// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #include "Rover.h" // default sensors are present and healthy: gyro, accelerometer, 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_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS) void Rover::send_heartbeat(mavlink_channel_t chan) { uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; uint8_t system_status = MAV_STATE_ACTIVE; uint32_t custom_mode = control_mode; if (failsafe.triggered != 0) { 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 switch (control_mode) { case MANUAL: case LEARNING: case STEERING: base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; break; case AUTO: case RTL: case GUIDED: 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; case INITIALISING: system_status = MAV_STATE_CALIBRATING; break; case HOLD: system_status = 0; break; } #if defined(ENABLE_STICK_MIXING) && (ENABLE_STICK_MIXING==ENABLED) if (control_mode != INITIALISING) { // all modes except INITIALISING have some form of manual // override if stick mixing is enabled base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; } #endif #if HIL_MODE != HIL_MODE_DISABLED base_mode |= MAV_MODE_FLAG_HIL_ENABLED; #endif // we are armed if we are not initialising if (control_mode != INITIALISING && hal.util->get_soft_armed()) { base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } // indicate we have set a custom mode base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; mavlink_msg_heartbeat_send( chan, MAV_TYPE_GROUND_ROVER, MAV_AUTOPILOT_ARDUPILOTMEGA, base_mode, custom_mode, system_status); } void Rover::send_attitude(mavlink_channel_t chan) { Vector3f omega = ahrs.get_gyro(); mavlink_msg_attitude_send( chan, millis(), ahrs.roll, ahrs.pitch, ahrs.yaw, omega.x, omega.y, omega.z); } void Rover::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; } // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & ~MAV_SYS_STATUS_SENSOR_YAW_POSITION & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS); switch (control_mode) { case MANUAL: case HOLD: break; case LEARNING: case STEERING: control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation break; case AUTO: case RTL: case GUIDED: control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control break; case INITIALISING: 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 compass and gps which we set individually control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS); if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; } if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS; } 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()) { battery_remaining = battery.capacity_remaining_pct(); battery_current = battery.current_amps() * 100; } if (sonar.num_sensors() > 0) { control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; if (g.sonar_trigger_cm > 0) { control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; } if (sonar.has_data()) { control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; } } if (AP_Notify::flags.initialising) { // 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(20000) * 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 Rover::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 = gps.velocity(); mavlink_msg_global_position_int_send( chan, fix_time, current_loc.lat, // in 1E7 degrees current_loc.lng, // in 1E7 degrees current_loc.alt * 10UL, // millimeters above sea level (current_loc.alt - home.alt) * 10, // millimeters above ground vel.x * 100, // X speed cm/s (+ve North) vel.y * 100, // Y speed cm/s (+ve East) vel.z * -100, // Z speed cm/s (+ve up) ahrs.yaw_sensor); } void Rover::send_nav_controller_output(mavlink_channel_t chan) { mavlink_msg_nav_controller_output_send( chan, lateral_acceleration, // use nav_roll