mirror of https://github.com/ArduPilot/ardupilot
2440 lines
80 KiB
C++
2440 lines
80 KiB
C++
#include "GCS_Mavlink.h"
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#include "Plane.h"
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#include "version.h"
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// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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#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 | MAV_SYS_STATUS_SENSOR_RC_RECEIVER)
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void Plane::send_heartbeat(mavlink_channel_t chan)
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{
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uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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uint8_t system_status;
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uint32_t custom_mode = control_mode;
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if (failsafe.state != FAILSAFE_NONE || failsafe.low_battery || failsafe.adsb) {
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system_status = MAV_STATE_CRITICAL;
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} else if (plane.crash_state.is_crashed) {
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system_status = MAV_STATE_EMERGENCY;
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} else if (is_flying()) {
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system_status = MAV_STATE_ACTIVE;
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} else {
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system_status = MAV_STATE_STANDBY;
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}
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// work out the base_mode. This value is not very useful
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// for APM, but we calculate it as best we can so a generic
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// MAVLink enabled ground station can work out something about
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// what the MAV is up to. The actual bit values are highly
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// ambiguous for most of the APM flight modes. In practice, you
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// only get useful information from the custom_mode, which maps to
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// the APM flight mode and has a well defined meaning in the
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// ArduPlane documentation
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switch (control_mode) {
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case MANUAL:
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case TRAINING:
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case ACRO:
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base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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break;
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case STABILIZE:
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case FLY_BY_WIRE_A:
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case AUTOTUNE:
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case FLY_BY_WIRE_B:
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case QSTABILIZE:
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case QHOVER:
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case QLOITER:
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case QLAND:
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case CRUISE:
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base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
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break;
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case AUTO:
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case RTL:
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case LOITER:
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case AVOID_ADSB:
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case GUIDED:
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case CIRCLE:
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case QRTL:
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base_mode = MAV_MODE_FLAG_GUIDED_ENABLED |
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MAV_MODE_FLAG_STABILIZE_ENABLED;
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// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
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// APM does in any mode, as that is defined as "system finds its own goal
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// positions", which APM does not currently do
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break;
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case INITIALISING:
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system_status = MAV_STATE_CALIBRATING;
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break;
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}
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if (!training_manual_pitch || !training_manual_roll) {
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base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
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}
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if (control_mode != MANUAL && control_mode != INITIALISING) {
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// stabiliser of some form is enabled
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base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
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}
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if (g.stick_mixing != STICK_MIXING_DISABLED && control_mode != INITIALISING) {
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// all modes except INITIALISING have some form of manual
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// override if stick mixing is enabled
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base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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}
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#if HIL_SUPPORT
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if (g.hil_mode == 1) {
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base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
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}
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#endif
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// we are armed if we are not initialising
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if (control_mode != INITIALISING && arming.is_armed()) {
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base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
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}
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// indicate we have set a custom mode
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base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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gcs[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_FIXED_WING,
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base_mode,
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custom_mode,
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system_status);
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}
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void Plane::send_attitude(mavlink_channel_t chan)
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{
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const Vector3f &omega = ahrs.get_gyro();
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mavlink_msg_attitude_send(
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chan,
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millis(),
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ahrs.roll,
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ahrs.pitch - radians(g.pitch_trim_cd*0.01f),
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ahrs.yaw,
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omega.x,
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omega.y,
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omega.z);
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}
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#if GEOFENCE_ENABLED == ENABLED
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void Plane::send_fence_status(mavlink_channel_t chan)
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{
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geofence_send_status(chan);
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}
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#endif
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void Plane::send_extended_status1(mavlink_channel_t chan)
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{
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uint32_t control_sensors_present;
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_health;
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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if (airspeed.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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if (geofence_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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if (aparm.throttle_min < 0) {
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control_sensors_present |= MAV_SYS_STATUS_REVERSE_MOTOR;
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}
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if (plane.DataFlash.logging_present()) { // primary logging only (usually File)
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control_sensors_present |= MAV_SYS_STATUS_LOGGING;
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}
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// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control, geofence and motor output which we will set individually
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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_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_GEOFENCE & ~MAV_SYS_STATUS_LOGGING);
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if (airspeed.enabled() && airspeed.use()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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if (geofence_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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if (plane.DataFlash.logging_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
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}
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switch (control_mode) {
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case MANUAL:
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break;
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case ACRO:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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break;
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case STABILIZE:
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case FLY_BY_WIRE_A:
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case AUTOTUNE:
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case QSTABILIZE:
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case QHOVER:
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case QLAND:
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case QLOITER:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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break;
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case FLY_BY_WIRE_B:
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case CRUISE:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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break;
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case TRAINING:
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if (!training_manual_roll || !training_manual_pitch) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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}
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break;
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case AUTO:
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case RTL:
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case LOITER:
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case AVOID_ADSB:
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case GUIDED:
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case CIRCLE:
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case QRTL:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; // altitude control
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
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break;
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case INITIALISING:
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break;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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// default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE. GEOFENCE always defaults to healthy.
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control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
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MAV_SYS_STATUS_SENSOR_3D_MAG |
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MAV_SYS_STATUS_SENSOR_GPS |
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MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
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control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (ahrs.have_inertial_nav() && !ins.accel_calibrated_ok_all()) {
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// trying to use EKF without properly calibrated accelerometers
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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if (barometer.all_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow.healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (airspeed.healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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#if GEOFENCE_ENABLED
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if (geofence_breached()) {
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control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
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}
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#endif
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if (plane.DataFlash.logging_failed()) {
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control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
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}
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if (millis() - failsafe.last_valid_rc_ms < 200) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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} else {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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int16_t battery_current = -1;
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int8_t battery_remaining = -1;
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if (battery.has_current() && battery.healthy()) {
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battery_remaining = battery.capacity_remaining_pct();
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battery_current = battery.current_amps() * 100;
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}
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#if AP_TERRAIN_AVAILABLE
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switch (terrain.status()) {
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case AP_Terrain::TerrainStatusDisabled:
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break;
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case AP_Terrain::TerrainStatusUnhealthy:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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break;
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case AP_Terrain::TerrainStatusOK:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
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break;
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}
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#endif
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#if RANGEFINDER_ENABLED == ENABLED
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if (rangefinder.num_sensors() > 0) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (g.rangefinder_landing) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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if (rangefinder.has_data()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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}
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#endif
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if (aparm.throttle_min < 0 && channel_throttle->get_servo_out() < 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_REVERSE_MOTOR;
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control_sensors_health |= MAV_SYS_STATUS_REVERSE_MOTOR;
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}
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if (AP_Notify::flags.initialising) {
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// while initialising the gyros and accels are not enabled
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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}
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mavlink_msg_sys_status_send(
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chan,
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control_sensors_present,
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control_sensors_enabled,
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control_sensors_health,
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(uint16_t)(scheduler.load_average(20000) * 1000),
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battery.voltage() * 1000, // mV
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battery_current, // in 10mA units
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battery_remaining, // in %
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0, // comm drops %,
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0, // comm drops in pkts,
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0, 0, 0, 0);
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#if FRSKY_TELEM_ENABLED == ENABLED
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// give mask of error flags to Frsky_Telemetry
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uint32_t sensors_error_flags = (~control_sensors_health) & control_sensors_enabled & control_sensors_present;
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frsky_telemetry.update_sensor_status_flags(sensors_error_flags);
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#endif
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}
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void Plane::send_location(mavlink_channel_t chan)
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{
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uint32_t fix_time_ms;
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// if we have a GPS fix, take the time as the last fix time. That
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// allows us to correctly calculate velocities and extrapolate
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// positions.
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// If we don't have a GPS fix then we are dead reckoning, and will
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// use the current boot time as the fix time.
