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16cdf64d63
ardupilot/ArduPlane/GCS_Mavlink.pde
Andrew Tridgell 16cdf64d63 Plane: added CLI_ENABLED option 
this disables using CLI by default, even if compiled in. This is
needed to make standard firmwares work well with companion computers
where the CLI may cause startup issues
2015-03-09 17:58:37 +11:00

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_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)
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
// true if we are out of time in our event timeslice
static bool gcs_out_of_time;
/*
* !!NOTE!!
*
* the use of NOINLINE separate functions for each message type avoids
* a compiler bug in gcc that would cause it to use far more stack
* space than is needed. Without the NOINLINE we use the sum of the
* stack needed for each message type. Please be careful to follow the
* pattern below when adding any new messages
*/
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
{
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
uint8_t system_status = is_flying() ? MAV_STATE_ACTIVE : MAV_STATE_STANDBY;
uint32_t custom_mode = control_mode;
if (failsafe.state != FAILSAFE_NONE) {
system_status = MAV_STATE_CRITICAL;
}
// work out the base_mode. This value is not very useful
// for APM, but we calculate it as best we can so a generic
// MAVLink enabled ground station can work out something about
// what the MAV is up to. The actual bit values are highly
// ambiguous for most of the APM flight modes. In practice, you
// only get useful information from the custom_mode, which maps to
// the APM flight mode and has a well defined meaning in the
// ArduPlane documentation
switch (control_mode) {
case MANUAL:
case TRAINING:
case ACRO:
base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case STABILIZE:
case FLY_BY_WIRE_A:
case AUTOTUNE:
case FLY_BY_WIRE_B:
case CRUISE:
base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
break;
case AUTO:
case RTL:
case LOITER:
case GUIDED:
case CIRCLE:
base_mode = MAV_MODE_FLAG_GUIDED_ENABLED |
MAV_MODE_FLAG_STABILIZE_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do
break;
case INITIALISING:
system_status = MAV_STATE_CALIBRATING;
break;
}
if (!training_manual_pitch || !training_manual_roll) {
base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
}
if (control_mode != MANUAL && control_mode != INITIALISING) {
// stabiliser of some form is enabled
base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
}
if (g.stick_mixing != STICK_MIXING_DISABLED && control_mode != INITIALISING) {
// all modes except INITIALISING have some form of manual
// override if stick mixing is enabled
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
#if HIL_MODE != HIL_MODE_DISABLED
base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
#endif
// we are armed if we are not initialising
if (control_mode != INITIALISING && hal.util->get_soft_armed()) {
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
// indicate we have set a custom mode
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
mavlink_msg_heartbeat_send(
chan,
MAV_TYPE_FIXED_WING,
MAV_AUTOPILOT_ARDUPILOTMEGA,
base_mode,
custom_mode,
system_status);
}
static NOINLINE void send_attitude(mavlink_channel_t chan)
{
Vector3f omega = ahrs.get_gyro();
mavlink_msg_attitude_send(
chan,
millis(),
ahrs.roll,
ahrs.pitch - radians(g.pitch_trim_cd*0.01),
ahrs.yaw,
omega.x,
omega.y,
omega.z);
}
#if GEOFENCE_ENABLED == ENABLED
static NOINLINE void send_fence_status(mavlink_channel_t chan)
{
geofence_send_status(chan);
}
#endif
static NOINLINE void send_extended_status1(mavlink_channel_t chan)
{
uint32_t control_sensors_present;
uint32_t control_sensors_enabled;
uint32_t control_sensors_health;
// default sensors present
control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
// first what sensors/controllers we have
if (g.compass_enabled) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
}
if (airspeed.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
if (gps.status() > AP_GPS::NO_GPS) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
}
#if OPTFLOW == ENABLED
if (optflow.enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
if (geofence_present()) {
control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
}
// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control, geofence and motor output which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & ~MAV_SYS_STATUS_SENSOR_YAW_POSITION & ~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_GEOFENCE);
if (airspeed.enabled() && airspeed.use()) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
if (geofence_enabled()) {
control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
}
switch (control_mode) {
case MANUAL:
break;
case ACRO:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
break;
case STABILIZE:
case FLY_BY_WIRE_A:
case AUTOTUNE:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
break;
case FLY_BY_WIRE_B:
case CRUISE:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
break;
case TRAINING:
if (!training_manual_roll || !training_manual_pitch) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
}
break;
case AUTO:
case RTL:
case LOITER:
case GUIDED:
case CIRCLE:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; // altitude control
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
break;
case INITIALISING:
break;
}
// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
}
// default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE. GEOFENCE always defaults to healthy.
