/* GCS MAVLink functions related to rally points This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #include "GCS.h" #include #include void GCS_MAVLINK::handle_rally_point(mavlink_message_t *msg) { AP_Rally *r = AP::rally(); if (r == nullptr) { return; } mavlink_rally_point_t packet; mavlink_msg_rally_point_decode(msg, &packet); if (packet.idx >= r->get_rally_total() || packet.idx >= r->get_rally_max()) { send_text(MAV_SEVERITY_WARNING,"Bad rally point ID"); return; } if (packet.count != r->get_rally_total()) { send_text(MAV_SEVERITY_WARNING,"Bad rally point count"); return; } // sanity check location if (!check_latlng(packet.lat, packet.lng)) { return; } 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 (!r->set_rally_point_with_index(packet.idx, rally_point)) { send_text(MAV_SEVERITY_CRITICAL, "Error setting rally point"); } } void GCS_MAVLINK::handle_rally_fetch_point(mavlink_message_t *msg) { AP_Rally *r = AP::rally(); if (r == nullptr) { return; } mavlink_rally_fetch_point_t packet; mavlink_msg_rally_fetch_point_decode(msg, &packet); if (packet.idx > r->get_rally_total()) { send_text(MAV_SEVERITY_WARNING, "Bad rally point ID"); return; } RallyLocation rally_point; if (!r->get_rally_point_with_index(packet.idx, rally_point)) { send_text(MAV_SEVERITY_WARNING, "Failed to get rally point"); return; } mavlink_msg_rally_point_send(chan, msg->sysid, msg->compid, packet.idx, r->get_rally_total(), rally_point.lat, rally_point.lng, rally_point.alt, rally_point.break_alt, rally_point.land_dir, rally_point.flags); } void GCS_MAVLINK::handle_common_rally_message(mavlink_message_t *msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_RALLY_POINT: handle_rally_point(msg); break; case MAVLINK_MSG_ID_RALLY_FETCH_POINT: handle_rally_fetch_point(msg); break; default: #if CONFIG_HAL_BOARD == HAL_BOARD_SITL AP_HAL::panic("Unhandled common rally message"); #endif break; } } MAV_MISSION_RESULT MissionItemProtocol_Rally::get_item(const GCS_MAVLINK &_link, const mavlink_message_t &msg, const mavlink_mission_request_int_t &packet, mavlink_mission_item_int_t &ret_packet) { RallyLocation rallypoint; if (!rally.get_rally_point_with_index(packet.seq, rallypoint)) { return MAV_MISSION_INVALID_SEQUENCE; } ret_packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT_INT; ret_packet.command = MAV_CMD_NAV_RALLY_POINT; ret_packet.x = rallypoint.lat; ret_packet.y = rallypoint.lng; ret_packet.z = rallypoint.alt; return MAV_MISSION_ACCEPTED; } void MissionItemProtocol_Rally::truncate(const mavlink_mission_count_t &packet) { rally.truncate(packet.count); } void MissionItemProtocol_Rally::timeout() { link->send_text(MAV_SEVERITY_WARNING, "Rally upload timeout"); } MAV_MISSION_RESULT MissionItemProtocol_Rally::convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, RallyLocation &ret) { if (cmd.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT && cmd.frame != MAV_FRAME_GLOBAL_RELATIVE_ALT) { return MAV_MISSION_UNSUPPORTED_FRAME; } if (!check_lat(cmd.x)) { return MAV_MISSION_INVALID_PARAM5_X; } if (!check_lng(cmd.y)) { return MAV_MISSION_INVALID_PARAM6_Y; } if (cmd.z < INT16_MIN || cmd.z > INT16_MAX) { return MAV_MISSION_INVALID_PARAM7; } ret.lat = cmd.x; ret.lng = cmd.y; ret.alt = cmd.z; return MAV_MISSION_ACCEPTED; } MAV_MISSION_RESULT MissionItemProtocol_Rally::replace_item(const mavlink_mission_item_int_t &cmd) { RallyLocation rallyloc; const MAV_MISSION_RESULT ret = convert_MISSION_ITEM_INT_to_RallyLocation(cmd, rallyloc); if (ret != MAV_MISSION_ACCEPTED) { return ret; } if (!rally.set_rally_point_with_index(cmd.seq, rallyloc)) { return MAV_MISSION_ERROR; } return MAV_MISSION_ACCEPTED; } MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_item_int_t &cmd) { RallyLocation rallyloc; const MAV_MISSION_RESULT ret = convert_MISSION_ITEM_INT_to_RallyLocation(cmd, rallyloc); if (ret != MAV_MISSION_ACCEPTED) { return ret; } if (!rally.append(rallyloc)) { return MAV_MISSION_ERROR; } return MAV_MISSION_ACCEPTED; } void MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link) { _link.send_text(MAV_SEVERITY_INFO, "Rally points received"); AP::logger().Write_Rally(); }