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if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
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fix_time_ms = gps.last_fix_time_ms();
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} else {
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fix_time_ms = millis();
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}
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const Vector3f &vel = gps.velocity();
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mavlink_msg_global_position_int_send(
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chan,
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fix_time_ms,
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current_loc.lat, // in 1E7 degrees
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current_loc.lng, // in 1E7 degrees
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current_loc.alt * 10UL, // millimeters above sea level
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relative_altitude() * 1.0e3f, // millimeters above ground
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vel.x * 100, // X speed cm/s (+ve North)
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vel.y * 100, // Y speed cm/s (+ve East)
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vel.z * -100, // Z speed cm/s (+ve up)
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ahrs.yaw_sensor);
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}
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void Plane::send_nav_controller_output(mavlink_channel_t chan)
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{
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mavlink_msg_nav_controller_output_send(
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chan,
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nav_roll_cd * 0.01f,
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nav_pitch_cd * 0.01f,
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nav_controller->nav_bearing_cd() * 0.01f,
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nav_controller->target_bearing_cd() * 0.01f,
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auto_state.wp_distance,
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altitude_error_cm * 0.01f,
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airspeed_error * 100,
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nav_controller->crosstrack_error());
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}
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void Plane::send_position_target_global_int(mavlink_channel_t chan)
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{
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mavlink_msg_position_target_global_int_send(
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chan,
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AP_HAL::millis(), // time_boot_ms
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MAV_FRAME_GLOBAL_INT, // targets are always global altitude
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0xFFF8, // ignore everything except the x/y/z components
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next_WP_loc.lat, // latitude as 1e7
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next_WP_loc.lng, // longitude as 1e7
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next_WP_loc.alt * 0.01f, // altitude is sent as a float
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0.0f, // vx
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0.0f, // vy
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0.0f, // vz
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0.0f, // afx
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0.0f, // afy
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0.0f, // afz
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0.0f, // yaw
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0.0f); // yaw_rate
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}
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void Plane::send_servo_out(mavlink_channel_t chan)
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{
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// normalized values scaled to -10000 to 10000
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// This is used for HIL. Do not change without discussing with
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// HIL maintainers
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mavlink_msg_rc_channels_scaled_send(
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chan,
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millis(),
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0, // port 0
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10000 * channel_roll->norm_output() * (channel_roll->get_reverse()?-1:1),
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10000 * channel_pitch->norm_output() * (channel_pitch->get_reverse()?-1:1),
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10000 * channel_throttle->norm_output() * (channel_throttle->get_reverse()?-1:1),
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10000 * channel_rudder->norm_output() * (channel_rudder->get_reverse()?-1:1),
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0,
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0,
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0,
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0,
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receiver_rssi);
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}
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void Plane::send_vfr_hud(mavlink_channel_t chan)
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{
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float aspeed;
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if (airspeed.enabled()) {
|
|
aspeed = airspeed.get_airspeed();
|
|
} else if (!ahrs.airspeed_estimate(&aspeed)) {
|
|
aspeed = 0;
|
|
}
|
|
mavlink_msg_vfr_hud_send(
|
|
chan,
|
|
aspeed,
|
|
gps.ground_speed(),
|
|
(ahrs.yaw_sensor / 100) % 360,
|
|
abs(throttle_percentage()),
|
|
current_loc.alt / 100.0f,
|
|
barometer.get_climb_rate());
|
|
}
|
|
|
|
/*
|
|
keep last HIL_STATE message to allow sending SIM_STATE
|
|
*/
|
|
#if HIL_SUPPORT
|
|
static mavlink_hil_state_t last_hil_state;
|
|
#endif
|
|
|
|
// report simulator state
|
|
void Plane::send_simstate(mavlink_channel_t chan)
|
|
{
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
sitl.simstate_send(chan);
|
|
#elif HIL_SUPPORT
|
|
if (g.hil_mode == 1) {
|
|
mavlink_msg_simstate_send(chan,
|
|
last_hil_state.roll,
|
|
last_hil_state.pitch,
|
|
last_hil_state.yaw,
|
|
last_hil_state.xacc*0.001f*GRAVITY_MSS,
|
|
last_hil_state.yacc*0.001f*GRAVITY_MSS,
|
|
last_hil_state.zacc*0.001f*GRAVITY_MSS,
|
|
last_hil_state.rollspeed,
|
|
last_hil_state.pitchspeed,
|
|
last_hil_state.yawspeed,
|
|
last_hil_state.lat,
|
|
last_hil_state.lon);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void Plane::send_hwstatus(mavlink_channel_t chan)
|
|
{
|
|
mavlink_msg_hwstatus_send(
|
|
chan,
|
|
hal.analogin->board_voltage()*1000,
|
|
0);
|
|
}
|
|
|
|
void Plane::send_wind(mavlink_channel_t chan)
|
|
{
|
|