control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
MAV_SYS_STATUS_SENSOR_3D_MAG |
MAV_SYS_STATUS_SENSOR_GPS |
MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
if (ahrs.initialised() && !ahrs.healthy()) {
// AHRS subsystem is unhealthy
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}
if (ahrs.have_inertial_nav() && !ins.calibrated()) {
// trying to use EKF without properly calibrated accelerometers
control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
}
if (barometer.all_healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
}
if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
}
#if OPTFLOW == ENABLED
if (optflow.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
}
#endif
if (!ins.get_gyro_health_all() || (!g.skip_gyro_cal && !ins.gyro_calibrated_ok_all())) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
}
if (!ins.get_accel_health_all()) {
control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
}
if (airspeed.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
}
if (geofence_breached()) {
control_sensors_health &= ~MAV_SYS_STATUS_GEOFENCE;
}
int16_t battery_current = -1;
int8_t battery_remaining = -1;
if (battery.has_current()) {
battery_remaining = battery.capacity_remaining_pct();
battery_current = battery.current_amps() * 100;
}
#if AP_TERRAIN_AVAILABLE
switch (terrain.status()) {
case AP_Terrain::TerrainStatusDisabled:
break;
case AP_Terrain::TerrainStatusUnhealthy:
control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
break;
case AP_Terrain::TerrainStatusOK:
control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
break;
}
#endif
if (rangefinder.num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
if (g.rangefinder_landing) {
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
if (rangefinder.healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
}
}
if (AP_Notify::flags.initialising) {
// while initialising the gyros and accels are not enabled
control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
}
mavlink_msg_sys_status_send(
chan,
control_sensors_present,
control_sensors_enabled,
control_sensors_health,
(uint16_t)(scheduler.load_average(20000) * 1000),
battery.voltage() * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %
0, // comm drops %,
0, // comm drops in pkts,
0, 0, 0, 0);
}
static void NOINLINE send_location(mavlink_channel_t chan)
{
uint32_t fix_time_ms;
// if we have a GPS fix, take the time as the last fix time. That
// allows us to correctly calculate velocities and extrapolate
// positions.
// If we don't have a GPS fix then we are dead reckoning, and will
// use the current boot time as the fix time.
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
fix_time_ms = gps.last_fix_time_ms();
} else {
fix_time_ms = hal.scheduler->millis();
}
const Vector3f &vel = gps.velocity();
mavlink_msg_global_position_int_send(
chan,
fix_time_ms,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
gps.location().alt * 10UL, // millimeters above sea level
relative_altitude() * 1.0e3f, // millimeters above ground
vel.x * 100, // X speed cm/s (+ve North)
vel.y * 100, // Y speed cm/s (+ve East)
vel.z * -100, // Z speed cm/s (+ve up)
ahrs.yaw_sensor);
}
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
{
mavlink_msg_nav_controller_output_send(
chan,
nav_roll_cd * 0.01,
nav_pitch_cd * 0.01,
nav_controller->nav_bearing_cd() * 0.01f,
nav_controller->target_bearing_cd() * 0.01f,
auto_state.wp_distance,
altitude_error_cm * 0.01,
airspeed_error_cm,
nav_controller->crosstrack_error());
}
#if HIL_MODE != HIL_MODE_DISABLED
void NOINLINE send_servo_out(mavlink_channel_t chan)
{
// normalized values scaled to -10000 to 10000
// This is used for HIL. Do not change without discussing with
// HIL maintainers
mavlink_msg_rc_channels_scaled_send(
chan,
millis(),
0, // port 0
10000 * channel_roll->norm_output() * (channel_roll->get_reverse()?-1:1),
10000 * channel_pitch->norm_output() * (channel_pitch->get_reverse()?-1:1),
10000 * channel_throttle->norm_output() * (channel_throttle->get_reverse()?-1:1),
10000 * channel_rudder->norm_output() * (channel_rudder->get_reverse()?-1:1),
0,
0,
0,
0,
receiver_rssi);
}
#endif
static void NOINLINE send_radio_out(mavlink_channel_t chan)
{
#if HIL_MODE != HIL_MODE_DISABLED
if (!g.hil_servos) {
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
RC_Channel::rc_channel(0)->radio_out,
RC_Channel::rc_channel(1)->radio_out,
RC_Channel::rc_channel(2)->radio_out,
RC_Channel::rc_channel(3)->radio_out,
RC_Channel::rc_channel(4)->radio_out,
RC_Channel::rc_channel(5)->radio_out,
RC_Channel::rc_channel(6)->radio_out,
