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20b35a4440
ardupilot/ArduCopter/GCS_Mavlink.cpp
Randy Mackay 07d99bec9f Copter: reject reboot request from GCS if auto esc cal on next reboot 
this resolves an edge case in which the motors could spin up on the next reboot because the user didn't unplug the battery to reboot the flight controller
2020-02-05 10:13:53 +11:00

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#include "Copter.h"
#include "GCS_Mavlink.h"
/*
* !!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
*/
MAV_TYPE GCS_Copter::frame_type() const
{
return copter.get_frame_mav_type();
}
MAV_MODE GCS_MAVLINK_Copter::base_mode() const
{
uint8_t _base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
// 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 (copter.control_mode) {
case Mode::Number::AUTO:
case Mode::Number::RTL:
case Mode::Number::LOITER:
case Mode::Number::AVOID_ADSB:
case Mode::Number::FOLLOW:
case Mode::Number::GUIDED:
case Mode::Number::CIRCLE:
case Mode::Number::POSHOLD:
case Mode::Number::BRAKE:
case Mode::Number::SMART_RTL:
_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do
break;
default:
break;
}
// 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 (copter.motors != nullptr && copter.motors->armed()) {
_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
// indicate we have set a custom mode
_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
return (MAV_MODE)_base_mode;
}
uint32_t GCS_Copter::custom_mode() const
{
return (uint32_t)copter.control_mode;
}
MAV_STATE GCS_MAVLINK_Copter::system_status() const
{
// set system as critical if any failsafe have triggered
if (copter.any_failsafe_triggered()) {
return MAV_STATE_CRITICAL;
}
if (copter.ap.land_complete) {
return MAV_STATE_STANDBY;
}
return MAV_STATE_ACTIVE;
}
void GCS_MAVLINK_Copter::send_position_target_global_int()
{
Location target;
if (!copter.flightmode->get_wp(target)) {
return;
}
mavlink_msg_position_target_global_int_send(
chan,
AP_HAL::millis(), // time_boot_ms
MAV_FRAME_GLOBAL, // targets are always global altitude
0xFFF8, // ignore everything except the x/y/z components
target.lat, // latitude as 1e7
target.lng, // longitude as 1e7
target.alt * 0.01f, // altitude is sent as a float
0.0f, // vx
0.0f, // vy
0.0f, // vz
0.0f, // afx
0.0f, // afy
0.0f, // afz
0.0f, // yaw
0.0f); // yaw_rate
}
void GCS_MAVLINK_Copter::send_position_target_local_ned()
{
#if MODE_GUIDED_ENABLED == ENABLED
if (!copter.flightmode->in_guided_mode()) {
return;
}
const GuidedMode guided_mode = copter.mode_guided.mode();
Vector3f target_pos;
Vector3f target_vel;
uint16_t type_mask;
if (guided_mode == Guided_WP) {
type_mask = 0x0FF8; // ignore everything except position
target_pos = copter.wp_nav->get_wp_destination() * 0.01f; // convert to metres
} else if (guided_mode == Guided_Velocity) {
type_mask = 0x0FC7; // ignore everything except velocity
target_vel = copter.flightmode->get_desired_velocity() * 0.01f; // convert to m/s
} else {
type_mask = 0x0FC0; // ignore everything except position & velocity
target_pos = copter.wp_nav->get_wp_destination() * 0.01f;
target_vel = copter.flightmode->get_desired_velocity() * 0.01f;
}
mavlink_msg_position_target_local_ned_send(
chan,
AP_HAL::millis(), // time boot ms
MAV_FRAME_LOCAL_NED,
type_mask,
target_pos.x, // x in metres
target_pos.y, // y in metres
-target_pos.z, // z in metres NED frame
target_vel.x, // vx in m/s
target_vel.y, // vy in m/s
-target_vel.z, // vz in m/s NED frame
0.0f, // afx
0.0f, // afy
0.0f, // afz
0.0f, // yaw
0.0f); // yaw_rate
#endif
}
void GCS_MAVLINK_Copter::send_nav_controller_output() const
{
if (!copter.ap.initialised) {