to hold demanded Y accel gps.ground_speed() * ins.get_gyro().z, // use nav_pitch to hold actual Y accel nav_controller->nav_bearing_cd() * 0.01f, nav_controller->target_bearing_cd() * 0.01f, wp_distance, 0, groundspeed_error, nav_controller->crosstrack_error()); } void Rover::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 mavlink_msg_rc_channels_scaled_send( chan, millis(), 0, // port 0 10000 * channel_steer->norm_output(), 0, 10000 * channel_throttle->norm_output(), 0, 0, 0, 0, 0, receiver_rssi); #endif } void Rover::send_radio_out(mavlink_channel_t chan) { #if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS 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)); #else mavlink_msg_servo_output_raw_send( chan, micros(), 0, // port RC_Channel::rc_channel(0)->radio_out, RC_Channel::rc_channel(1)->radio_out, RC_Channel::rc_channel(2)->radio_out, RC_Channel::rc_channel(3)->radio_out, RC_Channel::rc_channel(4)->radio_out, RC_Channel::rc_channel(5)->radio_out, RC_Channel::rc_channel(6)->radio_out, RC_Channel::rc_channel(7)->radio_out); #endif } void Rover::send_vfr_hud(mavlink_channel_t chan) { mavlink_msg_vfr_hud_send( chan, gps.ground_speed(), gps.ground_speed(), (ahrs.yaw_sensor / 100) % 360, (uint16_t)(100 * fabsf(channel_throttle->norm_output())), current_loc.alt / 100.0, 0); } // report simulator state void Rover::send_simstate(mavlink_channel_t chan) { #if CONFIG_HAL_BOARD == HAL_BOARD_SITL sitl.simstate_send(chan); #endif } void Rover::send_hwstatus(mavlink_channel_t chan) { mavlink_msg_hwstatus_send( chan, hal.analogin->board_voltage()*1000, hal.i2c->lockup_count()); } void Rover::send_rangefinder(mavlink_channel_t chan) { if (!sonar.has_data(0) && !sonar.has_data(1)) { // no sonar to report return; } float distance_cm = 0.0f; float voltage = 0.0f; /* report smaller distance of two sonars */ if (sonar.has_data(0) && sonar.has_data(1)) { if (sonar.distance_cm(0) <= sonar.distance_cm(1)) { distance_cm = sonar.distance_cm(0); voltage = sonar.voltage_mv(0); } else { distance_cm = sonar.distance_cm(1); voltage = sonar.voltage_mv(1); } } else { // only sonar 0 or sonar 1 has data if (sonar.has_data(0)) { distance_cm = sonar.distance_cm(0); voltage = sonar.voltage_mv(0) * 0.001f; } if (sonar.has_data(1)) { distance_cm = sonar.distance_cm(1); voltage = sonar.voltage_mv(1) * 0.001f; } } mavlink_msg_rangefinder_send( chan, distance_cm * 0.01f, voltage); } /* send PID tuning message */ void Rover::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 = steerController.get_pid_info(); mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER, pid_info.desired, degrees(gyro.z), pid_info.FF, pid_info.P, pid_info.I, pid_info.D); if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) { return; } } } void Rover::send_current_waypoint(mavlink_channel_t chan) { mavlink_msg_mission_current_send(chan, mission.get_current_nav_index()); } void Rover::send_statustext(mavlink_channel_t chan) { mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status; mavlink_msg_statustext_send( chan, s->severity, s->text); } // are we still delaying telemetry to try to avoid Xbee bricking? bool Rover::telemetry_delayed(mavlink_channel_t chan) { uint32_t tnow = millis() >> 10; if (tnow > (uint32_t)g.telem_delay) { return false; } if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) { // this is USB telemetry, so won't be an Xbee return false; } // we're either on the 2nd UART, or no USB cable is connected // we need to delay telemetry by the TELEM_DELAY time return true; } // try to send a message, return false if it won't fit in the serial tx buffer bool GCS_MAVLINK::try_send_message(enum ap_message id) { if (rover.telemetry_delayed(chan)) { return false; } // if we don't have at least 1ms 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 (!rover.in_mavlink_delay && rover.scheduler.time_available_usec() < 1200) { rover.gcs_out_of_time = true; return false; } switch (id) { case MSG_HEARTBEAT: CHECK_PAYLOAD_SIZE(HEARTBEAT); rover.