RC_Channel::rc_channel(7)->radio_out);
return;
}
#endif
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
hal.rcout->read(0),
hal.rcout->read(1),
hal.rcout->read(2),
hal.rcout->read(3),
hal.rcout->read(4),
hal.rcout->read(5),
hal.rcout->read(6),
hal.rcout->read(7));
}
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
{
float aspeed;
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,
throttle_percentage(),
current_loc.alt / 100.0,
barometer.get_climb_rate());
}
#if HIL_MODE != HIL_MODE_DISABLED
/*
keep last HIL_STATE message to allow sending SIM_STATE
*/
static mavlink_hil_state_t last_hil_state;
#endif
// report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
sitl.simstate_send(chan);
#elif HIL_MODE != HIL_MODE_DISABLED
mavlink_msg_simstate_send(chan,
last_hil_state.roll,
last_hil_state.pitch,
last_hil_state.yaw,
last_hil_state.xacc*0.001*GRAVITY_MSS,
last_hil_state.yacc*0.001*GRAVITY_MSS,
last_hil_state.zacc*0.001*GRAVITY_MSS,
last_hil_state.rollspeed,
last_hil_state.pitchspeed,
last_hil_state.yawspeed,
last_hil_state.lat,
last_hil_state.lon);
#endif
}
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
{
mavlink_msg_hwstatus_send(
chan,
hal.analogin->board_voltage()*1000,
hal.i2c->lockup_count());
}
static void NOINLINE 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);
}
static void NOINLINE send_rangefinder(mavlink_channel_t chan)
{
if (!rangefinder.healthy()) {
// no sonar to report
return;
}
mavlink_msg_rangefinder_send(
chan,
rangefinder.distance_cm() * 0.01f,
rangefinder.voltage_mv()*0.001f);
}
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
}
static void NOINLINE send_statustext(mavlink_channel_t chan)
{
mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
mavlink_msg_statustext_send(
chan,
s->severity,
s->text);
}
// are we still delaying telemetry to try to avoid Xbee bricking?
static bool telemetry_delayed(mavlink_channel_t chan)
{
uint32_t tnow = millis() >> 10;
if (tnow > (uint32_t)g.telem_delay) {
return false;
}
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
// this is USB telemetry, so won't be an Xbee
return false;
}
// we're either on the 2nd UART, or no USB cable is connected
// we need to delay telemetry by the TELEM_DELAY time
return true;
}
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (txspace < MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_ ## id ## _LEN) return false
// try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK::try_send_message(enum ap_message id)
{
uint16_t txspace = comm_get_txspace(chan);
if (telemetry_delayed(chan)) {
return false;
}
// if we don't have at least 1ms remaining before the main loop
// wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications
if (!in_mavlink_delay && scheduler.time_available_usec() < 1200) {
gcs_out_of_time = true;
return false;
}
switch (id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis();
send_heartbeat(chan);
return true;
case MSG_EXTENDED_STATUS1:
CHECK_PAYLOAD_SIZE(SYS_STATUS);
send_extended_status1(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS);
gcs[chan-MAVLINK_COMM_0].send_power_status();
break;
case MSG_EXTENDED_STATUS2:
CHECK_PAYLOAD_SIZE(MEMINFO);
gcs[chan-MAVLINK_COMM_0].send_meminfo();
break;
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
send_attitude(chan);
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
send_location(chan);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
if (control_mode != MANUAL) {
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
send_nav_controller_output(chan);
}
break;
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
gcs[chan-MAVLINK_COMM_0].send_gps_raw(gps);
break;
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
gcs[chan-MAVLINK_COMM_0].send_system_time(gps);
break;
case MSG_SERVO_OUT:
#if HIL_MODE != HIL_MODE_DISABLED
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
send_servo_out(chan);
#endif
break;
case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
gcs[chan-MAVLINK_COMM_0].send_radio_in(receiver_rssi);
break;
case MSG_RADIO_OUT:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
send_radio_out(chan);
break;
case MSG_VFR_HUD:
CHECK_PAYLOAD_SIZE(VFR_HUD);
send_vfr_hud(chan);
break;
case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU);
gcs[chan-MAVLINK_COMM_0].send_raw_imu(ins, compass);
break;
case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(barometer);
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(ins, compass, barometer);
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
send_current_waypoint(chan);
break;
case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
