mirror of https://github.com/ArduPilot/ardupilot
296 lines
9.5 KiB
C++
296 lines
9.5 KiB
C++
#include "AP_Frsky_MAVliteMsgHandler.h"
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#include <AC_Fence/AC_Fence.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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#if HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL
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/*
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* Handle the COMMAND_LONG mavlite message
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* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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*/
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void AP_Frsky_MAVliteMsgHandler::handle_command_long(const AP_Frsky_MAVlite_Message &rxmsg)
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{
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mavlink_command_long_t mav_command_long {};
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uint8_t cmd_options;
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float params[7] {};
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if (!rxmsg.get_uint16(mav_command_long.command, 0)) {
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return;
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}
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if (!rxmsg.get_uint8(cmd_options, 2)) {
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return;
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}
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uint8_t param_count = AP_Frsky_MAVlite_Message::bit8_unpack(cmd_options, 3, 0); // first 3 bits
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for (uint8_t cmd_idx=0; cmd_idx<param_count; cmd_idx++) {
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// base offset is 3, relative offset is 4*cmd_idx
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if (!rxmsg.get_float(params[cmd_idx], 3+(4*cmd_idx))) {
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return;
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}
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}
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mav_command_long.param1 = params[0];
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mav_command_long.param2 = params[1];
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mav_command_long.param3 = params[2];
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mav_command_long.param4 = params[3];
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mav_command_long.param5 = params[4];
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mav_command_long.param6 = params[5];
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mav_command_long.param7 = params[6];
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const MAV_RESULT mav_result = handle_command(mav_command_long);
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send_command_ack(mav_result, mav_command_long.command);
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}
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MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command(const mavlink_command_long_t &mav_command_long)
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{
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// filter allowed commands
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switch (mav_command_long.command) {
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//case MAV_CMD_ACCELCAL_VEHICLE_POS:
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case MAV_CMD_DO_SET_MODE:
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return handle_command_do_set_mode(mav_command_long);
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//case MAV_CMD_DO_SET_HOME:
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#if AP_FENCE_ENABLED
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case MAV_CMD_DO_FENCE_ENABLE:
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return handle_command_do_fence_enable(mav_command_long);
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#endif
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case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
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return handle_command_preflight_reboot(mav_command_long);
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//case MAV_CMD_DO_START_MAG_CAL:
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//case MAV_CMD_DO_ACCEPT_MAG_CAL:
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//case MAV_CMD_DO_CANCEL_MAG_CAL:
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//case MAV_CMD_START_RX_PAIR:
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//case MAV_CMD_DO_DIGICAM_CONFIGURE:
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//case MAV_CMD_DO_DIGICAM_CONTROL:
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//case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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//case MAV_CMD_DO_GRIPPER:
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//case MAV_CMD_DO_MOUNT_CONFIGURE:
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//case MAV_CMD_DO_MOUNT_CONTROL:
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//case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
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//case MAV_CMD_DO_SET_ROI_SYSID:
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//case MAV_CMD_DO_SET_ROI_LOCATION:
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//case MAV_CMD_DO_SET_ROI:
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case MAV_CMD_PREFLIGHT_CALIBRATION:
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return handle_command_preflight_calibration_baro(mav_command_long);
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//case MAV_CMD_BATTERY_RESET:
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//case MAV_CMD_PREFLIGHT_UAVCAN:
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//case MAV_CMD_FLASH_BOOTLOADER:
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//case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
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//case MAV_CMD_GET_HOME_POSITION:
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//case MAV_CMD_PREFLIGHT_STORAGE:
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//case MAV_CMD_SET_MESSAGE_INTERVAL:
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//case MAV_CMD_GET_MESSAGE_INTERVAL:
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//case MAV_CMD_REQUEST_MESSAGE:
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//case MAV_CMD_DO_SET_SERVO:
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//case MAV_CMD_DO_REPEAT_SERVO:
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//case MAV_CMD_DO_SET_RELAY:
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//case MAV_CMD_DO_REPEAT_RELAY:
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//case MAV_CMD_DO_FLIGHTTERMINATION:
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//case MAV_CMD_COMPONENT_ARM_DISARM:
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//case MAV_CMD_FIXED_MAG_CAL_YAW:
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default:
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return MAV_RESULT_UNSUPPORTED;
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}
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return MAV_RESULT_UNSUPPORTED;
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}
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MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_do_set_mode(const mavlink_command_long_t &mav_command_long)
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{
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if (AP::vehicle()->set_mode(mav_command_long.param1, ModeReason::FRSKY_COMMAND)) {
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return MAV_RESULT_ACCEPTED;
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}
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return MAV_RESULT_FAILED;
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}
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void AP_Frsky_MAVliteMsgHandler::send_command_ack(const MAV_RESULT mav_result, const uint16_t cmdid)
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{
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AP_Frsky_MAVlite_Message txmsg;
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txmsg.msgid = MAVLINK_MSG_ID_COMMAND_ACK;
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if (!txmsg.set_uint16(cmdid, 0)) {
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return;
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}
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if (!txmsg.set_uint8((uint8_t)mav_result, 2)) {
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return;
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}
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send_message(txmsg);
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}
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MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_preflight_calibration_baro(const mavlink_command_long_t &mav_command_long)
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{
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if (!(is_equal(mav_command_long.param1,0.0f) && is_equal(mav_command_long.param2,0.0f) && is_equal(mav_command_long.param3,1.0f))) {
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return MAV_RESULT_FAILED;
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}
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if (hal.util->get_soft_armed()) {
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return MAV_RESULT_DENIED;
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}
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// fast barometer calibration
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Updating barometer calibration");
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AP::baro().update_calibration();
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Barometer calibration complete");
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#if AP_AIRSPEED_ENABLED
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AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
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if (airspeed != nullptr) {
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airspeed->calibrate(false);
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}
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#endif
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return MAV_RESULT_ACCEPTED;
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}
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#if AP_FENCE_ENABLED
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MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_do_fence_enable(const mavlink_command_long_t &mav_command_long)
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{
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AC_Fence *fence = AP::fence();
