOAD_SIZE(LIMITS_STATUS); sub.send_limits_status(chan); #endif break; case MSG_AHRS: CHECK_PAYLOAD_SIZE(AHRS); send_ahrs(sub.ahrs); break; case MSG_SIMSTATE: #if CONFIG_HAL_BOARD == HAL_BOARD_SITL CHECK_PAYLOAD_SIZE(SIMSTATE); sub.send_simstate(chan); #endif CHECK_PAYLOAD_SIZE(AHRS2); send_ahrs2(sub.ahrs); break; case MSG_HWSTATUS: CHECK_PAYLOAD_SIZE(HWSTATUS); sub.send_hwstatus(chan); break; case MSG_MOUNT_STATUS: #if MOUNT == ENABLED CHECK_PAYLOAD_SIZE(MOUNT_STATUS); sub.camera_mount.status_msg(chan); #endif // MOUNT == ENABLED break; case MSG_BATTERY2: CHECK_PAYLOAD_SIZE(BATTERY2); send_battery2(sub.battery); break; case MSG_OPTICAL_FLOW: #if OPTFLOW == ENABLED CHECK_PAYLOAD_SIZE(OPTICAL_FLOW); send_opticalflow(sub.ahrs, sub.optflow); #endif break; case MSG_GIMBAL_REPORT: #if MOUNT == ENABLED CHECK_PAYLOAD_SIZE(GIMBAL_REPORT); sub.camera_mount.send_gimbal_report(chan); #endif break; case MSG_EKF_STATUS_REPORT: CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT); sub.ahrs.send_ekf_status_report(chan); break; case MSG_FENCE_STATUS: case MSG_WIND: case MSG_POSITION_TARGET_GLOBAL_INT: case MSG_AOA_SSA: case MSG_LANDING: // unused break; case MSG_PID_TUNING: CHECK_PAYLOAD_SIZE(PID_TUNING); sub.send_pid_tuning(chan); break; case MSG_VIBRATION: CHECK_PAYLOAD_SIZE(VIBRATION); send_vibration(sub.ins); break; case MSG_MISSION_ITEM_REACHED: CHECK_PAYLOAD_SIZE(MISSION_ITEM_REACHED); mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index); break; case MSG_RETRY_DEFERRED: break; // just here to prevent a warning case MSG_MAG_CAL_PROGRESS: sub.compass.send_mag_cal_progress(chan); break; case MSG_MAG_CAL_REPORT: sub.compass.send_mag_cal_report(chan); break; case MSG_ADSB_VEHICLE: break; // Do nothing for Sub, here to prevent warning case MSG_BATTERY_STATUS: send_battery_status(sub.battery); break; } return true; } const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = { // @Param: RAW_SENS // @DisplayName: Raw sensor stream rate // @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[STREAM_RAW_SENSORS], 0), // @Param: EXT_STAT // @DisplayName: Extended status stream rate to ground station // @Description: Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[STREAM_EXTENDED_STATUS], 0), // @Param: RC_CHAN // @DisplayName: RC Channel stream rate to ground station // @Description: Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[STREAM_RC_CHANNELS], 0), // @Param: POSITION // @DisplayName: Position stream rate to ground station // @Description: Stream rate of GLOBAL_POSITION_INT to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[STREAM_POSITION], 0), // @Param: EXTRA1 // @DisplayName: Extra data type 1 stream rate to ground station // @Description: Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[STREAM_EXTRA1], 0), // @Param: EXTRA2 // @DisplayName: Extra data type 2 stream rate to ground station // @Description: Stream rate of VFR_HUD to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[STREAM_EXTRA2], 0), // @Param: EXTRA3 // @DisplayName: Extra data type 3 stream rate to ground station // @Description: Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[STREAM_EXTRA3], 0), // @Param: PARAMS // @DisplayName: Parameter stream rate to ground station // @Description: Stream rate of PARAM_VALUE to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[STREAM_PARAMS], 0), AP_GROUPEND }; void GCS_MAVLINK_Sub::data_stream_send(void) { if (waypoint_receiving) { // don't interfere with mission transfer return; } if (!sub.in_mavlink_delay && !sub.motors.armed()) { sub.DataFlash.handle_log_send(*this); } sub.gcs_out_of_time = false; send_queued_parameters(); if (sub.gcs_out_of_time) { return; } if (sub.in_mavlink_delay) { // don't send any other stream types while in the delay callback return; } if (stream_trigger(STREAM_RAW_SENSORS)) { send_message(MSG_RAW_IMU1); send_message(MSG_RAW_IMU2); send_message(MSG_RAW_IMU3); } if (sub.gcs_out_of_time) { return; } if (stream_trigger(STREAM_EXTENDED_STATUS)) { send_message(MSG_EXTENDED_STATUS1); send_message(MSG_EXTENDED_STATUS2); send_message(MSG_CURRENT_WAYPOINT); send_message(MSG_GPS_RAW); send_message(MSG_NAV_CONTROLLER_OUTPUT); send_message(MSG_LIMITS_STATUS); } if (sub.gcs_out_of_time) { return; } if (stream_trigger(STREAM_POSITION)) { send_message(MSG_LOCATION); send_message(MSG_LOCAL_POSITION); } if (sub.gcs_out_of_time) { return; } if (stream_trigger(STREAM_RAW_CONTROLLER)) { send_message(MSG_SERVO_OUT); } if (sub.gcs_out_of_time) { return; } if (stream_trigger(STREAM_RC_CHANNELS)) { send_message(MSG_SERVO_OUTPUT_RAW); send_message(MSG_RADIO_IN); } if (sub.gcs_out_of_time) { return; } if (stream_trigger(STREAM_EXTRA1)) { send_message(MSG_ATTITUDE); send_message(MSG_SIMSTATE); send_message(MSG_PID_TUNING); } if (sub.gcs_out_of_time) { return; } if (stream_trigger(STREAM_EXTRA2)) { send_message(MSG_VFR_HUD); } if (sub.gcs_out_of_time) { return; } if (stream_trigger(STREAM_EXTRA3)) { send_message(MSG_AHRS); send_message(MSG_HWSTATUS); send_message(MSG_SYSTEM_TIME); send_message(MSG_RANGEFINDER); #if AP_TERRAIN_AVAILABLE && AC_TERRAIN send_message(MSG_TERRAIN); #endif send_message(MSG_BATTERY2); send_message(MSG_BATTERY_STATUS); send_message(MSG_MOUNT_STATUS); send_message(MSG_OPTICAL_FLOW); send_message(MSG_GIMBAL_REPORT); send_message(MSG_MAG_CAL_REPORT); send_message(MSG_MAG_CAL_PROGRESS); send_message(MSG_EKF_STATUS_REPORT); send_message(MSG_VIBRATION); #if RPM_ENABLED == ENABLED send_message(MSG_RPM); #endif } if (sub.gcs_out_of_time) { return; } } bool GCS_MAVLINK_Sub::handle_guided_request(AP_Mission::Mission_Command &cmd) { return sub.do_guided(cmd); } void GCS_MAVLINK_Sub::handle_change_alt_request(AP_Mission::Mission_Command &cmd) { // add home alt if needed if (cmd.content.location.flags.relative_alt) { cmd.content.location.alt += sub.ahrs.get_home().alt; } // To-Do: update target altitude for loiter or waypoint controller depending upon nav mode } void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg) { uint8_t result = MAV_RESULT_FAILED; // assume failure. Each messages id is responsible for return ACK or NAK if required switch (msg->msgid) { 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 != sub.g.sysid_my_gcs) { break; } sub.failsafe.last_heartbeat_ms = AP_HAL::millis(); sub.pmTest1++; break; } case MAVLINK_MSG_ID_SET_MODE: { // MAV ID: 11 handle_set_mode(msg, FUNCTOR_BIND(&sub, &Sub::gcs_set_mode, bool, uint8_t)); 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 handle_param_request_list(msg); break; } case MAVLINK_MSG_ID_PARAM_SET: { // 23 handle_param_set(msg, &sub.DataFlash); break; } case MAVLINK_MSG_ID_PARAM_VALUE: { sub.camera_mount.handle_param_value(msg); break; } case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: { // MAV ID: 38 handle_mission_write_partial_list(sub.mission, msg); break; } // GCS has sent us a mission item, store to EEPROM case MAVLINK_MSG_ID_MISSION_ITEM: case MAVLINK_MSG_ID_MISSION_ITEM_INT: { // MAV ID: 39 if (handle_mission_item(msg, sub.mission)) { sub.DataFlash.Log_Write_EntireMission(sub.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(sub.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { // MAV ID: 41 handle_mission_set_current(sub.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(sub.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(sub.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { // MAV ID: 45 handle_mission_clear_all(sub.mission, msg); break; } case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: { // MAV ID: 66 handle_request_data_stream(msg, false); break; } case MAVLINK_MSG_ID_GIMBAL_REPORT: { #if MOUNT == ENABLED handle_gimbal_report(sub.camera_mount, msg); #endif break; } case MAVLINK_MSG_ID_MANUAL_CONTROL: { // MAV ID: 69 if (msg->sysid != sub.g.sysid_my_gcs) { break; // Only accept control from our gcs } mavlink_manual_control_t packet; mavlink_msg_manual_control_decode(msg, &packet); sub.transform_manual_control_to_rc_override(packet.x,packet.y,packet.z,packet.r,packet.buttons); sub.failsafe.last_pilot_input_ms = AP_HAL::millis(); // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes sub.failsafe.last_heartbeat_ms = AP_HAL::millis(); break; } case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: { // MAV ID: 70 // allow override of RC input if (msg->sysid != sub.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; hal.rcin->set_overrides(v, 8); sub.failsafe.last_pilot_input_ms = AP_HAL::millis(); // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes sub.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); sub.