gcs[chan-MAVLINK_COMM_0].queued_param_send();
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
gcs[chan-MAVLINK_COMM_0].queued_waypoint_send();
break;
case MSG_STATUSTEXT:
CHECK_PAYLOAD_SIZE(STATUSTEXT);
send_statustext(chan);
break;
#if GEOFENCE_ENABLED == ENABLED
case MSG_FENCE_STATUS:
CHECK_PAYLOAD_SIZE(FENCE_STATUS);
send_fence_status(chan);
break;
#endif
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
gcs[chan-MAVLINK_COMM_0].send_ahrs(ahrs);
break;
case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate(chan);
CHECK_PAYLOAD_SIZE(AHRS2);
gcs[chan-MAVLINK_COMM_0].send_ahrs2(ahrs);
break;
case MSG_HWSTATUS:
CHECK_PAYLOAD_SIZE(HWSTATUS);
send_hwstatus(chan);
break;
case MSG_RANGEFINDER:
CHECK_PAYLOAD_SIZE(RANGEFINDER);
send_rangefinder(chan);
break;
case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
terrain.send_request(chan);
#endif
break;
case MSG_CAMERA_FEEDBACK:
#if CAMERA == ENABLED
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
camera.send_feedback(chan, gps, ahrs, current_loc);
#endif
break;
case MSG_BATTERY2:
CHECK_PAYLOAD_SIZE(BATTERY2);
gcs[chan-MAVLINK_COMM_0].send_battery2(battery);
break;
case MSG_WIND:
CHECK_PAYLOAD_SIZE(WIND);
send_wind(chan);
break;
case MSG_MOUNT_STATUS:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
camera_mount.status_msg(chan);
#endif // MOUNT == ENABLED
break;
case MSG_OPTICAL_FLOW:
#if OPTFLOW == ENABLED
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
gcs[chan-MAVLINK_COMM_0].send_opticalflow(ahrs, optflow);
#endif
break;
case MSG_RETRY_DEFERRED:
break; // just here to prevent a warning
case MSG_LIMITS_STATUS:
case MSG_GIMBAL_REPORT:
// unused
break;
}
return true;
}
/*
default stream rates to 1Hz
*/
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Raw sensor stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 1),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Extended status stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 1),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
// @Description: RC Channel stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 1),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Raw Control stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 1),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Position stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 1),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Extra data type 1 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 1),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
// @Description: Extra data type 2 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 1),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Extra data type 3 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 1),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
// @Description: Parameter stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10),
AP_GROUPEND
};
// see if we should send a stream now. Called at 50Hz
bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
{
if (stream_num >= NUM_STREAMS) {
return false;
}
float rate = (uint8_t)streamRates[stream_num].get();
// send at a much lower rate while handling waypoints and
// parameter sends
if ((stream_num != STREAM_PARAMS) &&
(waypoint_receiving || _queued_parameter != NULL)) {
rate *= 0.25f;
}
if (rate <= 0) {
return false;
}
if (stream_ticks[stream_num] == 0) {
// we're triggering now, setup the next trigger point
if (rate > 50) {
rate = 50;
}
stream_ticks[stream_num] = (50 / rate) - 1 + stream_slowdown;
return true;
}
// count down at 50Hz
stream_ticks[stream_num]--;
return false;
}
void
GCS_MAVLINK::data_stream_send(void)
{
gcs_out_of_time = false;
if (!in_mavlink_delay) {
handle_log_send(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 (gcs_out_of_time) return;
if (in_mavlink_delay) {
#if HIL_MODE != HIL_MODE_DISABLED
// in HIL we need to keep sending servo values to ensure
// the simulator doesn't pause, otherwise our sensor
// calibration could stall
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUT);
}
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_RADIO_OUT);
}
#endif
// don't send any other stream types while in the delay callback
return;
}
if (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 (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);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_POSITION)) {
// sent with GPS read
send_message(MSG_LOCATION);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUT);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_RADIO_OUT);
send_message(MSG_RADIO_IN);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