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis(); rover.send_heartbeat(chan); return true; case MSG_EXTENDED_STATUS1: CHECK_PAYLOAD_SIZE(SYS_STATUS); rover.send_extended_status1(chan); CHECK_PAYLOAD_SIZE(POWER_STATUS); rover.gcs[chan-MAVLINK_COMM_0].send_power_status(); break; case MSG_EXTENDED_STATUS2: CHECK_PAYLOAD_SIZE(MEMINFO); rover.gcs[chan-MAVLINK_COMM_0].send_meminfo(); break; case MSG_ATTITUDE: CHECK_PAYLOAD_SIZE(ATTITUDE); rover.send_attitude(chan); break; case MSG_LOCATION: CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT); rover.send_location(chan); break; case MSG_LOCAL_POSITION: CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED); send_local_position(rover.ahrs); break; case MSG_NAV_CONTROLLER_OUTPUT: if (rover.control_mode != MANUAL) { CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT); rover.send_nav_controller_output(chan); } break; case MSG_GPS_RAW: CHECK_PAYLOAD_SIZE(GPS_RAW_INT); rover.gcs[chan-MAVLINK_COMM_0].send_gps_raw(rover.gps); break; case MSG_SYSTEM_TIME: CHECK_PAYLOAD_SIZE(SYSTEM_TIME); rover.gcs[chan-MAVLINK_COMM_0].send_system_time(rover.gps); break; case MSG_SERVO_OUT: CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED); rover.send_servo_out(chan); break; case MSG_RADIO_IN: CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW); rover.gcs[chan-MAVLINK_COMM_0].send_radio_in(rover.receiver_rssi); break; case MSG_RADIO_OUT: CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW); rover.send_radio_out(chan); break; case MSG_VFR_HUD: CHECK_PAYLOAD_SIZE(VFR_HUD); rover.send_vfr_hud(chan); break; case MSG_RAW_IMU1: CHECK_PAYLOAD_SIZE(RAW_IMU); rover.gcs[chan-MAVLINK_COMM_0].send_raw_imu(rover.ins, rover.compass); break; case MSG_RAW_IMU3: CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS); rover.gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(rover.ins, rover.compass, rover.barometer); break; case MSG_CURRENT_WAYPOINT: CHECK_PAYLOAD_SIZE(MISSION_CURRENT); rover.send_current_waypoint(chan); break; case MSG_NEXT_PARAM: CHECK_PAYLOAD_SIZE(PARAM_VALUE); rover.gcs[chan-MAVLINK_COMM_0].queued_param_send(); break; case MSG_NEXT_WAYPOINT: CHECK_PAYLOAD_SIZE(MISSION_REQUEST); rover.gcs[chan-MAVLINK_COMM_0].queued_waypoint_send(); break; case MSG_STATUSTEXT: CHECK_PAYLOAD_SIZE(STATUSTEXT); rover.send_statustext(chan); break; case MSG_AHRS: CHECK_PAYLOAD_SIZE(AHRS); rover.gcs[chan-MAVLINK_COMM_0].send_ahrs(rover.ahrs); break; case MSG_SIMSTATE: CHECK_PAYLOAD_SIZE(SIMSTATE); rover.send_simstate(chan); break; case MSG_HWSTATUS: CHECK_PAYLOAD_SIZE(HWSTATUS); rover.send_hwstatus(chan); break; case MSG_RANGEFINDER: CHECK_PAYLOAD_SIZE(RANGEFINDER); rover.send_rangefinder(chan); break; case MSG_MOUNT_STATUS: #if MOUNT == ENABLED CHECK_PAYLOAD_SIZE(MOUNT_STATUS); rover.camera_mount.status_msg(chan); #endif // MOUNT == ENABLED break; case MSG_RAW_IMU2: case MSG_LIMITS_STATUS: case MSG_FENCE_STATUS: case MSG_WIND: case MSG_VIBRATION: // unused break; case MSG_BATTERY2: CHECK_PAYLOAD_SIZE(BATTERY2); rover.gcs[chan-MAVLINK_COMM_0].send_battery2(rover.battery); break; case MSG_CAMERA_FEEDBACK: #if CAMERA == ENABLED CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK); rover.camera.send_feedback(chan, rover.gps, rover.ahrs, rover.current_loc); #endif break; case MSG_EKF_STATUS_REPORT: #if AP_AHRS_NAVEKF_AVAILABLE CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT); rover.ahrs.get_NavEKF().send_status_report(chan); #endif break; case MSG_PID_TUNING: CHECK_PAYLOAD_SIZE(PID_TUNING); rover.send_pid_tuning(chan); 