Vector3f wind = ahrs.wind_estimate();
|
|
mavlink_msg_wind_send(
|
|
chan,
|
|
degrees(atan2f(-wind.y, -wind.x)), // use negative, to give
|
|
// direction wind is coming from
|
|
wind.length(),
|
|
wind.z);
|
|
}
|
|
|
|
/*
|
|
send RPM packet
|
|
*/
|
|
void NOINLINE Plane::send_rpm(mavlink_channel_t chan)
|
|
{
|
|
if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
|
|
mavlink_msg_rpm_send(
|
|
chan,
|
|
rpm_sensor.get_rpm(0),
|
|
rpm_sensor.get_rpm(1));
|
|
}
|
|
}
|
|
|
|
/*
|
|
send PID tuning message
|
|
*/
|
|
void Plane::send_pid_tuning(mavlink_channel_t chan)
|
|
{
|
|
const Vector3f &gyro = ahrs.get_gyro();
|
|
const DataFlash_Class::PID_Info *pid_info;
|
|
if (g.gcs_pid_mask & 1) {
|
|
if (quadplane.in_vtol_mode()) {
|
|
pid_info = &quadplane.attitude_control->get_rate_roll_pid().get_pid_info();
|
|
} else {
|
|
pid_info = &rollController.get_pid_info();
|
|
}
|
|
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
|
|
pid_info->desired,
|
|
degrees(gyro.x),
|
|
pid_info->FF,
|
|
pid_info->P,
|
|
pid_info->I,
|
|
pid_info->D);
|
|
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
|
|
return;
|
|
}
|
|
}
|
|
if (g.gcs_pid_mask & 2) {
|
|
if (quadplane.in_vtol_mode()) {
|
|
pid_info = &quadplane.attitude_control->get_rate_pitch_pid().get_pid_info();
|
|
} else {
|
|
pid_info = &pitchController.get_pid_info();
|
|
}
|
|
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
|
|
pid_info->desired,
|
|
degrees(gyro.y),
|
|
pid_info->FF,
|
|
pid_info->P,
|
|
pid_info->I,
|
|
pid_info->D);
|
|
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
|
|
return;
|
|
}
|
|
}
|
|
if (g.gcs_pid_mask & 4) {
|
|
if (quadplane.in_vtol_mode()) {
|
|
pid_info = &quadplane.attitude_control->get_rate_yaw_pid().get_pid_info();
|
|
} else {
|
|
pid_info = &yawController.get_pid_info();
|
|
}
|
|
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
|
|
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;
|
|
}
|
|
}
|
|
if (g.gcs_pid_mask & 8) {
|
|
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 Plane::send_rangefinder(mavlink_channel_t chan)
|
|
{
|
|
#if RANGEFINDER_ENABLED == ENABLED
|
|
if (!rangefinder.has_data()) {
|
|
// no sonar to report
|
|
return;
|
|
}
|
|
mavlink_msg_rangefinder_send(
|
|
chan,
|
|
rangefinder.distance_cm() * 0.01f,
|
|
rangefinder.voltage_mv()*0.001f);
|
|
#endif
|
|
}
|
|
|
|
void Plane::send_current_waypoint(mavlink_channel_t chan)
|
|
{
|
|
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
|
|
}
|
|
|
|
uint32_t GCS_MAVLINK_Plane::telem_delay() const
|
|
{
|
|
return (uint32_t)(plane.g.telem_delay);
|
|
}
|
|
|
|
// try to send a message, return false if it won't fit in the serial tx buffer
|
|
bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
|
|
{
|
|
if (telemetry_delayed(chan)) {
|
|
return false;
|
|
}
|
|
|
|
// if we don't have at least 0.2ms 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 (!plane.in_mavlink_delay && plane.scheduler.time_available_usec() < 200) {
|
|
plane.gcs_out_of_time = true;
|
|
return false;
|
|
}
|
|
|
|
switch (id) {
|
|
case MSG_HEARTBEAT:
|
|
CHECK_PAYLOAD_SIZE(HEARTBEAT);
|
|
last_heartbeat_time = AP_HAL::millis();
|
|
plane.send_heartbeat(chan);
|
|
return true;
|
|
|
|
case MSG_EXTENDED_STATUS1:
|
|
CHECK_PAYLOAD_SIZE(SYS_STATUS);
|
|
plane.send_extended_status1(chan);
|
|
CHECK_PAYLOAD_SIZE2(POWER_STATUS);
|
|
send_power_status();
|
|
break;
|
|
|
|
case MSG_EXTENDED_STATUS2:
|
|
CHECK_PAYLOAD_SIZE(MEMINFO);
|
|
send_meminfo();
|
|
break;
|
|
|
|
case MSG_ATTITUDE:
|
|
CHECK_PAYLOAD_SIZE(ATTITUDE);
|
|
plane.send_attitude(chan);
|
|
break;
|
|
|
|
case MSG_LOCATION:
|
|
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
|
|
plane.send_location(chan);
|
|
break;
|
|
|
|
case MSG_LOCAL_POSITION:
|
|
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
|
|
send_local_position(plane.ahrs);
|
|
break;
|
|
|
|
case MSG_NAV_CONTROLLER_OUTPUT:
|
|
if (plane.control_mode != MANUAL) {
|
|
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
|
|
plane.send_nav_controller_output(chan);
|
|
}
|
|
break;
|
|
|
|
case MSG_POSITION_TARGET_GLOBAL_INT:
|
|
if (plane.control_mode != MANUAL) {
|
|
CHECK_PAYLOAD_SIZE(POSITION_TARGET_GLOBAL_INT);
|
|
plane.send_position_target_global_int(chan);
|
|
}
|
|
break;
|
|
|
|
case MSG_GPS_RAW:
|
|
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
|
|
send_gps_raw(plane.gps);
|
|
break;
|
|
|
|
case MSG_SYSTEM_TIME:
|
|
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
|
|
send_system_time(plane.gps);
|
|
break;
|
|
|
|
case MSG_SERVO_OUT:
|
|
#if HIL_SUPPORT
|
|
if (plane.g.hil_mode == 1) {
|
|
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
|
|
plane.send_servo_out(chan);
|
|
}
|
|
#endif
|
|
break;
|
|
|
|
case MSG_RADIO_IN:
|
|
CHECK_PAYLOAD_SIZE(RC_CHANNELS);
|
|
send_radio_in(plane.receiver_rssi);
|
|
break;
|
|
|
|
case MSG_RADIO_OUT:
|
|
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
|
|
#if HIL_SUPPORT
|
|
send_servo_output_raw(plane.g.hil_mode);
|
|
#else
|
|
send_servo_output_raw(false);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_VFR_HUD:
|
|
CHECK_PAYLOAD_SIZE(VFR_HUD);
|
|
plane.send_vfr_hud(chan);
|
|
break;
|
|
|
|
case MSG_RAW_IMU1:
|
|
CHECK_PAYLOAD_SIZE(RAW_IMU);
|
|
send_raw_imu(plane.ins, plane.compass);
|
|
break;
|
|
|
|
case MSG_RAW_IMU2:
|
|
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
|
|
send_scaled_pressure(plane.barometer);
|
|
break;
|
|
|
|
case MSG_RAW_IMU3:
|
|
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
|
|
send_sensor_offsets(plane.ins, plane.compass, plane.barometer);
|
|
break;
|
|
|
|
case MSG_CURRENT_WAYPOINT:
|
|
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
|
|
plane.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_STATUSTEXT:
|
|
// depreciated, use GCS_MAVLINK::send_statustext*
|
|
return false;
|
|
|
|
case MSG_FENCE_STATUS:
|
|
#if GEOFENCE_ENABLED == ENABLED
|
|
CHECK_PAYLOAD_SIZE(FENCE_STATUS);
|
|
plane.send_fence_status(chan);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_AHRS:
|
|
CHECK_PAYLOAD_SIZE(AHRS);
|
|
send_ahrs(plane.ahrs);
|
|
break;
|
|
|
|
case MSG_SIMSTATE:
|
|
CHECK_PAYLOAD_SIZE(SIMSTATE);
|
|
plane.send_simstate(chan);
|
|
CHECK_PAYLOAD_SIZE2(AHRS2);
|
|
send_ahrs2(plane.ahrs);
|
|
break;
|
|
|
|
case MSG_HWSTATUS:
|
|
CHECK_PAYLOAD_SIZE(HWSTATUS);
|
|
plane.send_hwstatus(chan);
|
|
break;
|
|
|
|
case MSG_RANGEFINDER:
|
|
CHECK_PAYLOAD_SIZE(RANGEFINDER);
|
|
plane.send_rangefinder(chan);
|
|
break;
|
|
|
|
case MSG_TERRAIN:
|
|
#if AP_TERRAIN_AVAILABLE
|
|
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
|
|
plane.terrain.send_request(chan);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_CAMERA_FEEDBACK:
|
|
#if CAMERA == ENABLED
|
|
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
|
|
plane.camera.send_feedback(chan, plane.gps, plane.ahrs, plane.current_loc);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_BATTERY2:
|
|
CHECK_PAYLOAD_SIZE(BATTERY2);
|
|
send_battery2(plane.battery);
|
|
break;
|
|
|
|
case MSG_WIND:
|
|
CHECK_PAYLOAD_SIZE(WIND);
|
|
plane.send_wind(chan);
|
|
break;
|
|
|
|
case MSG_MOUNT_STATUS:
|
|
#if MOUNT == ENABLED
|
|
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
|
|
plane.camera_mount.status_msg(chan);
|
|
#endif // MOUNT == ENABLED
|
|
break;
|
|
|
|
case MSG_OPTICAL_FLOW:
|
|
#if OPTFLOW == ENABLED