return;
}
const Vector3f &targets = copter.attitude_control->get_att_target_euler_cd();
const Mode *flightmode = copter.flightmode;
mavlink_msg_nav_controller_output_send(
chan,
targets.x * 1.0e-2f,
targets.y * 1.0e-2f,
targets.z * 1.0e-2f,
flightmode->wp_bearing() * 1.0e-2f,
MIN(flightmode->wp_distance() * 1.0e-2f, UINT16_MAX),
copter.pos_control->get_alt_error() * 1.0e-2f,
0,
flightmode->crosstrack_error() * 1.0e-2f);
}
int16_t GCS_MAVLINK_Copter::vfr_hud_throttle() const
{
if (copter.motors == nullptr) {
return 0;
}
return (int16_t)(copter.motors->get_throttle() * 100);
}
/*
send PID tuning message
*/
void GCS_MAVLINK_Copter::send_pid_tuning()
{
const Vector3f &gyro = AP::ahrs().get_gyro();
static const PID_TUNING_AXIS axes[] = {
PID_TUNING_ROLL,
PID_TUNING_PITCH,
PID_TUNING_YAW,
PID_TUNING_ACCZ
};
for (uint8_t i=0; i<ARRAY_SIZE(axes); i++) {
if (!(copter.g.gcs_pid_mask & (1<<(axes[i]-1)))) {
continue;
}
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
const AP_Logger::PID_Info *pid_info = nullptr;
float achieved;
switch (axes[i]) {
case PID_TUNING_ROLL:
pid_info = &copter.attitude_control->get_rate_roll_pid().get_pid_info();
achieved = degrees(gyro.x);
break;
case PID_TUNING_PITCH:
pid_info = &copter.attitude_control->get_rate_pitch_pid().get_pid_info();
achieved = degrees(gyro.y);
break;
case PID_TUNING_YAW:
pid_info = &copter.attitude_control->get_rate_yaw_pid().get_pid_info();
achieved = degrees(gyro.z);
break;
case PID_TUNING_ACCZ:
pid_info = &copter.pos_control->get_accel_z_pid().get_pid_info();
achieved = -(AP::ahrs().get_accel_ef_blended().z + GRAVITY_MSS);
break;
default:
continue;
}
if (pid_info != nullptr) {
mavlink_msg_pid_tuning_send(chan,
axes[i],
pid_info->target*0.01f,
achieved,
pid_info->FF*0.01f,
pid_info->P*0.01f,
pid_info->I*0.01f,
pid_info->D*0.01f);
}
}
}
uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
{
return copter.g.sysid_my_gcs;
}
bool GCS_MAVLINK_Copter::sysid_enforce() const
{
return copter.g2.sysid_enforce;
}
uint32_t GCS_MAVLINK_Copter::telem_delay() const
{
return (uint32_t)(copter.g.telem_delay);
}
bool GCS_Copter::vehicle_initialised() const {
return copter.ap.initialised;
}
// try to send a message, return false if it wasn't sent
bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
{
switch(id) {
case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
copter.terrain.send_request(chan);
#endif
break;
case MSG_WIND:
case MSG_SERVO_OUT:
case MSG_AOA_SSA:
case MSG_LANDING:
// unused
break;
case MSG_ADSB_VEHICLE: {
#if ADSB_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
copter.adsb.send_adsb_vehicle(chan);
#endif
#if AC_OAPATHPLANNER_ENABLED == ENABLED
AP_OADatabase *oadb = AP_OADatabase::get_singleton();
if (oadb != nullptr) {
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
uint16_t interval_ms = 0;
if (get_ap_message_interval(id, interval_ms)) {
oadb->send_adsb_vehicle(chan, interval_ms);
}
}
#endif
break;
}
default:
return GCS_MAVLINK::try_send_message(id);
}
return true;
}
const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[0], 0),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[1], 0),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
// @Description: Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[2], 0),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK_Parameters, streamRates[3], 0),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[4], 0),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[5], 0),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
// @Description: Stream rate of VFR_HUD to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[6], 0),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[7], 0),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