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if (fence == nullptr) {
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return MAV_RESULT_UNSUPPORTED;
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}
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switch ((uint16_t)mav_command_long.param1) {
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case 0:
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fence->enable_configured(false);
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return MAV_RESULT_ACCEPTED;
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case 1:
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fence->enable_configured(true);
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return MAV_RESULT_ACCEPTED;
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default:
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return MAV_RESULT_FAILED;
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}
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}
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#endif // AP_FENCE_ENABLED
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/*
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* Handle the PARAM_REQUEST_READ mavlite message
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* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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*/
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void AP_Frsky_MAVliteMsgHandler::handle_param_request_read(const AP_Frsky_MAVlite_Message &rxmsg)
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{
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float param_value;
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char param_name[AP_MAX_NAME_SIZE+1];
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if (!rxmsg.get_string(param_name, 0)) {
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return;
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}
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// find existing param
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if (!AP_Param::get(param_name,param_value)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Param read failed (%s)", param_name);
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return;
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}
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AP_Frsky_MAVlite_Message txmsg;
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txmsg.msgid = MAVLINK_MSG_ID_PARAM_VALUE;
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if (!txmsg.set_float(param_value, 0)) {
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return;
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}
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if (!txmsg.set_string(param_name, 4)) {
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return;
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}
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send_message(txmsg);
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}
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/*
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* Handle the PARAM_SET mavlite message
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* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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*/
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void AP_Frsky_MAVliteMsgHandler::handle_param_set(const AP_Frsky_MAVlite_Message &rxmsg)
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{
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float param_value;
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char param_name[AP_MAX_NAME_SIZE+1];
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// populate packet with mavlite payload
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if (!rxmsg.get_float(param_value, 0)) {
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return;
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}
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if (!rxmsg.get_string(param_name, 4)) {
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return;
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}
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// find existing param so we can get the old value
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enum ap_var_type var_type;
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// set parameter
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AP_Param *vp;
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uint16_t parameter_flags = 0;
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vp = AP_Param::find(param_name, &var_type, ¶meter_flags);
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if (vp == nullptr || isnan(param_value) || isinf(param_value)) {
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return;
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}
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if (parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) {
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// the user can set BRD_OPTIONS to enable set of internal
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// parameters, for developer testing or unusual use cases
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if (AP_BoardConfig::allow_set_internal_parameters()) {
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parameter_flags &= ~AP_PARAM_FLAG_INTERNAL_USE_ONLY;
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}
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}
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if ((parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) || vp->is_read_only()) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Param write denied (%s)", param_name);
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} else if (!AP_Param::set_and_save_by_name(param_name, param_value)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Param write failed (%s)", param_name);
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}
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// let's read back the last value, either the readonly one or the updated one
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if (!AP_Param::get(param_name,param_value)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Param read failed (%s)", param_name);
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return;
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}
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AP_Frsky_MAVlite_Message txmsg;
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txmsg.msgid = MAVLINK_MSG_ID_PARAM_VALUE;
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if (!txmsg.set_float(param_value, 0)) {
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return;
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}
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if (!txmsg.set_string(param_name, 4)) {
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return;
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}
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send_message(txmsg);
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}
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/*
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Handle a MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN command
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for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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Optionally disable PX4IO overrides. This is done for quadplanes to
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prevent the mixer running while rebooting which can start the VTOL
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motors. That can be dangerous when a preflight reboot is done with
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the pilot close to the aircraft and can also damage the aircraft
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*/
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MAV_RESULT AP_Frsky_MAVliteMsgHandler::handle_command_preflight_reboot(const mavlink_command_long_t &mav_command_long)
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{
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if (!(is_equal(mav_command_long.param1,1.0f) && is_zero(mav_command_long.param2))) {
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return MAV_RESULT_FAILED;
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}
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if (hal.util->get_soft_armed()) {
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// refuse reboot when armed
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return MAV_RESULT_FAILED;
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}
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AP::vehicle()->reboot(false);
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return MAV_RESULT_FAILED;
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}
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/*
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* Process an incoming mavlite message
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* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
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*/
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void AP_Frsky_MAVliteMsgHandler::process_message(const AP_Frsky_MAVlite_Message &rxmsg)
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{
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switch (rxmsg.msgid) {
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case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
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handle_param_request_read(rxmsg);
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break;
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case MAVLINK_MSG_ID_PARAM_SET:
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handle_param_set(rxmsg);
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break;
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case MAVLINK_MSG_ID_COMMAND_LONG:
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handle_command_long(rxmsg);
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break;
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}
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}
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/*
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* Send a mavlite message
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*/
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bool AP_Frsky_MAVliteMsgHandler::send_message(AP_Frsky_MAVlite_Message &txmsg)
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{
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return _send_fn(txmsg);
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}
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#endif
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