|
|
if (plane.optflow.enabled()) {
|
|
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
|
|
send_opticalflow(plane.ahrs, plane.optflow);
|
|
}
|
|
#endif
|
|
break;
|
|
|
|
case MSG_EKF_STATUS_REPORT:
|
|
#if AP_AHRS_NAVEKF_AVAILABLE
|
|
CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
|
|
plane.ahrs.send_ekf_status_report(chan);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_GIMBAL_REPORT:
|
|
#if MOUNT == ENABLED
|
|
CHECK_PAYLOAD_SIZE(GIMBAL_REPORT);
|
|
plane.camera_mount.send_gimbal_report(chan);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_RETRY_DEFERRED:
|
|
break; // just here to prevent a warning
|
|
|
|
case MSG_LIMITS_STATUS:
|
|
// unused
|
|
break;
|
|
|
|
case MSG_PID_TUNING:
|
|
CHECK_PAYLOAD_SIZE(PID_TUNING);
|
|
plane.send_pid_tuning(chan);
|
|
break;
|
|
|
|
case MSG_VIBRATION:
|
|
CHECK_PAYLOAD_SIZE(VIBRATION);
|
|
send_vibration(plane.ins);
|
|
break;
|
|
|
|
case MSG_RPM:
|
|
CHECK_PAYLOAD_SIZE(RPM);
|
|
plane.send_rpm(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:
|
|
plane.compass.send_mag_cal_progress(chan);
|
|
break;
|
|
|
|
case MSG_MAG_CAL_REPORT:
|
|
plane.compass.send_mag_cal_report(chan);
|
|
break;
|
|
|
|
case MSG_ADSB_VEHICLE:
|
|
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
|
|
plane.adsb.send_adsb_vehicle(chan);
|
|
break;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
/*
|
|
default stream rates to 1Hz
|
|
*/
|
|
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
|
|
// @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),
|
|
|
|
// @Param: ADSB
|
|
// @DisplayName: ADSB stream rate to ground station
|
|
// @Description: ADSB stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 50
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK, streamRates[9], 5),
|
|
AP_GROUPEND
|
|
};
|
|
|
|
void
|
|
GCS_MAVLINK_Plane::data_stream_send(void)
|
|
{
|
|
plane.gcs_out_of_time = false;
|
|
|
|
if (!plane.in_mavlink_delay) {
|
|
handle_log_send(plane.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 (plane.gcs_out_of_time) return;
|
|
|
|
if (plane.in_mavlink_delay) {
|
|
#if HIL_SUPPORT
|
|
if (plane.g.hil_mode == 1) {
|
|
// 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 (plane.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_RAW_SENSORS)) {
|
|
send_message(MSG_RAW_IMU1);
|
|
send_message(MSG_RAW_IMU2);
|
|
send_message(MSG_RAW_IMU3);
|
|
}
|
|
|
|
if (plane.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_FENCE_STATUS);
|
|
send_message(MSG_POSITION_TARGET_GLOBAL_INT);
|
|
}
|
|
|
|
if (plane.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_POSITION)) {
|
|
// sent with GPS read
|
|
send_message(MSG_LOCATION);
|
|
send_message(MSG_LOCAL_POSITION);
|
|
}
|
|
|
|
if (plane.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
|
|
send_message(MSG_SERVO_OUT);
|
|
}
|
|
|
|
if (plane.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_RC_CHANNELS)) {
|
|
send_message(MSG_RADIO_OUT);
|
|
send_message(MSG_RADIO_IN);
|
|
}
|
|
|
|
if (plane.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_EXTRA1)) {
|
|
send_message(MSG_ATTITUDE);
|
|
send_message(MSG_SIMSTATE);
|
|
send_message(MSG_RPM);
|
|
if (plane.control_mode != MANUAL) {
|
|
send_message(MSG_PID_TUNING);
|
|
}
|
|
}
|
|
|
|
if (plane.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_EXTRA2)) {
|
|
send_message(MSG_VFR_HUD);
|
|
}
|
|
|
|
if (plane.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_EXTRA3)) {
|
|
send_message(MSG_AHRS);
|
|
send_message(MSG_HWSTATUS);
|
|
send_message(MSG_WIND);
|
|
send_message(MSG_RANGEFINDER);
|
|
send_message(MSG_SYSTEM_TIME);
|
|
#if AP_TERRAIN_AVAILABLE
|
|
send_message(MSG_TERRAIN);
|
|
#endif
|
|
send_message(MSG_MAG_CAL_REPORT);
|
|
send_message(MSG_MAG_CAL_PROGRESS);
|
|
send_message(MSG_BATTERY2);
|
|
send_message(MSG_MOUNT_STATUS);
|
|
send_message(MSG_OPTICAL_FLOW);
|
|
send_message(MSG_EKF_STATUS_REPORT);
|
|
send_message(MSG_GIMBAL_REPORT);
|
|
send_message(MSG_VIBRATION);
|
|
}
|
|
|
|
if (plane.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_ADSB)) {
|
|
send_message(MSG_ADSB_VEHICLE);
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
handle a request to switch to guided mode. This happens via a
|
|
callback from handle_mission_item()
|
|
*/
|
|
bool GCS_MAVLINK_Plane::handle_guided_request(AP_Mission::Mission_Command &cmd)
|
|
{
|
|
if (plane.control_mode != GUIDED) {
|
|
// only accept position updates when in GUIDED mode
|
|
return false;
|
|
}
|
|
plane.guided_WP_loc = cmd.content.location;
|
|
|
|
// add home alt if needed
|
|
if (plane.guided_WP_loc.flags.relative_alt) {
|
|
plane.guided_WP_loc.alt += plane.home.alt;
|
|
plane.guided_WP_loc.flags.relative_alt = 0;
|
|
}
|
|
|
|
plane.set_guided_WP();
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
handle a request to change current WP altitude. This happens via a
|
|
callback from handle_mission_item()
|
|
*/
|
|
void GCS_MAVLINK_Plane::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
|
|
{
|
|
plane.next_WP_loc.alt = cmd.content.location.alt;
|
|
if (cmd.content.location.flags.relative_alt) {
|
|
plane.next_WP_loc.alt += plane.home.alt;
|
|
}
|
|
plane.next_WP_loc.flags.relative_alt = false;
|
|
plane.next_WP_loc.flags.terrain_alt = cmd.content.location.flags.terrain_alt;
|
|
plane.reset_offset_altitude();
|
|
}
|
|
|
|
void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
|
|
mavlink_message_t &msg)
|
|
{
|
|
plane.avoidance_adsb.handle_msg(msg);
|
|
GCS_MAVLINK::packetReceived(status, msg);
|
|
}
|
|
|
|
void GCS_MAVLINK_Plane::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_STATUSTEXT:
|
|
{
|
|
// ignore any statustext messages not from our GCS:
|
|
if (msg->sysid != plane.g.sysid_my_gcs) {
|
|
break;
|
|
}
|
|
mavlink_statustext_t packet;
|
|
mavlink_msg_statustext_decode(msg, &packet);
|
|
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+4] = { 'G','C','S',':'};
|
|
memcpy(&text[4], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
|
|
plane.DataFlash.Log_Write_Message(text);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_COMMAND_INT:
|
|
{
|
|
// decode
|
|
mavlink_command_int_t packet;
|
|
mavlink_msg_command_int_decode(msg, &packet);
|
|
|
|
uint8_t result = MAV_RESULT_UNSUPPORTED;
|
|
|
|
switch(packet.command) {
|
|
|
|
case MAV_CMD_DO_REPOSITION:
|
|
// sanity check location
|
|
if (!check_latlng(packet.x, packet.y)) {
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
|
|
Location requested_position {};
|
|
requested_position.lat = packet.x;
|
|
requested_position.lng = packet.y;
|
|
|
|
// check the floating representation for overflow of altitude
|
|
if (fabsf(packet.z * 100.0f) >= 0x7fffff) {
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
requested_position.alt = (int32_t)(packet.z * 100.0f);
|
|
|
|
// load option flags
|
|
if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
|
|
requested_position.flags.relative_alt = 1;
|
|
}
|
|
else if (packet.frame == MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
|
|
requested_position.flags.terrain_alt = 1;
|
|
}
|
|
else if (packet.frame != MAV_FRAME_GLOBAL_INT) {
|
|
// not a supported frame
|
|
break;
|
|
}
|
|
|
|
if (is_zero(packet.param4)) {
|
|
requested_position.flags.loiter_ccw = 0;
|
|
} else {
|
|
requested_position.flags.loiter_ccw = 1;
|
|
}
|
|
|
|