send_message(MSG_SIMSTATE);
}
if (gcs_out_of_time) return;
if (stream_trigger(STREAM_EXTRA2)) {
send_message(MSG_VFR_HUD);
}
if (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_BATTERY2);
send_message(MSG_MOUNT_STATUS);
send_message(MSG_OPTICAL_FLOW);
}
}
/*
handle a request to switch to guided mode. This happens via a
callback from handle_mission_item()
*/
void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
guided_WP_loc = cmd.content.location;
// add home alt if needed
if (guided_WP_loc.flags.relative_alt) {
guided_WP_loc.alt += home.alt;
guided_WP_loc.flags.relative_alt = 0;
}
set_mode(GUIDED);
// make any new wp uploaded instant (in case we are already in Guided mode)
set_guided_WP();
}
/*
handle a request to change current WP altitude. This happens via a
callback from handle_mission_item()
*/
void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
{
next_WP_loc.alt = cmd.content.location.alt;
if (cmd.content.location.flags.relative_alt) {
next_WP_loc.alt += home.alt;
}
next_WP_loc.flags.relative_alt = false;
next_WP_loc.flags.terrain_alt = cmd.content.location.flags.terrain_alt;
reset_offset_altitude();
}
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
handle_request_data_stream(msg, true);
break;
}
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
send_text_P(SEVERITY_LOW,PSTR("command received: "));
switch(packet.command) {
case MAV_CMD_NAV_LOITER_UNLIM:
set_mode(LOITER);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
set_mode(RTL);
result = MAV_RESULT_ACCEPTED;
break;
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
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 (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
#endif
case MAV_CMD_MISSION_START:
set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_PREFLIGHT_CALIBRATION:
if (packet.param3 == 1) {
in_calibration = true;
init_barometer();
if (airspeed.enabled()) {
zero_airspeed(false);
}
in_calibration = false;
result = MAV_RESULT_ACCEPTED;
} else if (packet.param1 == 1 ||
packet.param2 == 1) {
startup_INS_ground(true);
result = MAV_RESULT_ACCEPTED;
} else if (packet.param4 == 1) {
trim_radio();
result = MAV_RESULT_ACCEPTED;
}
else if (packet.param5 == 1) {
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this);
if (g.skip_gyro_cal) {
// start with gyro calibration, otherwise if the user
// has SKIP_GYRO_CAL=1 they don't get to do it
ins.init_gyro();
}
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
}
else {
send_text_P(SEVERITY_LOW, PSTR("Unsupported preflight calibration"));
}
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
if (packet.param1 == 2) {
// save first compass's offsets
compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
if (packet.param1 == 5) {
// save secondary compass's offsets
compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.param1 == 1.0f) {
// run pre_arm_checks and arm_checks and display failures
if (arming.arm(AP_Arming::MAVLINK)) {
//only log if arming was successful
channel_throttle->enable_out();
change_arm_state();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (packet.param1 == 0.0f) {
if (arming.disarm()) {
if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) {
channel_throttle->disable_out();
}
if (control_mode != AUTO) {
// reset the mission on disarm if we are not in auto
mission.reset();
}
// suppress the throttle in auto-throttle modes
throttle_suppressed = auto_throttle_mode;
//only log if disarming was successful
change_arm_state();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_SET_MODE:
switch ((uint16_t)packet.param1) {
case MAV_MODE_MANUAL_ARMED:
case MAV_MODE_MANUAL_DISARMED:
set_mode(MANUAL);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_AUTO_ARMED:
case MAV_MODE_AUTO_DISARMED:
set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_STABILIZE_DISARMED:
case MAV_MODE_STABILIZE_ARMED:
set_mode(FLY_BY_WIRE_A);
result = MAV_RESULT_ACCEPTED;
break;
default:
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_SET_SERVO:
if (ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_SERVO:
if (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 (ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_RELAY:
if (ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (packet.param1 == 1 || packet.param1 == 3) {
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(packet.param1 == 3);
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_LAND_START:
result = MAV_RESULT_FAILED;
// attempt to switch to next DO_LAND_START command in the mission
if (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 coudld be dangerous.
