// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- #if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK || HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK #include "Mavlink_Common.h" GCS_MAVLINK::GCS_MAVLINK() : packet_drops(0) { } void GCS_MAVLINK::init(BetterStream * port) { GCS_Class::init(port); if (port == &Serial) { // to split hil vs gcs mavlink_comm_0_port = port; chan = MAVLINK_COMM_0; }else{ mavlink_comm_1_port = port; chan = MAVLINK_COMM_1; } } void GCS_MAVLINK::update(void) { // receive new packets mavlink_message_t msg; mavlink_status_t status; // process received bytes while(comm_get_available(chan)) { uint8_t c = comm_receive_ch(chan); // Try to get a new message if(mavlink_parse_char(chan, c, &msg, &status)) handleMessage(&msg); } // Update packet drops counter packet_drops += status.packet_rx_drop_count; // send out queued params/ waypoints _queued_send(); // stop waypoint sending if timeout if (global_data.waypoint_sending && millis() - global_data.waypoint_timelast_send > global_data.waypoint_send_timeout) { send_text(SEVERITY_LOW,"waypoint send timeout"); global_data.waypoint_sending = false; } // stop waypoint receiving if timeout if (global_data.waypoint_receiving && millis() - global_data.waypoint_timelast_receive > global_data.waypoint_receive_timeout) { send_text(SEVERITY_LOW,"waypoint receive timeout"); global_data.waypoint_receiving = false; } } void GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax) { if (freqLoopMatch(global_data.streamRateRawSensors,freqMin,freqMax)) send_message(MSG_RAW_IMU); if (freqLoopMatch(global_data.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 } if (freqLoopMatch(global_data.streamRatePosition,freqMin,freqMax)) send_message(MSG_LOCATION); if (freqLoopMatch(global_data.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)) { send_message(MSG_RADIO_OUT); send_message(MSG_RADIO_IN); } if (freqLoopMatch(global_data.streamRateExtra1,freqMin,freqMax)) // Use Extra 1 for AHRS info send_message(MSG_ATTITUDE); if (freqLoopMatch(global_data.streamRateExtra2,freqMin,freqMax)) // Use Extra 3 for additional HIL info send_message(MSG_VFR_HUD); if (freqLoopMatch(global_data.streamRateExtra3,freqMin,freqMax)) { // Available datastream } } void GCS_MAVLINK::send_message(uint8_t id, uint32_t param) { mavlink_send_message(chan,id,param,packet_drops); } void GCS_MAVLINK::send_text(uint8_t severity, const char *str) { mavlink_send_text(chan,severity,str); } void GCS_MAVLINK::acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) { mavlink_acknowledge(chan,id,sum1,sum2); } void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: { // decode mavlink_request_data_stream_t packet; mavlink_msg_request_data_stream_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; int freq = 0; // packet frequency if (packet.start_stop == 0) freq = 0; // stop sending else if (packet.start_stop == 1) freq = packet.req_message_rate; // start sending else break; 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; break; case MAV_DATA_STREAM_RAW_SENSORS: global_data.streamRateRawSensors = freq; break; case MAV_DATA_STREAM_EXTENDED_STATUS: global_data.streamRateExtendedStatus = freq; break; case MAV_DATA_STREAM_RC_CHANNELS: global_data.streamRateRCChannels = freq; break; case MAV_DATA_STREAM_RAW_CONTROLLER: global_data.streamRateRawController = freq; break; //case MAV_DATA_STREAM_RAW_SENSOR_FUSION: // global_data.streamRateRawSensorFusion = freq; // break; case MAV_DATA_STREAM_POSITION: global_data.streamRatePosition = freq; break; case MAV_DATA_STREAM_EXTRA1: global_data.streamRateExtra1 = freq; break; case MAV_DATA_STREAM_EXTRA2: global_data.streamRateExtra2 = freq; break; case MAV_DATA_STREAM_EXTRA3: global_data.streamRateExtra3 = freq; break; default: break; } break; } case MAVLINK_MSG_ID_ACTION: { // decode mavlink_action_t packet; mavlink_msg_action_decode(msg, &packet); if (mavlink_check_target(packet.target,packet.target_component)) break; // do action send_text(SEVERITY_LOW,"action received"); switch(packet.action) { case MAV_ACTION_LAUNCH: set_mode(TAKEOFF); break; case MAV_ACTION_RETURN: set_mode(RTL); break; case MAV_ACTION_EMCY_LAND: set_mode(LAND); break; case MAV_ACTION_HALT: do_hold_position(); break; // can't implement due to APM configuration // just setting to manual to be safe case MAV_ACTION_MOTORS_START: case MAV_ACTION_CONFIRM_KILL: case MAV_ACTION_EMCY_KILL: case MAV_ACTION_MOTORS_STOP: case MAV_ACTION_SHUTDOWN: set_mode(ACRO); break; case MAV_ACTION_CONTINUE: process_next_command(); break; case MAV_ACTION_SET_MANUAL: set_mode(ACRO); break; case MAV_ACTION_SET_AUTO: set_mode(AUTO); break; case MAV_ACTION_STORAGE_READ: //read_EEPROM_startup(); //read_EEPROM_airstart_critical(); //read_command_index(); //read_EEPROM_flight_modes(); break; case MAV_ACTION_STORAGE_WRITE: //save_EEPROM_trims(); //save_EEPROM_waypoint_info(); //save_EEPROM_gains(); //save_command_index(); //save_pressure_data(); //save_EEPROM_radio_minmax(); //save_user_configs(); //save_EEPROM_flight_modes(); break; case MAV_ACTION_CALIBRATE_RC: break; trim_radio(); break; case MAV_ACTION_CALIBRATE_GYRO: case MAV_ACTION_CALIBRATE_MAG: case MAV_ACTION_CALIBRATE_ACC: case MAV_ACTION_CALIBRATE_PRESSURE: case MAV_ACTION_REBOOT: // this is a rough interpretation startup_ground(); break; case MAV_ACTION_REC_START: break; case MAV_ACTION_REC_PAUSE: break; case MAV_ACTION_REC_STOP: break; case MAV_ACTION_TAKEOFF: set_mode(TAKEOFF); break; case MAV_ACTION_NAVIGATE: set_mode(AUTO); break; case MAV_ACTION_LAND: set_mode(LAND); break; case MAV_ACTION_LOITER: //set_mode(LOITER); break; default: break; } break; } case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: { //send_text(SEVERITY_LOW,"waypoint request list"); // decode mavlink_waypoint_request_list_t packet; mavlink_msg_waypoint_request_list_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; // Start sending waypoints mavlink_msg_waypoint_count_send(chan,msg->sysid, 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; break; } case MAVLINK_MSG_ID_WAYPOINT_REQUEST: { //send_text(SEVERITY_LOW,"waypoint request"); // Check if sending waypiont if (!global_data.waypoint_sending) break; // decode mavlink_waypoint_request_t packet; mavlink_msg_waypoint_request_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; // send waypoint tell_command = get_wp_with_index(packet.seq); // set frame of waypoint uint8_t frame = MAV_FRAME_GLOBAL; // reference frame uint8_t command = tell_command.id; // command float param1 = 0, param2 = 0 , param3 = 0, param4 = 0; param1 = tell_command.p1; // time that the mav should loiter in milliseconds uint8_t current = 0; // 1 (true), 0 (false) if (packet.seq == g.waypoint_index) current = 1; uint8_t autocontinue = 1; // 1 (true), 0 (false) float x = 0, y = 0, z = 0; if (command < MAV_CMD_NAV_LAST) { // command needs scaling x = tell_command.lat/1.0e7; // local (x), global (longitude) y = tell_command.lng/1.0e7; // local (y), global (latitude) z = tell_command.alt/1.0e2; // local (z), global (altitude) }else{ // command is raw x = tell_command.lat; y = tell_command.lng; z = tell_command.alt; } // TODO - Need to add translation for many of the commands > MAV_CMD_NAV_LAST // note XXX: documented x,y,z order does not match with gps raw mavlink_msg_waypoint_send(chan,msg->sysid, msg->compid,packet.seq,frame,command,current,autocontinue, param1,param2,param3,param4,x,y,z); // update last waypoint comm stamp global_data.waypoint_timelast_send = millis(); break; } case MAVLINK_MSG_ID_WAYPOINT_ACK: { //send_text(SEVERITY_LOW,"waypoint ack"); // decode mavlink_waypoint_ack_t packet; mavlink_msg_waypoint_ack_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; // check for error uint8_t type = packet.type; // ok (0), error(1) // turn off waypoint send global_data.waypoint_sending = false; break; } case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { //send_text(SEVERITY_LOW,"param request list"); // decode mavlink_param_request_list_t packet; mavlink_msg_param_request_list_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; // Start sending parameters - next call to ::update will kick the first one out _queued_parameter = AP_Var::first(); _queued_parameter_index = 0; break; } case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: { //send_text(SEVERITY_LOW,"waypoint clear all"); // decode mavlink_waypoint_clear_all_t packet; mavlink_msg_waypoint_clear_all_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; // clear