if (location_sanitize(plane.current_loc, requested_position)) {
|
|
// if the location wasn't already sane don't load it
|
|
result = MAV_RESULT_FAILED; // failed as the location is not valid
|
|
break;
|
|
}
|
|
|
|
// location is valid load and set
|
|
if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) ||
|
|
(plane.control_mode == GUIDED)) {
|
|
plane.set_mode(GUIDED, MODE_REASON_GCS_COMMAND);
|
|
plane.guided_WP_loc = requested_position;
|
|
|
|
// add home alt if needed
|
|
if (plane.guided_WP_loc.flags.relative_alt) {
|
|
plane.guided_WP_loc.alt += plane.home.alt;
|
|
plane.guided_WP_loc.flags.relative_alt = 0;
|
|
}
|
|
|
|
plane.set_guided_WP();
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED; // failed as we are not in guided
|
|
}
|
|
break;
|
|
}
|
|
|
|
mavlink_msg_command_ack_send_buf(
|
|
msg,
|
|
chan,
|
|
packet.command,
|
|
result);
|
|
|
|
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
|
|
|
|
switch(packet.command) {
|
|
|
|
case MAV_CMD_DO_CHANGE_SPEED:
|
|
// if we're in failsafe modes (e.g., RTL, LOITER) or in pilot
|
|
// controlled modes (e.g., MANUAL, TRAINING)
|
|
// this command should be ignored since it comes in from GCS
|
|
// or a companion computer:
|
|
result = MAV_RESULT_FAILED;
|
|
if (plane.control_mode != GUIDED && plane.control_mode != AUTO && plane.control_mode != AVOID_ADSB) {
|
|
// failed
|
|
break;
|
|
}
|
|
|
|
AP_Mission::Mission_Command cmd;
|
|
if (AP_Mission::mavlink_cmd_long_to_mission_cmd(packet, cmd)
|
|
== MAV_MISSION_ACCEPTED) {
|
|
plane.do_change_speed(cmd);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_START_RX_PAIR:
|
|
result = handle_rc_bind(packet);
|
|
break;
|
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM:
|
|
plane.set_mode(LOITER, MODE_REASON_GCS_COMMAND);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
plane.set_mode(RTL, MODE_REASON_GCS_COMMAND);
|
|
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 (!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);
|
|
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
|
|
// switch off the camera tracking if enabled
|
|
if (plane.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
|
|
plane.camera_mount.set_mode_to_default();
|
|
}
|
|
} else {
|
|
// send the command to the camera mount
|
|
plane.camera_mount.set_roi_target(roi_loc);
|
|
}
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
#endif
|
|
|
|
#if CAMERA == ENABLED
|
|
case MAV_CMD_DO_DIGICAM_CONFIGURE:
|
|
plane.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 (plane.camera.control(packet.param1,
|
|
packet.param2,
|
|
packet.param3,
|
|
packet.param4,
|
|
packet.param5,
|
|
packet.param6)) {
|
|
plane.log_picture();
|
|
}
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
#endif // CAMERA == ENABLED
|
|
|
|
case MAV_CMD_DO_MOUNT_CONTROL:
|
|
#if MOUNT == ENABLED
|
|
plane.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:
|
|
plane.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_PREFLIGHT_CALIBRATION:
|
|
plane.in_calibration = true;
|
|
if (is_equal(packet.param1,1.0f)) {
|
|
/*
|
|
gyro calibration
|
|
*/
|
|
if (hal.util->get_soft_armed()) {
|
|
send_text(MAV_SEVERITY_WARNING, "No calibration while armed");
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
plane.ins.init_gyro();
|
|
if (plane.ins.gyro_calibrated_ok_all()) {
|
|
plane.ahrs.reset_gyro_drift();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
} else if (is_equal(packet.param3,1.0f)) {
|
|
/*
|
|
baro and airspeed calibration
|
|
*/
|
|
if (hal.util->get_soft_armed() && plane.is_flying()) {
|
|
send_text(MAV_SEVERITY_WARNING, "No calibration while flying");
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
plane.init_barometer(false);
|
|
if (plane.airspeed.enabled()) {
|
|
plane.zero_airspeed(false);
|
|
}
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else if (is_equal(packet.param4,1.0f)) {
|
|
/*
|
|
radio trim
|
|
*/
|
|
if (hal.util->get_soft_armed()) {
|
|
send_text(MAV_SEVERITY_WARNING, "No calibration while armed");
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
plane.trim_radio();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else if (is_equal(packet.param5,1.0f)) {
|
|
/*
|
|
accel calibration
|
|
*/
|
|
if (hal.util->get_soft_armed()) {
|
|
send_text(MAV_SEVERITY_WARNING, "No calibration while armed");
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
result = MAV_RESULT_ACCEPTED;
|
|
// start with gyro calibration
|
|
plane.ins.init_gyro();
|
|
// reset ahrs gyro bias
|
|
if (plane.ins.gyro_calibrated_ok_all()) {
|
|
plane.ahrs.reset_gyro_drift();
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
plane.ins.acal_init();
|
|
plane.ins.get_acal()->start(this);
|
|
|
|
} else if (is_equal(packet.param5,2.0f)) {
|
|
/*
|
|
ahrs trim
|
|
*/
|
|
if (hal.util->get_soft_armed()) {
|
|
send_text(MAV_SEVERITY_WARNING, "No calibration while armed");
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
// start with gyro calibration
|
|
plane.ins.init_gyro();
|
|
// accel trim
|
|
float trim_roll, trim_pitch;
|
|
if(plane.ins.calibrate_trim(trim_roll, trim_pitch)) {
|
|
// reset ahrs's trim to suggested values from calibration routine
|
|
plane.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
}
|
|
else {
|
|
send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
|
|
}
|
|
plane.in_calibration = false;
|
|
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) {
|
|
plane.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)) {
|
|
// run pre_arm_checks and arm_checks and display failures
|
|
if (plane.arm_motors(AP_Arming::MAVLINK)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
} else if (is_zero(packet.param1)) {
|
|
if (plane.disarm_motors()) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
} else {
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_GET_HOME_POSITION:
|
|
if (plane.home_is_set != HOME_UNSET) {
|
|
send_home(plane.ahrs.get_home());
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_MODE:
|
|
switch ((uint16_t)packet.param1) {
|
|
case MAV_MODE_MANUAL_ARMED:
|
|
case MAV_MODE_MANUAL_DISARMED:
|
|
plane.set_mode(MANUAL, MODE_REASON_GCS_COMMAND);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_MODE_AUTO_ARMED:
|
|
case MAV_MODE_AUTO_DISARMED:
|
|
plane.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_MODE_STABILIZE_DISARMED:
|
|
case MAV_MODE_STABILIZE_ARMED:
|
|
plane.set_mode(FLY_BY_WIRE_A, MODE_REASON_GCS_COMMAND);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
default:
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
if (plane.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_SERVO:
|
|
if (plane.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 (plane.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_RELAY:
|
|
if (plane.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
|
|
result = handle_preflight_reboot(packet, plane.quadplane.enable != 0);
|
|
break;
|
|
|
|
case MAV_CMD_DO_LAND_START:
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
// attempt to switch to next DO_LAND_START command in the mission
|
|
if (plane.jump_to_landing_sequence()) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_GO_AROUND:
|
|
result = MAV_RESULT_FAILED;
|
|
|
|
//Not allowing go around at FLIGHT_LAND_FINAL stage on purpose --
|
|
//if plane is close to the ground a go around could be dangerous.