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_MAG_CAL_PROGRESS: CHECK_PAYLOAD_SIZE(MAG_CAL_PROGRESS); rover.compass.send_mag_cal_progress(chan); break; case MSG_MAG_CAL_REPORT: CHECK_PAYLOAD_SIZE(MAG_CAL_REPORT); rover.compass.send_mag_cal_report(chan); break; case MSG_RETRY_DEFERRED: case MSG_TERRAIN: case MSG_OPTICAL_FLOW: case MSG_GIMBAL_REPORT: case MSG_RPM: break; // just here to prevent a warning } return true; } /* default stream rates to 1Hz */ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = { // @Param: RAW_SENS // @DisplayName: Raw sensor stream rate // @Description: Raw sensor stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 1), // @Param: EXT_STAT // @DisplayName: Extended status stream rate to ground station // @Description: Extended status stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 1), // @Param: RC_CHAN // @DisplayName: RC Channel stream rate to ground station // @Description: RC Channel stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 1), // @Param: RAW_CTRL // @DisplayName: Raw Control stream rate to ground station // @Description: Raw Control stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 1), // @Param: POSITION // @DisplayName: Position stream rate to ground station // @Description: Position stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 1), // @Param: EXTRA1 // @DisplayName: Extra data type 1 stream rate to ground station // @Description: Extra data type 1 stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 1), // @Param: EXTRA2 // @DisplayName: Extra data type 2 stream rate to ground station // @Description: Extra data type 2 stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 1), // @Param: EXTRA3 // @DisplayName: Extra data type 3 stream rate to ground station // @Description: Extra data type 3 stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 1), // @Param: PARAMS // @DisplayName: Parameter stream rate to ground station // @Description: Parameter stream rate to ground station // @Units: Hz // @Range: 0 10 // @Increment: 1 // @User: Advanced AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10), AP_GROUPEND }; // see if we should send a stream now. Called at 50Hz bool GCS_MAVLINK::stream_trigger(enum streams stream_num) { if (stream_num >= NUM_STREAMS) { return false; } float rate = (uint8_t)streamRates[stream_num].get(); // send at a much lower rate while handling waypoints and // parameter sends if ((stream_num != STREAM_PARAMS) && (waypoint_receiving || _queued_parameter != NULL)) { rate *= 0.25f; } if (rate <= 0) { return false; } if (stream_ticks[stream_num] == 0) { // we're triggering now, setup the next trigger point if (rate > 50) { rate = 50; } stream_ticks[stream_num] = (50 / rate) - 1 + stream_slowdown; return true; } // count down at 50Hz stream_ticks[stream_num]--; return false; } void GCS_MAVLINK::data_stream_send(void) { rover.gcs_out_of_time = false; if (!rover.in_mavlink_delay) { handle_log_send(rover.DataFlash); } if (_queued_parameter != NULL) { if (streamRates[STREAM_PARAMS].get() <= 0) { streamRates[STREAM_PARAMS].set(10); } if (stream_trigger(STREAM_PARAMS)) { send_message(MSG_NEXT_PARAM); } } if (rover.gcs_out_of_time) return; if (rover.in_mavlink_delay) { #if HIL_MODE != HIL_MODE_DISABLED // in HIL we need to keep sending servo values to ensure // the simulator doesn't pause, otherwise our sensor // calibration could stall if (stream_trigger(STREAM_RAW_CONTROLLER)) { send_message(MSG_SERVO_OUT); } if (stream_trigger(STREAM_RC_CHANNELS)) { send_message(MSG_RADIO_OUT); } #endif // don't send any other stream types while in the delay callback return; } if (rover.gcs_out_of_time) return; if (stream_trigger(STREAM_RAW_SENSORS)) { send_message(MSG_RAW_IMU1); send_message(MSG_RAW_IMU3); } if (rover.