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {
//Just tell the autopilot we're done landing so it will
//proceed to the next mission item. If there is no next mission
//item the plane will head to home point and loiter.
auto_state.commanded_go_around = true;
result = MAV_RESULT_ACCEPTED;
gcs_send_text_P(SEVERITY_HIGH,PSTR("Go around command accepted."));
} else {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Rejected go around command."));
}
break;
case MAV_CMD_DO_FENCE_ENABLE:
result = MAV_RESULT_ACCEPTED;
if (!geofence_present()) {
result = MAV_RESULT_FAILED;
} switch((uint16_t)packet.param1) {
case 0:
if (! geofence_set_enabled(false, GCS_TOGGLED)) {
result = MAV_RESULT_FAILED;
}
break;
case 1:
if (! geofence_set_enabled(true, GCS_TOGGLED)) {
result = MAV_RESULT_FAILED;
}
break;
default:
result = MAV_RESULT_FAILED;
break;
}
break;
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (packet.param1 == 1) {
gcs[chan-MAVLINK_COMM_0].send_autopilot_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 (packet.param1 == 1) {
init_home();
} else {
if (packet.param5 == 0 && packet.param6 == 0 && packet.param7 == 0) {
// don't allow the 0,0 position
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);
ahrs.set_home(new_home_loc);
home_is_set = HOME_SET_NOT_LOCKED;
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, mavlink_set_mode);
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(mission, msg);
break;
}
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
handle_mission_request(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_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
#endif
handle_param_request_list(msg);
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
handle_param_request_read(msg);
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
handle_mission_clear_all(mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
// disable cross-track when user asks for WP change, to
// prevent unexpected flight paths
auto_state.next_wp_no_crosstrack = true;
handle_mission_set_current(mission, msg);
if (control_mode == AUTO && mission.state() == AP_Mission::MISSION_STOPPED) {
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(mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
{
handle_mission_write_partial_list(mission, msg);
break;
}
// GCS has sent us a command from GCS, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM:
{
handle_mission_item(msg, 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 (g.fence_action != FENCE_ACTION_NONE) {
send_text_P(SEVERITY_LOW,PSTR("fencing must be disabled"));
} else if (packet.count != g.fence_total) {
send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
} else {
Vector2l point;
point.x = packet.lat*1.0e7f;
point.y = packet.lng*1.0e7f;
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 >= g.fence_total) {
send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
} else {
Vector2l point = get_fence_point_with_index(packet.idx);
mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, g.fence_total,
point.x*1.0e-7, point.y*1.0e-7);
}
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 >= rally.get_rally_total() ||
packet.idx >= rally.get_rally_max()) {
send_text_P(SEVERITY_LOW,PSTR("bad rally point message ID"));
break;
}
if (packet.count != rally.get_rally_total()) {
send_text_P(SEVERITY_LOW,PSTR("bad rally point message count"));
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;
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 > rally.get_rally_total()) {
send_text_P(SEVERITY_LOW, PSTR("bad rally point index"));
break;
}
RallyLocation rally_point;
if (!rally.get_rally_point_with_index(packet.idx, rally_point)) {
send_text_P(SEVERITY_LOW, PSTR("failed to set rally point"));
break;
}
mavlink_msg_rally_point_send_buf(msg,
chan, msg->sysid, msg->compid, packet.idx,
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, &DataFlash);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
// and RC PWM values.