|
|
if (plane.flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
|
|
plane.flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE ||
|
|
plane.flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
|
|
// Initiate an aborted landing. This will trigger a pitch-up and
|
|
// climb-out to a safe altitude holding heading then one of the
|
|
// following actions will occur, check for in this order:
|
|
// - If MAV_CMD_CONTINUE_AND_CHANGE_ALT is next command in mission,
|
|
// increment mission index to execute it
|
|
// - else if DO_LAND_START is available, jump to it
|
|
// - else decrement the mission index to repeat the landing approach
|
|
|
|
if (!is_zero(packet.param1)) {
|
|
plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
|
|
}
|
|
plane.auto_state.commanded_go_around = true;
|
|
|
|
result = MAV_RESULT_ACCEPTED;
|
|
plane.gcs_send_text(MAV_SEVERITY_INFO,"Go around command accepted");
|
|
} else {
|
|
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Rejected go around command");
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_FENCE_ENABLE:
|
|
result = MAV_RESULT_ACCEPTED;
|
|
|
|
if (!plane.geofence_present()) {
|
|
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Fence not configured");
|
|
result = MAV_RESULT_FAILED;
|
|
} else {
|
|
switch((uint16_t)packet.param1) {
|
|
case 0:
|
|
if (! plane.geofence_set_enabled(false, GCS_TOGGLED)) {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
break;
|
|
case 1:
|
|
if (! plane.geofence_set_enabled(true, GCS_TOGGLED)) {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
break;
|
|
case 2: //disable fence floor only
|
|
if (! plane.geofence_set_floor_enabled(false)) {
|
|
result = MAV_RESULT_FAILED;
|
|
} else {
|
|
plane.gcs_send_text(MAV_SEVERITY_NOTICE,"Fence floor disabled");
|
|
}
|
|
break;
|
|
default:
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
|
|
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_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)) {
|
|
plane.init_home();
|
|
} else {
|
|
if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) {
|
|
// don't allow the 0,0 position
|
|
break;
|
|
}
|
|
// 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);
|
|
plane.ahrs.set_home(new_home_loc);
|
|
plane.home_is_set = HOME_SET_NOT_LOCKED;
|
|
plane.Log_Write_Home_And_Origin();
|
|
GCS_MAVLINK::send_home_all(new_home_loc);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
|
|
(double)(new_home_loc.lat*1.0e-7f),
|
|
(double)(new_home_loc.lng*1.0e-7f),
|
|
(uint32_t)(new_home_loc.alt*0.01f));
|
|
}
|
|
break;
|
|
}
|
|
|
|
case MAV_CMD_DO_AUTOTUNE_ENABLE:
|
|
// param1 : enable/disable
|
|
plane.autotune_enable(!is_zero(packet.param1));
|
|
break;
|
|
|
|
case MAV_CMD_DO_START_MAG_CAL:
|
|
case MAV_CMD_DO_ACCEPT_MAG_CAL:
|
|
case MAV_CMD_DO_CANCEL_MAG_CAL:
|
|
result = plane.compass.handle_mag_cal_command(packet);
|
|
break;
|
|
|
|
#if PARACHUTE == ENABLED
|
|
case MAV_CMD_DO_PARACHUTE:
|
|
// configure or release parachute
|
|
result = MAV_RESULT_ACCEPTED;
|
|
switch ((uint16_t)packet.param1) {
|
|
case PARACHUTE_DISABLE:
|
|
plane.parachute.enabled(false);
|
|
break;
|
|
case PARACHUTE_ENABLE:
|
|
plane.parachute.enabled(true);
|
|
break;
|
|
case PARACHUTE_RELEASE:
|
|
// treat as a manual release which performs some additional check of altitude
|
|
if (plane.parachute.released()) {
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Parachute already released");
|
|
result = MAV_RESULT_FAILED;
|
|
} else if (!plane.parachute.enabled()) {
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Parachute not enabled");
|
|
result = MAV_RESULT_FAILED;
|
|
} else {
|
|
if (!plane.parachute_manual_release()) {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
}
|
|
break;
|
|
default:
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
case MAV_CMD_DO_MOTOR_TEST:
|
|
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
|
|
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
|
|
// param3 : throttle (range depends upon param2)
|
|
// param4 : timeout (in seconds)
|
|
// param5 : motor count (number of motors to test in sequence)
|
|
result = plane.quadplane.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4, (uint8_t)packet.param5);
|
|
break;
|
|
|
|
case MAV_CMD_DO_VTOL_TRANSITION:
|
|
if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
|
|
result = MAV_RESULT_FAILED;
|
|
} else {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_ENGINE_CONTROL:
|
|
if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
|
|
result = MAV_RESULT_FAILED;
|
|
} else {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
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(&plane, &Plane::mavlink_set_mode, bool, uint8_t));
|
|
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:
|
|
{
|
|
handle_mission_request_list(plane.mission, msg);
|
|
break;
|
|
}
|
|
|
|
// XXX read a WP from EEPROM and send it to the GCS
|
|
case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
|
|
case MAVLINK_MSG_ID_MISSION_REQUEST:
|
|
{
|
|
handle_mission_request(plane.mission, msg);
|
|
break;
|
|
}
|
|
|
|
|
|
case MAVLINK_MSG_ID_MISSION_ACK:
|
|
{
|
|
// nothing to do
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
|
|
{
|
|
// 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_REQUEST_READ:
|
|
{
|
|
handle_param_request_read(msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
|
|
{
|
|
handle_mission_clear_all(plane.mission, msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
|
|
{
|
|
// disable cross-track when user asks for WP change, to
|
|
// prevent unexpected flight paths
|
|
plane.auto_state.next_wp_no_crosstrack = true;
|
|
handle_mission_set_current(plane.mission, msg);
|
|
if (plane.control_mode == AUTO && plane.mission.state() == AP_Mission::MISSION_STOPPED) {
|
|
plane.mission.resume();
|
|
}
|
|
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:
|
|
{
|
|
handle_mission_count(plane.mission, msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
|
|
{
|
|
handle_mission_write_partial_list(plane.mission, msg);
|
|
break;
|
|
}
|
|
|
|
// GCS has sent us a mission item, store to EEPROM
|
|
case MAVLINK_MSG_ID_MISSION_ITEM:
|
|
{
|
|
if (handle_mission_item(msg, plane.mission)) {
|
|
plane.DataFlash.Log_Write_EntireMission(plane.mission);
|
|
}
|
|
break;
|
|
}
|
|
|
|
// GCS has sent us a mission item, store to EEPROM
|
|
case MAVLINK_MSG_ID_MISSION_ITEM_INT:
|
|
{
|
|
if (handle_mission_item(msg, plane.mission)) {
|
|
plane.DataFlash.Log_Write_EntireMission(plane.mission);
|
|
}
|
|
break;
|
|
}
|
|
|
|
#if GEOFENCE_ENABLED == ENABLED
|
|
// receive a fence point from GCS and store in EEPROM
|
|
case MAVLINK_MSG_ID_FENCE_POINT: {
|
|
mavlink_fence_point_t packet;
|
|
mavlink_msg_fence_point_decode(msg, &packet);
|
|
if (plane.g.fence_action != FENCE_ACTION_NONE) {
|
|
send_text(MAV_SEVERITY_WARNING,"Fencing must be disabled");
|
|
} else if (packet.count != plane.g.fence_total) {
|
|
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
|
|
} else if (!check_latlng(packet.lat,packet.lng)) {
|
|
send_text(MAV_SEVERITY_WARNING,"Invalid fence point, lat or lng too large");
|
|
} else {
|
|
Vector2l point;
|
|
point.x = packet.lat*1.0e7f;
|
|
point.y = packet.lng*1.0e7f;
|
|
plane.set_fence_point_with_index(point, packet.idx);
|
|
}
|
|
break;
|
|
}
|
|
|
|
// send a fence point to GCS
|
|
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
|
|
mavlink_fence_fetch_point_t packet;
|
|
mavlink_msg_fence_fetch_point_decode(msg, &packet);
|
|
if (packet.idx >= plane.g.fence_total) {
|
|