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); // TODO - remove this message after location message is working send_message(MSG_NAV_CONTROLLER_OUTPUT); } if (rover.gcs_out_of_time) return; if (stream_trigger(STREAM_POSITION)) { // sent with GPS read send_message(MSG_LOCATION); send_message(MSG_LOCAL_POSITION); } if (rover.gcs_out_of_time) return; if (stream_trigger(STREAM_RAW_CONTROLLER)) { send_message(MSG_SERVO_OUT); } if (rover.gcs_out_of_time) return; if (stream_trigger(STREAM_RC_CHANNELS)) { send_message(MSG_RADIO_OUT); send_message(MSG_RADIO_IN); } if (rover.gcs_out_of_time) return; if (stream_trigger(STREAM_EXTRA1)) { send_message(MSG_ATTITUDE); send_message(MSG_SIMSTATE); if (rover.control_mode != MANUAL) { send_message(MSG_PID_TUNING); } } if (rover.gcs_out_of_time) return; if (stream_trigger(STREAM_EXTRA2)) { send_message(MSG_VFR_HUD); } if (rover.gcs_out_of_time) return; if (stream_trigger(STREAM_EXTRA3)) { send_message(MSG_AHRS); send_message(MSG_HWSTATUS); send_message(MSG_RANGEFINDER); send_message(MSG_SYSTEM_TIME); send_message(MSG_BATTERY2); send_message(MSG_MAG_CAL_REPORT); send_message(MSG_MAG_CAL_PROGRESS); send_message(MSG_MOUNT_STATUS); send_message(MSG_EKF_STATUS_REPORT); } } void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd) { if (rover.control_mode != GUIDED) { // only accept position updates when in GUIDED mode return; } rover.guided_WP = cmd.content.location; // make any new wp uploaded instant (in case we are already in Guided mode) rover.rtl_complete = false; rover.set_guided_WP(); } void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd) { // nothing to do } void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: { handle_request_data_stream(msg, true); break; } case MAVLINK_MSG_ID_COMMAND_LONG: { // decode mavlink_command_long_t packet; mavlink_msg_command_long_decode(msg, &packet); uint8_t result = MAV_RESULT_UNSUPPORTED; // do command send_text_P(MAV_SEVERITY_WARNING,PSTR("command received: ")); switch(packet.command) { case MAV_CMD_START_RX_PAIR: // initiate bind procedure if (!hal.rcin->rc_bind(packet.param1)) { result = MAV_RESULT_FAILED; } else { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_NAV_RETURN_TO_LAUNCH: rover.set_mode(RTL); result = MAV_RESULT_ACCEPTED; break; #if MOUNT == ENABLED // Sets the region of interest (ROI) for the camera case MAV_CMD_DO_SET_ROI: // sanity check location if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) { 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); if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) { // switch off the camera tracking if enabled if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) { rover.camera_mount.set_mode_to_default(); } } else { // send the command to the camera mount rover.camera_mount.set_roi_target(roi_loc); } result = MAV_RESULT_ACCEPTED; break; #endif #if CAMERA == ENABLED case MAV_CMD_DO_DIGICAM_CONFIGURE: rover.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: rover.camera.control(packet.param1, packet.param2, packet.param3, packet.param4, packet.param5, packet.param6); result = MAV_RESULT_ACCEPTED; break; #endif // CAMERA == ENABLED case MAV_CMD_DO_MOUNT_CONTROL: #if MOUNT == ENABLED rover.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7); #endif break; case MAV_CMD_MISSION_START: rover.set_mode(AUTO); result = MAV_RESULT_ACCEPTED; break; case MAV_CMD_PREFLIGHT_CALIBRATION: if (is_equal(packet.param1,1.0f)) { rover.ins.init_gyro(); if (rover.ins.gyro_calibrated_ok_all()) { rover.ahrs.reset_gyro_drift(); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else if (is_equal(packet.param3,1.0f)) { rover.init_barometer(); result = MAV_RESULT_ACCEPTED; } else if (is_equal(packet.param4,1.0f)) { rover.trim_radio(); result = MAV_RESULT_ACCEPTED; } else if (is_equal(packet.param5,1.0f)) { float trim_roll, trim_pitch; AP_InertialSensor_UserInteract_MAVLink interact(this); // start with gyro calibration rover.ins.init_gyro(); // reset ahrs gyro bias if (rover.ins.gyro_calibrated_ok_all()) { rover.ahrs.reset_gyro_drift(); } if(rover.ins.calibrate_accel(&interact, trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine rover.