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_PREFLIGHT_STORAGE: if (is_equal(packet.param1, 2.0f)) { AP_Param::erase_all(); sub.gcs_send_text(MAV_SEVERITY_WARNING, "All parameters reset, reboot board"); result= MAV_RESULT_ACCEPTED; } break; case MAV_CMD_NAV_LOITER_UNLIM: if (sub.set_mode(POSHOLD, MODE_REASON_GCS_COMMAND)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_NAV_LAND: if (sub.set_mode(SURFACE, 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))) { sub.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) { sub.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 (sub.set_home_to_current_location(true)) { 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 (!sub.far_from_EKF_origin(new_home_loc)) { if (sub.set_home(new_home_loc, true)) { result = MAV_RESULT_ACCEPTED; } } } break; case MAV_CMD_DO_FLIGHTTERMINATION: if (packet.param1 > 0.5f) { sub.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); sub.set_auto_yaw_roi(roi_loc); result = MAV_RESULT_ACCEPTED; break; #if CAMERA == ENABLED case MAV_CMD_DO_DIGICAM_CONFIGURE: sub.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 (sub.camera.control(packet.param1, packet.param2, packet.param3, packet.param4, packet.param5, packet.param6)) { sub.log_picture(); } result = MAV_RESULT_ACCEPTED; break; case MAV_CMD_DO_SET_CAM_TRIGG_DIST: sub.camera.set_trigger_distance(packet.param1); result = MAV_RESULT_ACCEPTED; break; #endif // CAMERA == ENABLED case MAV_CMD_DO_MOUNT_CONTROL: #if MOUNT == ENABLED sub.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 (sub.motors.armed() && sub.set_mode(AUTO, MODE_REASON_GCS_COMMAND)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_PREFLIGHT_CALIBRATION: // exit immediately if armed if (sub.motors.armed()) { result = MAV_RESULT_FAILED; break; } if (is_equal(packet.param1,1.0f)) { if (sub.calibrate_gyros()) { result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else if (is_equal(packet.param3,1.0f)) { if (!sub.sensor_health.depth || sub.motors.armed() || sub.barometer.get_pressure() > 110000) { result = MAV_RESULT_FAILED; } else { sub.init_barometer(true); 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 (!sub.calibrate_gyros()) { result = MAV_RESULT_FAILED; break; } sub.ins.acal_init(); sub.ins.get_acal()->start(this); } else if (is_equal(packet.param5,2.0f)) { // calibrate gyros if (!sub.calibrate_gyros()) { result = MAV_RESULT_FAILED; break; } // accel trim float trim_roll, trim_pitch; if (sub.ins.calibrate_trim(trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine sub.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 = sub.mavlink_compassmot(chan); sub.gcs_send_text(MAV_SEVERITY_INFO, "#CompassMot calibration not supported"); result = MAV_RESULT_UNSUPPORTED; } 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) { sub.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 (sub.init_arm_motors(true)) { result = MAV_RESULT_ACCEPTED; } } else if (is_zero(packet.param1)) { // force disarming by setting param2 = 21196 is deprecated // see COMMAND_LONG DO_FLIGHTTERMINATION sub.init_disarm_motors(); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_GET_HOME_POSITION: if (sub.ap.home_state != HOME_UNSET) { send_home(sub.ahrs.get_home()); result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_SET_SERVO: if (sub.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_REPEAT_SERVO: if (sub.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 (sub.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_REPEAT_RELAY: if (sub.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)) { // Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short // For that matter, send an invalid signal to all channels to prevent undesired/unexpected behavior hal.rcout->cork(); for (int i=0; iwrite(i, 1); } hal.rcout->push(); AP_Notify::flags.firmware_update = 1; sub.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: sub.fence.enable(false); break; case 1: sub.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; 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) 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 (!sub.g2.gripper.enabled()) { result = MAV_RESULT_FAILED; } else { result = MAV_RESULT_ACCEPTED; switch ((uint8_t)packet.param2) { case GRIPPER_ACTION_RELEASE: sub.g2.gripper.release(); break; case GRIPPER_ACTION_GRAB: sub.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 = sub.