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
|
|
} else {
|
|
Vector2l point = plane.get_fence_point_with_index(packet.idx);
|
|
mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, plane.g.fence_total,
|
|
point.x*1.0e-7f, point.y*1.0e-7f);
|
|
}
|
|
break;
|
|
}
|
|
#endif // GEOFENCE_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 >= plane.rally.get_rally_total() ||
|
|
packet.idx >= plane.rally.get_rally_max()) {
|
|
send_text(MAV_SEVERITY_WARNING,"Bad rally point message ID");
|
|
break;
|
|
}
|
|
|
|
if (packet.count != plane.rally.get_rally_total()) {
|
|
send_text(MAV_SEVERITY_WARNING,"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;
|
|
plane.rally.set_rally_point_with_index(packet.idx, 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 > plane.rally.get_rally_total()) {
|
|
send_text(MAV_SEVERITY_WARNING, "Bad rally point index");
|
|
break;
|
|
}
|
|
RallyLocation rally_point;
|
|
if (!plane.rally.get_rally_point_with_index(packet.idx, rally_point)) {
|
|
send_text(MAV_SEVERITY_WARNING, "Failed to set rally point");
|
|
break;
|
|
}
|
|
|
|
mavlink_msg_rally_point_send_buf(msg,
|
|
chan, msg->sysid, msg->compid, packet.idx,
|
|
plane.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;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_PARAM_SET:
|
|
{
|
|
handle_param_set(msg, &plane.DataFlash);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_GIMBAL_REPORT:
|
|
{
|
|
#if MOUNT == ENABLED
|
|
handle_gimbal_report(plane.camera_mount, msg);
|
|
#endif
|
|
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 != plane.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;
|
|
|
|
if (hal.rcin->set_overrides(v, 8)) {
|
|
plane.failsafe.last_valid_rc_ms = AP_HAL::millis();
|
|
plane.failsafe.AFS_last_valid_rc_ms = plane.failsafe.last_valid_rc_ms;
|
|
}
|
|
|
|
// a RC override message is consiered to be a 'heartbeat' from
|
|
// the ground station for failsafe purposes
|
|
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
|
|
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 != plane.g.sysid_my_gcs) break;
|
|
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
|
|
case MAVLINK_MSG_ID_GPS_INPUT:
|
|
{
|
|
plane.gps.handle_msg(msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_HIL_STATE:
|
|
{
|
|
#if HIL_SUPPORT
|
|
if (plane.g.hil_mode != 1) {
|
|
break;
|
|
}
|
|
|
|
mavlink_hil_state_t packet;
|
|
mavlink_msg_hil_state_decode(msg, &packet);
|
|
|
|
// sanity check location
|
|
if (!check_latlng(packet.lat, packet.lon)) {
|
|
break;
|
|
}
|
|
|
|
last_hil_state = packet;
|
|
|
|
// set gps hil sensor
|
|
Location loc;
|
|
memset(&loc, 0, sizeof(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;
|
|
|
|
// setup airspeed pressure based on 3D speed, no wind
|
|
plane.airspeed.setHIL(sq(vel.length()) / 2.0f + 2013);
|
|
|
|
plane.gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
|
|
packet.time_usec/1000,
|
|
loc, vel, 10, 0);
|
|
|
|
// rad/sec
|
|
Vector3f gyros;
|
|
gyros.x = packet.rollspeed;
|
|
gyros.y = packet.pitchspeed;
|
|
gyros.z = packet.yawspeed;
|
|
|
|
// m/s/s
|
|
Vector3f accels;
|
|
accels.x = packet.xacc * GRAVITY_MSS*0.001f;
|
|
accels.y = packet.yacc * GRAVITY_MSS*0.001f;
|
|
accels.z = packet.zacc * GRAVITY_MSS*0.001f;
|
|
|
|
plane.ins.set_gyro(0, gyros);
|
|
plane.ins.set_accel(0, accels);
|
|
|
|
plane.barometer.setHIL(packet.alt*0.001f);
|
|
plane.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
|
|
plane.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
|
|
|
|
// cope with DCM getting badly off due to HIL lag
|
|
if (plane.g.hil_err_limit > 0 &&
|
|
(fabsf(packet.roll - plane.ahrs.roll) > ToRad(plane.g.hil_err_limit) ||
|
|
fabsf(packet.pitch - plane.ahrs.pitch) > ToRad(plane.g.hil_err_limit) ||
|
|
wrap_PI(fabsf(packet.yaw - plane.ahrs.yaw)) > ToRad(plane.g.hil_err_limit))) {
|
|
plane.ahrs.reset_attitude(packet.roll, packet.pitch, packet.yaw);
|
|
}
|
|
#endif
|
|
break;
|
|
}
|
|
|
|
#if CAMERA == ENABLED
|
|
//deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
|
|
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
|
|
{
|
|
break;
|
|
}
|
|
|
|
//deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL
|
|
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
|
|
{
|
|
plane.camera.control_msg(msg);
|
|
plane.log_picture();
|
|
break;
|
|
}
|
|
#endif // CAMERA == ENABLED
|
|
|
|
#if MOUNT == ENABLED
|
|
//deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
|
|
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
|
|
{
|
|
plane.camera_mount.configure_msg(msg);
|
|
break;
|
|
}
|
|
|
|
//deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
|
|
case MAVLINK_MSG_ID_MOUNT_CONTROL:
|
|
{
|
|
plane.camera_mount.control_msg(msg);
|
|
break;
|
|
}
|
|
#endif // MOUNT == ENABLED
|
|
|
|
case MAVLINK_MSG_ID_RADIO:
|
|
case MAVLINK_MSG_ID_RADIO_STATUS:
|
|
{
|
|
handle_radio_status(msg, plane.DataFlash, plane.should_log(MASK_LOG_PM));
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
|
|
case MAVLINK_MSG_ID_LOG_ERASE:
|
|
plane.in_log_download = true;
|
|
/* no break */
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
|
|
if (!plane.in_mavlink_delay) {
|
|
handle_log_message(msg, plane.DataFlash);
|
|
}
|
|
break;
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_END:
|
|
plane.in_log_download = false;
|
|
if (!plane.in_mavlink_delay) {
|
|
handle_log_message(msg, plane.DataFlash);
|
|
}
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_SERIAL_CONTROL:
|
|
handle_serial_control(msg, plane.gps);
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_GPS_INJECT_DATA:
|
|
handle_gps_inject(msg, plane.gps);
|
|
break;
|
|
|
|
#if RANGEFINDER_ENABLED == ENABLED
|
|
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
|
|
plane.rangefinder.handle_msg(msg);
|
|
break;
|
|
#endif
|
|
|
|
case MAVLINK_MSG_ID_TERRAIN_DATA:
|
|
case MAVLINK_MSG_ID_TERRAIN_CHECK:
|
|
#if AP_TERRAIN_AVAILABLE
|
|
plane.terrain.handle_data(chan, msg);
|
|
#endif
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
|
|
send_autopilot_version(FIRMWARE_VERSION);
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_LED_CONTROL:
|
|
// send message to Notify
|
|
AP_Notify::handle_led_control(msg);
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_PLAY_TUNE:
|
|
// send message to Notify
|
|
AP_Notify::handle_play_tune(msg);
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
|
|
plane.DataFlash.remote_log_block_status_msg(chan, msg);
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
|
|
{
|
|
// Only allow companion computer (or other external controller) to
|
|
// control attitude in GUIDED mode. We DON'T want external control
|
|
// in e.g., RTL, CICLE. Specifying a single mode for companion
|
|
// computer control is more safe (even more so when using
|
|
// FENCE_ACTION = 4 for geofence failures).
|
|
if (plane.control_mode != GUIDED && plane.control_mode != AVOID_ADSB) { // don't screw up failsafes
|
|
break;
|
|
}
|
|
|
|
mavlink_set_attitude_target_t att_target;
|
|
mavlink_msg_set_attitude_target_decode(msg, &att_target);
|
|
|
|
// Mappings: If any of these bits are set, the corresponding input should be ignored.
|
|
// NOTE, when parsing the bits we invert them for easier interpretation but transport has them inverted
|
|
// bit 1: body roll rate
|
|
// bit 2: body pitch rate
|
|
// bit 3: body yaw rate
|
|
// bit 4: unknown
|
|
// bit 5: unknown
|
|
// bit 6: reserved
|
|
// bit 7: throttle
|
|
// bit 8: attitude
|
|
|
|
// if not setting all Quaternion values, use _rate flags to indicate which fields.