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else if (is_equal(packet.param5,2.0f)) { // start with gyro calibration rover.ins.init_gyro(); // accel trim float trim_roll, trim_pitch; if(rover.ins.calibrate_trim(trim_roll, trim_pitch)) { // reset ahrs's trim to suggested values from calibration routine rover.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); result = MAV_RESULT_ACCEPTED; } else { result = MAV_RESULT_FAILED; } } else { send_text_P(MAV_SEVERITY_WARNING, PSTR("Unsupported preflight calibration")); } break; case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS: if (is_equal(packet.param1,2.0f)) { // save first compass's offsets rover.compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4); result = MAV_RESULT_ACCEPTED; } if (is_equal(packet.param1,5.0f)) { // save secondary compass's offsets rover.compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4); result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_SET_MODE: switch ((uint16_t)packet.param1) { case MAV_MODE_MANUAL_ARMED: case MAV_MODE_MANUAL_DISARMED: rover.set_mode(MANUAL); result = MAV_RESULT_ACCEPTED; break; case MAV_MODE_AUTO_ARMED: case MAV_MODE_AUTO_DISARMED: rover.set_mode(AUTO); result = MAV_RESULT_ACCEPTED; break; case MAV_MODE_STABILIZE_DISARMED: case MAV_MODE_STABILIZE_ARMED: rover.set_mode(LEARNING); result = MAV_RESULT_ACCEPTED; break; default: result = MAV_RESULT_UNSUPPORTED; } break; case MAV_CMD_DO_SET_SERVO: if (rover.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_REPEAT_SERVO: if (rover.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 (rover.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) { result = MAV_RESULT_ACCEPTED; } break; case MAV_CMD_DO_REPEAT_RELAY: if (rover.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)) { // 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_REQUEST_AUTOPILOT_CAPABILITIES: { if (is_equal(packet.param1,1.0f)) { rover.gcs[chan-MAVLINK_COMM_0].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 = rover.compass.handle_mag_cal_command(packet); break; default: break; } mavlink_msg_command_ack_send_buf( msg, chan, packet.command, result); break; } case MAVLINK_MSG_ID_SET_MODE: { handle_set_mode(msg, FUNCTOR_BIND(&rover, &Rover::mavlink_set_mode, bool, uint8_t)); break; } case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { handle_mission_request_list(rover.mission, msg); break; } // XXX read a WP from EEPROM and send it to the GCS case MAVLINK_MSG_ID_MISSION_REQUEST: { handle_mission_request(rover.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_ACK: { // not used break; } case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { // mark the firmware version in the tlog send_text_P(MAV_SEVERITY_WARNING, PSTR(FIRMWARE_STRING)); #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION) send_text_P(MAV_SEVERITY_WARNING, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION)); #endif handle_param_request_list(msg); break; } case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { handle_param_request_read(msg); break; } case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { handle_mission_clear_all(rover.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { handle_mission_set_current(rover.