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 system ID if we can char sysid[40]; if (hal.util->get_system_id(sysid)) { send_text(MAV_SEVERITY_INFO, sysid); } 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_SET_ATTITUDE_TARGET: { // MAV ID: 82 // decode packet mavlink_set_attitude_target_t packet; mavlink_msg_set_attitude_target_decode(msg, &packet); // 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 * sub.wp_nav.get_speed_up(); } else { // descend at up to WPNAV_SPEED_DN climb_rate_cms = (0.5f - packet.thrust) * 2.0f * -fabsf(sub.wp_nav.get_speed_down()); } sub.guided_set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]), climb_rate_cms); 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 ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.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) { sub.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 += sub.inertial_nav.get_position(); } else { // convert from alt-above-home to alt-above-ekf-origin pos_vector.z = sub.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) { sub.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y); } } // send request if (!pos_ignore && !vel_ignore && acc_ignore) { sub.guided_set_destination_posvel(pos_vector, vel_vector); } else if (pos_ignore && !vel_ignore && acc_ignore) { sub.guided_set_velocity(vel_vector); } else if (!pos_ignore && vel_ignore && acc_ignore) { if (!sub.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 ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.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: loc.flags.relative_alt = false; loc.flags.terrain_alt = false; break; } pos_ned = sub.pv_location_to_vector(loc); } if (!pos_ignore && !vel_ignore && acc_ignore) { sub.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) { sub.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 (!sub.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; sub.rangefinder.handle_msg(msg); break; } case MAVLINK_MSG_ID_GPS_INPUT: { result = MAV_RESULT_ACCEPTED; sub.gps.handle_msg(msg); break; } case MAVLINK_MSG_ID_SERIAL_CONTROL: handle_serial_control(msg, sub.gps); break; case MAVLINK_MSG_ID_GPS_INJECT_DATA: handle_gps_inject(msg, sub.gps); result = MAV_RESULT_ACCEPTED; break; #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: sub.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: sub.camera.control_msg(msg); sub.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 sub.camera_mount.configure_msg(msg); break; //deprecated. Use MAV_CMD_DO_MOUNT_CONTROL case MAVLINK_MSG_ID_MOUNT_CONTROL: sub.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 sub.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 >= sub.rally.get_rally_total() || packet.idx >= sub.rally.get_rally_max()) { send_text(MAV_SEVERITY_NOTICE,"Bad rally point message ID"); break; } if (packet.count != sub.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 (!sub.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 > sub.rally.get_rally_total()) { send_text(MAV_SEVERITY_NOTICE, "Bad rally point index"); break; } RallyLocation rally_point; if (!sub.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, sub.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_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_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)) { sub.set_home_to_current_location(true); } 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 (sub.far_from_EKF_origin(new_home_loc)) { break; } sub.set_home(new_home_loc, true); } break; } // This adds support for leak detectors in a separate enclosure // connected to a mavlink enabled subsystem case MAVLINK_MSG_ID_SYS_STATUS: { uint32_t MAV_SENSOR_WATER = 0x20000000; mavlink_sys_status_t packet; mavlink_msg_sys_status_decode(msg, &packet); if ((packet.onboard_control_sensors_enabled & MAV_SENSOR_WATER) && !(packet.onboard_control_sensors_health & MAV_SENSOR_WATER)) { sub.leak_detector.set_detect(); } } 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 Sub::mavlink_delay_cb() { static uint32_t last_1hz, last_50hz, last_5s; if (!gcs_chan[0].initialised || in_mavlink_delay) { return; } in_mavlink_delay = true; DataFlash.EnableWrites(false); 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"); } DataFlash.EnableWrites(true); in_mavlink_delay = false; } /* * send a message on both GCS links */ void Sub::gcs_send_message(enum ap_message id) { for (uint8_t i=0; ivsnprintf((char *)str, sizeof(str), fmt, arg_list); gcs().send_statustext(severity, 0xFF, str); }