// @Description: Stream rate of PARAM_VALUE to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK_Parameters, streamRates[8], 0),
// @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_Parameters, streamRates[9], 0),
AP_GROUPEND
};
static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_RAW_IMU,
MSG_SCALED_IMU2,
MSG_SCALED_IMU3,
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
MSG_GPS_RAW,
MSG_GPS_RTK,
MSG_GPS2_RAW,
MSG_GPS2_RTK,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_FENCE_STATUS,
MSG_POSITION_TARGET_GLOBAL_INT,
};
static const ap_message STREAM_POSITION_msgs[] = {
MSG_LOCATION,
MSG_LOCAL_POSITION
};
static const ap_message STREAM_RC_CHANNELS_msgs[] = {
MSG_SERVO_OUTPUT_RAW,
MSG_RC_CHANNELS,
MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
};
static const ap_message STREAM_EXTRA1_msgs[] = {
MSG_ATTITUDE,
MSG_SIMSTATE,
MSG_AHRS2,
MSG_AHRS3,
MSG_PID_TUNING // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
};
static const ap_message STREAM_EXTRA2_msgs[] = {
MSG_VFR_HUD
};
static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_AHRS,
MSG_HWSTATUS,
MSG_SYSTEM_TIME,
MSG_RANGEFINDER,
MSG_DISTANCE_SENSOR,
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
MSG_TERRAIN,
#endif
MSG_BATTERY2,
MSG_BATTERY_STATUS,
MSG_MOUNT_STATUS,
MSG_OPTICAL_FLOW,
MSG_GIMBAL_REPORT,
MSG_MAG_CAL_REPORT,
MSG_MAG_CAL_PROGRESS,
MSG_EKF_STATUS_REPORT,
MSG_VIBRATION,
MSG_RPM,
MSG_ESC_TELEMETRY,
};
static const ap_message STREAM_PARAMS_msgs[] = {
MSG_NEXT_PARAM
};
static const ap_message STREAM_ADSB_msgs[] = {
MSG_ADSB_VEHICLE
};
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
MAV_STREAM_ENTRY(STREAM_POSITION),
MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
MAV_STREAM_ENTRY(STREAM_EXTRA1),
MAV_STREAM_ENTRY(STREAM_EXTRA2),
MAV_STREAM_ENTRY(STREAM_EXTRA3),
MAV_STREAM_ENTRY(STREAM_ADSB),
MAV_STREAM_ENTRY(STREAM_PARAMS),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};
bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
#if MODE_AUTO_ENABLED == ENABLED
return copter.mode_auto.do_guided(cmd);
#else
return false;
#endif
}
void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
{
// add home alt if needed
if (cmd.content.location.relative_alt) {
cmd.content.location.alt += copter.ahrs.get_home().alt;
}
// To-Do: update target altitude for loiter or waypoint controller depending upon nav mode
}
void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
const mavlink_message_t &msg)
{
#if ADSB_ENABLED == ENABLED
if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
// optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source
copter.avoidance_adsb.handle_msg(msg);
}
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
// pass message to follow library
copter.g2.follow.handle_msg(msg);
#endif
GCS_MAVLINK::packetReceived(status, msg);
}
bool GCS_MAVLINK_Copter::params_ready() const
{
if (AP_BoardConfig::in_sensor_config_error()) {
// we may never have parameters "initialised" in this case
return true;
}
// if we have not yet initialised (including allocating the motors
// object) we drop this request. That prevents the GCS from getting
// a confusing parameter count during bootup
return copter.ap.initialised_params;
}
void GCS_MAVLINK_Copter::send_banner()
{
GCS_MAVLINK::send_banner();
send_text(MAV_SEVERITY_INFO, "Frame: %s", copter.get_frame_string());
}
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
void GCS_MAVLINK_Copter::handle_rc_channels_override(const mavlink_message_t &msg)
{
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg);
}