if(msg->sysid != 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)) {
failsafe.last_valid_rc_ms = hal.scheduler->millis();
}
// a RC override message is consiered to be a 'heartbeat' from
// the ground station for failsafe purposes
failsafe.last_heartbeat_ms = 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 != g.sysid_my_gcs) break;
failsafe.last_heartbeat_ms = millis();
break;
}
#if HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_HIL_STATE:
{
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
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
airspeed.setHIL(sq(vel.length()) / 2.0f + 2013);
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
packet.time_usec/1000,
loc, vel, 10, 0, true);
// rad/sec
Vector3f gyros;
gyros.x = packet.rollspeed;
gyros.y = packet.pitchspeed;
gyros.z = packet.yawspeed;
// m/s/s
Vector3f accels;
accels.x = packet.xacc * (GRAVITY_MSS/1000.0);
accels.y = packet.yacc * (GRAVITY_MSS/1000.0);
accels.z = packet.zacc * (GRAVITY_MSS/1000.0);
ins.set_gyro(0, gyros);
ins.set_accel(0, accels);
barometer.setHIL(packet.alt*0.001f);
compass.setHIL(packet.roll, packet.pitch, packet.yaw);
// cope with DCM getting badly off due to HIL lag
if (g.hil_err_limit > 0 &&
(fabsf(packet.roll - ahrs.roll) > ToRad(g.hil_err_limit) ||
fabsf(packet.pitch - ahrs.pitch) > ToRad(g.hil_err_limit) ||
wrap_PI(fabsf(packet.yaw - ahrs.yaw)) > ToRad(g.hil_err_limit))) {
ahrs.reset_attitude(packet.roll, packet.pitch, packet.yaw);
}
break;
}
#endif // HIL_MODE
#if CAMERA == ENABLED
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
{
break;
}
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
{
do_take_picture();
break;
}
#endif // CAMERA == ENABLED
#if MOUNT == ENABLED
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
{
camera_mount.configure_msg(msg);
break;
}
case MAVLINK_MSG_ID_MOUNT_CONTROL:
{
camera_mount.control_msg(msg);
break;
}
#endif // MOUNT == ENABLED
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{
handle_radio_status(msg, DataFlash, should_log(MASK_LOG_PM));
break;
}
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
case MAVLINK_MSG_ID_LOG_ERASE:
in_log_download = true;
// fallthru
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
if (!in_mavlink_delay) {
handle_log_message(msg, DataFlash);
}
break;
case MAVLINK_MSG_ID_LOG_REQUEST_END:
in_log_download = false;
if (!in_mavlink_delay) {
handle_log_message(msg, DataFlash);
}
break;
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_serial_control(msg, gps);
break;
#endif
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE
terrain.handle_data(chan, msg);
#endif
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
break;
} // end switch
} // end handle mavlink
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
* MAVLink to process packets while waiting for the initialisation to
* complete
*/
static void mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs[0].initialised || in_mavlink_delay) return;
in_mavlink_delay = true;
uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_message(MSG_HEARTBEAT);
gcs_send_message(MSG_EXTENDED_STATUS1);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
}
check_usb_mux();
in_mavlink_delay = false;
}
/*
* send a message on both GCS links
*/
static void 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 data streams in the given rate range on both links
*/
static void 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
*/
static void 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?run_cli:NULL);
#else
gcs[i].update(NULL);
#endif
}
}
}
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].send_text_P(severity, str);
}
}
#if LOGGING_ENABLED == ENABLED
DataFlash.Log_Write_Message_P(str);
#endif
}
/*
* 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 gcs_send_text_fmt(const prog_char_t *fmt, ...)
{
va_list arg_list;
gcs[0].pending_status.severity = (uint8_t)SEVERITY_LOW;
va_start(arg_list, fmt);
hal.util->vsnprintf_P((char *)gcs[0].pending_status.text,
sizeof(gcs[0].pending_status.text), fmt, arg_list);
va_end(arg_list);
#if LOGGING_ENABLED == ENABLED
DataFlash.Log_Write_Message(gcs[0].pending_status.text);
#endif
gcs[0].send_message(MSG_STATUSTEXT);
for (uint8_t i=1; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].pending_status = gcs[0].pending_status;
gcs[i].send_message(MSG_STATUSTEXT);
}
}
}
/*
send airspeed calibration data
*/
static void gcs_send_airspeed_calibration(const Vector3f &vg)
{
for (uint8_t i=0; i<num_gcs; i++) {
if (gcs[i].initialised) {
if (comm_get_txspace((mavlink_channel_t)i) - MAVLINK_NUM_NON_PAYLOAD_BYTES >=
MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN) {
airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
}
}
}
}
/**
retry any deferred messages
*/
static void gcs_retry_deferred(void)
{
gcs_send_message(MSG_RETRY_DEFERRED);
}
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