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_COUNT: { handle_mission_count(rover.mission, msg); break; } case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: { handle_mission_write_partial_list(rover.mission, msg); break; } // GCS has sent us a mission item, store to EEPROM case MAVLINK_MSG_ID_MISSION_ITEM: { if (handle_mission_item(msg, rover.mission)) { rover.DataFlash.Log_Write_EntireMission(rover.mission); } break; } case MAVLINK_MSG_ID_PARAM_SET: { handle_param_set(msg, &rover.DataFlash); break; } case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: { // allow override of RC channel values for HIL // or for complete GCS control of switch position // and RC PWM values. if(msg->sysid != rover.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); rover.failsafe.rc_override_timer = hal.scheduler->millis(); rover.failsafe_trigger(FAILSAFE_EVENT_RC, false); break; } case MAVLINK_MSG_ID_HEARTBEAT: { // We keep track of the last time we received a heartbeat from our GCS for failsafe purposes if(msg->sysid != rover.g.sysid_my_gcs) break; rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = hal.scheduler->millis(); rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false); break; } #if HIL_MODE != HIL_MODE_DISABLED case MAVLINK_MSG_ID_HIL_STATE: { mavlink_hil_state_t packet; mavlink_msg_hil_state_decode(msg, &packet); // 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, true); // 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); compass.setHIL(0, packet.roll, packet.pitch, packet.yaw); compass.setHIL(1, packet.roll, packet.pitch, packet.yaw); break; } #endif // HIL_MODE #if CAMERA == ENABLED //deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: { break; } //deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE case MAVLINK_MSG_ID_DIGICAM_CONTROL: { rover.camera.control_msg(msg); rover.log_picture(); break; } #endif // CAMERA == ENABLED #if MOUNT == ENABLED //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE case MAVLINK_MSG_ID_MOUNT_CONFIGURE: { rover.camera_mount.configure_msg(msg); break; } //deprecated. Use MAV_CMD_DO_MOUNT_CONTROL case MAVLINK_MSG_ID_MOUNT_CONTROL: { rover.camera_mount.control_msg(msg); break; } #endif // MOUNT == ENABLED case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO_STATUS: { handle_radio_status(msg, rover.DataFlash, rover.should_log(MASK_LOG_PM)); break; } case MAVLINK_MSG_ID_LOG_REQUEST_DATA: case MAVLINK_MSG_ID_LOG_ERASE: rover.in_log_download = true; // fallthru case MAVLINK_MSG_ID_LOG_REQUEST_LIST: if (!rover.in_mavlink_delay) { handle_log_message(msg, rover.DataFlash); } break; case MAVLINK_MSG_ID_LOG_REQUEST_END: rover.in_log_download = false; if (!rover.in_mavlink_delay) { handle_log_message(msg, rover.DataFlash); } break; #if HAL_CPU_CLASS > HAL_CPU_CLASS_16 case MAVLINK_MSG_ID_SERIAL_CONTROL: handle_serial_control(msg, rover.gps); break; case MAVLINK_MSG_ID_GPS_INJECT_DATA: handle_gps_inject(msg, rover.gps); break; #endif case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST: rover.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION); 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 Rover::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_message(MSG_HEARTBEAT); gcs_send_message(MSG_EXTENDED_STATUS1); } if (tnow - last_50hz > 20) { last_50hz = tnow; gcs_update(); gcs_data_stream_send(); notify.update(); } if (tnow - last_5s > 5000) { last_5s = tnow; gcs_send_text_P(MAV_SEVERITY_WARNING, PSTR("Initialising APM...")); } check_usb_mux(); in_mavlink_delay = false; } /* * send a message on both GCS links */ void Rover::gcs_send_message(enum ap_message id) { for (uint8_t i=0; ivsnprintf_P((char *)gcs[0].pending_status.text, sizeof(gcs[0].pending_status.text), fmt, arg_list); va_end(arg_list); #if LOGGING_ENABLED == ENABLED DataFlash.Log_Write_Message(gcs[0].pending_status.text); #endif gcs[0].send_message(MSG_STATUSTEXT); for (uint8_t i=1; i