void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t &msg)
{
copter.command_ack_counter++;
GCS_MAVLINK::handle_command_ack(msg);
}
MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param6,1.0f)) {
// compassmot calibration
return copter.mavlink_compassmot(*this);
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_do_set_roi(const Location &roi_loc)
{
if (!roi_loc.check_latlng()) {
return MAV_RESULT_FAILED;
}
copter.flightmode->auto_yaw.set_roi(roi_loc);
return MAV_RESULT_ACCEPTED;
}
MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_long_t &packet)
{
// reject reboot if user has also specified they want the "Auto" ESC calibration on next reboot
if (copter.g.esc_calibrate == (uint8_t)Copter::ESCCalibrationModes::ESCCAL_AUTO) {
send_text(MAV_SEVERITY_CRITICAL, "Reboot rejected, ESC cal on reboot");
return MAV_RESULT_FAILED;
}
// call parent
return GCS_MAVLINK::handle_preflight_reboot(packet);
}
bool GCS_MAVLINK_Copter::set_home_to_current_location(bool lock) {
return copter.set_home_to_current_location(lock);
}
bool GCS_MAVLINK_Copter::set_home(const Location& loc, bool lock) {
return copter.set_home(loc, lock);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
{
switch(packet.command) {
case MAV_CMD_DO_FOLLOW:
#if MODE_FOLLOW_ENABLED == ENABLED
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
#endif
return MAV_RESULT_UNSUPPORTED;
default:
return GCS_MAVLINK::handle_command_int_packet(packet);
}
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t &packet)
{
// if the mount doesn't do pan control then yaw the entire vehicle instead:
switch (packet.command) {
#if MOUNT == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
if(!copter.camera_mount.has_pan_control()) {
copter.flightmode->auto_yaw.set_fixed_yaw(
(float)packet.param3 * 0.01f,
0.0f,
0,0);
}
break;
#endif
default:
break;
}
return GCS_MAVLINK::handle_command_mount(packet);
}
bool GCS_MAVLINK_Copter::allow_disarm() const
{
return copter.ap.land_complete;
}
MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch(packet.command) {
case MAV_CMD_NAV_TAKEOFF: {
// param3 : horizontal navigation by pilot acceptable
// param4 : yaw angle (not supported)
// param5 : latitude (not supported)
// param6 : longitude (not supported)
// param7 : altitude [metres]
float takeoff_alt = packet.param7 * 100; // Convert m to cm
if (!copter.flightmode->do_user_takeoff(takeoff_alt, is_zero(packet.param3))) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
case MAV_CMD_NAV_LOITER_UNLIM:
if (!copter.set_mode(Mode::Number::LOITER, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (!copter.set_mode(Mode::Number::RTL, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_LAND:
if (!copter.set_mode(Mode::Number::LAND, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
#if MODE_FOLLOW_ENABLED == ENABLED
case MAV_CMD_DO_FOLLOW:
// param1: sysid of target to follow
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_CONDITION_YAW:
// param1 : target angle [0-360]
// param2 : speed during change [deg per second]
// param3 : direction (-1:ccw, +1:cw)
// param4 : relative offset (1) or absolute angle (0)
if ((packet.param1 >= 0.0f) &&
(packet.param1 <= 360.0f) &&
(is_zero(packet.param4) || is_equal(packet.param4,1.0f))) {
copter.flightmode->auto_yaw.set_fixed_yaw(
packet.param1,
packet.param2,
(int8_t)packet.param3,
is_positive(packet.param4));
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_CHANGE_SPEED:
// param1 : unused
// param2 : new speed in m/s
// param3 : unused
// param4 : unused
if (packet.param2 > 0.0f) {
if (packet.param1 > 2.9f) { // 3 = speed down
copter.wp_nav->set_speed_down(packet.param2 * 100.0f);