all waypoints uint8_t type = 0; // ok (0), error(1) g.waypoint_total.set_and_save(0); // send acknowledgement 3 times to makes sure it is received for (int i=0;i<3;i++) mavlink_msg_waypoint_ack_send(chan,msg->sysid,msg->compid,type); break; } case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: { //send_text(SEVERITY_LOW,"waypoint set current"); // decode mavlink_waypoint_set_current_t packet; mavlink_msg_waypoint_set_current_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; // set current waypoint g.waypoint_index.set_and_save(packet.seq); { Location temp; // XXX this is gross temp = get_wp_with_index(packet.seq); set_next_WP(&temp); } mavlink_msg_waypoint_current_send(chan, g.waypoint_index); break; } case MAVLINK_MSG_ID_WAYPOINT_COUNT: { //send_text(SEVERITY_LOW,"waypoint count"); // decode mavlink_waypoint_count_t packet; mavlink_msg_waypoint_count_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; // start waypoint receiving if (packet.count > MAX_WAYPOINTS) { 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; break; } case MAVLINK_MSG_ID_WAYPOINT: { // Check if receiving waypiont if (!global_data.waypoint_receiving) break; // decode mavlink_waypoint_t packet; mavlink_msg_waypoint_decode(msg, &packet); 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; // store waypoint uint8_t loadAction = 0; // 0 insert in list, 1 exec now // defaults tell_command.id = packet.command; switch (packet.frame) { case MAV_FRAME_GLOBAL: { tell_command.p1 = packet.param1; // in as byte no conversion //tell_command.p1 = packet.param1; // in as byte no conversion 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 break; } case MAV_FRAME_LOCAL: // local (relative to home position) { tell_command.lat = 1.0e7*ToDeg(packet.x/ (radius_of_earth*cos(ToRad(home.lat/1.0e7)))) + home.lng; tell_command.lng = 1.0e7*ToDeg(packet.y/radius_of_earth) + home.lat; tell_command.alt = -packet.z*1.0e2 + home.alt; break; } case MAV_FRAME_MISSION: { if(tell_command.id >= MAV_CMD_NAV_LAST){ // these are raw values tell_command.p1 = packet.param1; // in as byte no conversion tell_command.lat = packet.x; // in as long no conversion tell_command.lng = packet.y; // in as long no conversion tell_command.alt = packet.z; // in as int no conversion }else{ tell_command.p1 = packet.param1; // in as byte no conversion 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 } break; } } // 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++; if (global_data.waypoint_request_i > g.waypoint_total) { uint8_t type = 0; // ok (0), error(1) mavlink_msg_waypoint_ack_send(chan,msg->sysid,msg->compid,type); send_text(SEVERITY_LOW,"flight plan received"); global_data.waypoint_receiving = false; // XXX ignores waypoint radius for individual waypoints, can // only set WP_RADIUS parameter } break; } case MAVLINK_MSG_ID_PARAM_SET: { AP_Var *vp; AP_Meta_class::Type_id var_type; // decode mavlink_param_set_t packet; mavlink_msg_param_set_decode(msg, &packet); if (mavlink_check_target(packet.target_system,packet.target_component)) break; // set parameter const char * key = (const char*) packet.param_id; // find the requested parameter vp = AP_Var::find(key); if ((NULL != vp) && // exists !isnan(packet.param_value) && // not nan !isinf(packet.param_value)) { // not inf // fetch the variable type ID var_type = vp->meta_type_id(); // handle variables with standard type IDs if (var_type == AP_Var::k_typeid_float) { ((AP_Float *)vp)->set(packet.param_value); } else if (var_type == AP_Var::k_typeid_float16) { ((AP_Float16 *)vp)->set(packet.param_value); } else if (var_type == AP_Var::k_typeid_int32) { ((AP_Int32 *)vp)->set(packet.param_value); } else if (var_type == AP_Var::k_typeid_int16) { ((AP_Int16 *)vp)->set(packet.param_value); } else if (var_type == AP_Var::k_typeid_int8) { ((AP_Int8 *)vp)->set(packet.param_value); } } // Report back new value char param_name[ONBOARD_PARAM_NAME_LENGTH]; // XXX HACK - need something to return a char * vp->copy_name(param_name, sizeof(param_name)); mavlink_msg_param_value_send(chan, (int8_t*)param_name, packet.param_value, _count_parameters(), -1); // XXX we don't actually know what its index is... break; } // end case #if HIL_MODE != HIL_MODE_DISABLED // This is used both as a sensor and to pass the location // in HIL_ATTITUDE mode. case MAVLINK_MSG_ID_GPS_RAW: { // decode mavlink_gps_raw_t packet; mavlink_msg_gps_raw_decode(msg, &packet); // set gps hil sensor g_gps->setHIL(packet.usec/1000.0,packet.lat,packet.lon,packet.alt, packet.v,packet.hdg,0,0); break; } // Is this resolved? - MAVLink protocol change..... case MAVLINK_MSG_ID_VFR_HUD: { // decode mavlink_vfr_hud_t packet; mavlink_msg_vfr_hud_decode(msg, &packet); // set airspeed airspeed = 100*packet.airspeed; break; } case MAVLINK_MSG_ID_RC_CHANNELS_RAW: { // allow override of RC channel values for HIL mavlink_rc_channels_raw_t packet; int16_t v[8]; mavlink_msg_rc_channels_raw_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; APM_RC.setHIL(v); break; } #endif #if HIL_MODE == HIL_MODE_ATTITUDE case MAVLINK_MSG_ID_ATTITUDE: { // decode mavlink_attitude_t packet; mavlink_msg_attitude_decode(msg, &packet); // set dcm hil sensor dcm.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed, packet.pitchspeed,packet.yawspeed); break; } #endif #if HIL_MODE == HIL_MODE_SENSORS case MAVLINK_MSG_ID_RAW_IMU: { // decode mavlink_raw_imu_t packet; mavlink_msg_raw_imu_decode(msg, &packet); // set imu hil sensors // TODO: check scaling for temp/absPress float temp = 70; float absPress = 1; // Serial.printf_P(PSTR("accel:\t%d\t%d\t%d\n"), packet.xacc, packet.yacc, packet.zacc); // Serial.printf_P(PSTR("gyro:\t%d\t%d\t%d\n"), packet.xgyro, packet.ygyro, packet.zgyro); // rad/sec Vector3f gyros; gyros.x = (float)packet.xgyro / 1000.0; gyros.y = (float)packet.ygyro / 1000.0; gyros.z = (float)packet.zgyro / 1000.0; // m/s/s Vector3f accels; accels.x = (float)packet.xacc / 1000.0; accels.y = (float)packet.yacc / 1000.0; accels.z = (float)packet.zacc / 1000.0; imu.set_gyro(gyros); imu.set_accel(accels); compass.setHIL(packet.xmag,packet.ymag,packet.zmag); break; } case MAVLINK_MSG_ID_RAW_PRESSURE: { // decode mavlink_raw_pressure_t packet; mavlink_msg_raw_pressure_decode(msg, &packet); // set pressure hil sensor // TODO: check scaling float temp = 70; barometer.setHIL(temp,packet.press_diff1); break; } #endif // HIL_MODE } // end switch } // end handle mavlink uint16_t GCS_MAVLINK::_count_parameters() { // if we haven't cached the parameter count yet... if (0 == _parameter_count) { AP_Var *vp; vp = AP_Var::first(); do { // if a parameter responds to cast_to_float then we are going to be able to report it if (!isnan(vp->cast_to_float())) { _parameter_count++; } } while (NULL != (vp = vp->next())); } return _parameter_count; } AP_Var * GCS_MAVLINK::_find_parameter(uint16_t index) { AP_Var *vp; vp = AP_Var::first(); while (NULL != vp) { // if the parameter is reportable if (!(isnan(vp->cast_to_float()))) { // if we have counted down to the index we want if (0 == index) { // return the parameter return vp; } // count off this parameter, as it is reportable but not // the one we want index--; } // and move to the next parameter vp = vp->next(); } return NULL; } /** * @brief Send low-priority messages at a maximum rate of xx Hertz * * This function sends messages at a lower rate to not exceed the wireless * bandwidth. It sends one message each time it is called until the buffer is empty. * Call this function with xx Hertz to increase/decrease the bandwidth. */ void GCS_MAVLINK::_queued_send() { // Check to see if we are sending parameters while (NULL != _queued_parameter) { AP_Var *vp; float value; // copy the current parameter and prepare to move to the next vp = _queued_parameter; _queued_parameter = _queued_parameter->next(); // if the parameter can be cast to float, report it here and break out of the loop value = vp->cast_to_float(); if (!isnan(value)) { char param_name[ONBOARD_PARAM_NAME_LENGTH]; /// XXX HACK vp->copy_name(param_name, sizeof(param_name)); mavlink_msg_param_value_send(chan, (int8_t*)param_name, value, _count_parameters(), _queued_parameter_index); _queued_parameter_index++; break; } } // this is called at 50hz, count runs to prevent flooding serialport and delayed to allow eeprom write mavdelay++; // 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 && 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); mavdelay = 0; } } #endif