|
|
|
|
// Extract the Euler roll angle from the Quaternion.
|
|
Quaternion q(att_target.q[0], att_target.q[1],
|
|
att_target.q[2], att_target.q[3]);
|
|
|
|
// NOTE: att_target.type_mask is inverted for easier interpretation
|
|
att_target.type_mask = att_target.type_mask ^ 0xFF;
|
|
|
|
uint8_t attitude_mask = att_target.type_mask & 0b10000111; // q plus rpy
|
|
|
|
uint32_t now = AP_HAL::millis();
|
|
if ((attitude_mask & 0b10000001) || // partial, including roll
|
|
(attitude_mask == 0b10000000)) { // all angles
|
|
plane.guided_state.forced_rpy_cd.x = degrees(q.get_euler_roll()) * 100.0f;
|
|
|
|
// Update timer for external roll to the nav control
|
|
plane.guided_state.last_forced_rpy_ms.x = now;
|
|
}
|
|
|
|
if ((attitude_mask & 0b10000010) || // partial, including pitch
|
|
(attitude_mask == 0b10000000)) { // all angles
|
|
plane.guided_state.forced_rpy_cd.y = degrees(q.get_euler_pitch()) * 100.0f;
|
|
|
|
// Update timer for external pitch to the nav control
|
|
plane.guided_state.last_forced_rpy_ms.y = now;
|
|
}
|
|
|
|
if ((attitude_mask & 0b10000100) || // partial, including yaw
|
|
(attitude_mask == 0b10000000)) { // all angles
|
|
plane.guided_state.forced_rpy_cd.z = degrees(q.get_euler_yaw()) * 100.0f;
|
|
|
|
// Update timer for external yaw to the nav control
|
|
plane.guided_state.last_forced_rpy_ms.z = now;
|
|
}
|
|
if (att_target.type_mask & 0b01000000) { // throttle
|
|
plane.guided_state.forced_throttle = att_target.thrust * 100.0f;
|
|
|
|
// Update timer for external throttle
|
|
plane.guided_state.last_forced_throttle_ms = now;
|
|
}
|
|
|
|
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)) {
|
|
// don't allow the 0,0 position
|
|
break;
|
|
}
|
|
// 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;
|
|
plane.ahrs.set_home(new_home_loc);
|
|
plane.home_is_set = HOME_SET_NOT_LOCKED;
|
|
plane.Log_Write_Home_And_Origin();
|
|
GCS_MAVLINK::send_home_all(new_home_loc);
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
|
|
(double)(new_home_loc.lat*1.0e-7f),
|
|
(double)(new_home_loc.lng*1.0e-7f),
|
|
(uint32_t)(new_home_loc.alt*0.01f));
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
|
|
{
|
|
// Only want to allow companion computer position control when
|
|
// in a certain mode to avoid inadvertently sending these
|
|
// kinds of commands when the autopilot is responding to problems
|
|
// in modes such as RTL, CIRCLE, etc. Specifying ONLY one mode
|
|
// for companion computer control is more safe (provided
|
|
// one uses the FENCE_ACTION = 4 (RTL) for geofence failures).
|
|
if (plane.control_mode != GUIDED && plane.control_mode != AVOID_ADSB) {
|
|
//don't screw up failsafes
|
|
break;
|
|
}
|
|
|
|
mavlink_set_position_target_global_int_t pos_target;
|
|
mavlink_msg_set_position_target_global_int_decode(msg, &pos_target);
|
|
// Unexpectedly, the mask is expecting "ones" for dimensions that should
|
|
// be IGNORNED rather than INCLUDED. See mavlink documentation of the
|
|
// SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
|
|
const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3)
|
|
|
|
bool msg_valid = true;
|
|
AP_Mission::Mission_Command cmd = {0};
|
|
|
|
if (pos_target.type_mask & alt_mask)
|
|
{
|
|
cmd.content.location.alt = pos_target.alt * 100;
|
|
cmd.content.location.flags.relative_alt = false;
|
|
cmd.content.location.flags.terrain_alt = false;
|
|
switch (pos_target.coordinate_frame)
|
|
{
|
|
case MAV_FRAME_GLOBAL_INT:
|
|
break; //default to MSL altitude
|
|
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
|
|
cmd.content.location.flags.relative_alt = true;
|
|
break;
|
|
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
|
|
cmd.content.location.flags.relative_alt = true;
|
|
cmd.content.location.flags.terrain_alt = true;
|
|
break;
|
|
default:
|
|
plane.gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT");
|
|
msg_valid = false;
|
|
break;
|
|
}
|
|
|
|
if (msg_valid) {
|
|
handle_change_alt_request(cmd);
|
|
}
|
|
} // end if alt_mask
|
|
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_ADSB_VEHICLE:
|
|
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
|
|
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
|
|
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
|
|
plane.adsb.handle_message(chan, msg);
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_SETUP_SIGNING:
|
|
handle_setup_signing(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 Plane::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(MAV_SEVERITY_INFO, "Initialising APM");
|
|
}
|
|
check_usb_mux();
|
|
|
|
in_mavlink_delay = false;
|
|
}
|
|
|
|
/*
|
|
* send a message on both GCS links
|
|
*/
|
|
void Plane::gcs_send_message(enum ap_message id)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].send_message(id);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* send a mission item reached message and load the index before the send attempt in case it may get delayed
|
|
*/
|
|
void Plane::gcs_send_mission_item_reached_message(uint16_t mission_index)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].mission_item_reached_index = mission_index;
|
|
gcs[i].send_message(MSG_MISSION_ITEM_REACHED);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* send data streams in the given rate range on both links
|
|
*/
|
|
void Plane::gcs_data_stream_send(void)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].data_stream_send();
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* look for incoming commands on the GCS links
|
|
*/
|
|
void Plane::gcs_update(void)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
#if CLI_ENABLED == ENABLED
|
|
gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):NULL);
|
|
#else
|
|
gcs[i].update(NULL);
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
|
|
void Plane::gcs_send_text(MAV_SEVERITY severity, const char *str)
|
|
{
|
|
GCS_MAVLINK::send_statustext(severity, 0xFF, str);
|
|
}
|
|
|
|
/*
|
|
* send a low priority formatted message to the GCS
|
|
* only one fits in the queue, so if you send more than one before the
|
|
* last one gets into the serial buffer then the old one will be lost
|
|
*/
|
|
void Plane::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
|
|
{
|
|
char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
|
|
va_list arg_list;
|
|
va_start(arg_list, fmt);
|
|
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
|
|
va_end(arg_list);
|
|
GCS_MAVLINK::send_statustext(severity, 0xFF, str);
|
|
}
|
|
|
|
/*
|
|
send airspeed calibration data
|
|
*/
|
|
void Plane::gcs_send_airspeed_calibration(const Vector3f &vg)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
|
|
airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
retry any deferred messages
|
|
*/
|
|
void Plane::gcs_retry_deferred(void)
|
|
{
|
|
gcs_send_message(MSG_RETRY_DEFERRED);
|
|
GCS_MAVLINK::service_statustext();
|
|
}
|
|
|
|
/*
|
|
return true if we will accept this packet. Used to implement SYSID_ENFORCE
|
|
*/
|
|
bool GCS_MAVLINK_Plane::accept_packet(const mavlink_status_t &status, mavlink_message_t &msg)
|
|
{
|
|
if (!plane.g2.sysid_enforce) {
|
|
return true;
|
|
}
|
|
if (msg.msgid == MAVLINK_MSG_ID_RADIO || msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
|
|
return true;
|
|
}
|
|
return (msg.sysid == plane.g.sysid_my_gcs);
|
|
}
|