} else if (packet.param1 > 1.9f) { // 2 = speed up
copter.wp_nav->set_speed_up(packet.param2 * 100.0f);
} else {
copter.wp_nav->set_speed_xy(packet.param2 * 100.0f);
}
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#if MODE_AUTO_ENABLED == ENABLED
case MAV_CMD_MISSION_START:
if (copter.motors->armed() &&
copter.set_mode(Mode::Number::AUTO, MODE_REASON_GCS_COMMAND)) {
copter.set_auto_armed(true);
if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) {
copter.mode_auto.mission.start_or_resume();
}
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#endif
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// configure or release parachute
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
copter.parachute.enabled(false);
copter.Log_Write_Event(DATA_PARACHUTE_DISABLED);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_ENABLE:
copter.parachute.enabled(true);
copter.Log_Write_Event(DATA_PARACHUTE_ENABLED);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
copter.parachute_manual_release();
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
#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 : num_motors (in sequence)
// param6 : compass learning (0: disabled, 1: enabled)
return copter.mavlink_motor_test_start(*this,
(uint8_t)packet.param1,
(uint8_t)packet.param2,
(uint16_t)packet.param3,
packet.param4,
(uint8_t)packet.param5);
#if WINCH_ENABLED == ENABLED
case MAV_CMD_DO_WINCH:
// param1 : winch number (ignored)
// param2 : action (0=relax, 1=relative length control, 2=rate control). See WINCH_ACTIONS enum.
if (!copter.g2.winch.enabled()) {
return MAV_RESULT_FAILED;
}
switch ((uint8_t)packet.param2) {
case WINCH_RELAXED:
copter.g2.winch.relax();
copter.Log_Write_Event(DATA_WINCH_RELAXED);
return MAV_RESULT_ACCEPTED;
case WINCH_RELATIVE_LENGTH_CONTROL: {
copter.g2.winch.release_length(packet.param3, fabsf(packet.param4));
copter.Log_Write_Event(DATA_WINCH_LENGTH_CONTROL);
return MAV_RESULT_ACCEPTED;
}
case WINCH_RATE_CONTROL:
if (fabsf(packet.param4) <= copter.g2.winch.get_rate_max()) {
copter.g2.winch.set_desired_rate(packet.param4);
copter.Log_Write_Event(DATA_WINCH_RATE_CONTROL);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
default:
break;
}
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_AIRFRAME_CONFIGURATION: {
// Param 1: Select which gear, not used in ArduPilot
// Param 2: 0 = Deploy, 1 = Retract
// For safety, anything other than 1 will deploy
switch ((uint8_t)packet.param2) {
case 1:
copter.landinggear.set_position(AP_LandingGear::LandingGear_Retract);
return MAV_RESULT_ACCEPTED;
default:
copter.landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
/* Solo user presses Fly button */
case MAV_CMD_SOLO_BTN_FLY_CLICK: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
// set mode to Loiter or fall back to AltHold
if (!copter.set_mode(Mode::Number::LOITER, MODE_REASON_GCS_COMMAND)) {
copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_GCS_COMMAND);
}
return MAV_RESULT_ACCEPTED;
}
/* Solo user holds down Fly button for a couple of seconds */
case MAV_CMD_SOLO_BTN_FLY_HOLD: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
if (!copter.motors->armed()) {
// if disarmed, arm motors
copter.arming.arm(AP_Arming::Method::MAVLINK);
} else if (copter.ap.land_complete) {
// if armed and landed, takeoff
if (copter.set_mode(Mode::Number::LOITER, MODE_REASON_GCS_COMMAND)) {
copter.flightmode->do_user_takeoff(packet.param1*100, true);
}
} else {
// if flying, land
copter.set_mode(Mode::Number::LAND, MODE_REASON_GCS_COMMAND);
}
return MAV_RESULT_ACCEPTED;
}
/* Solo user presses pause button */
case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
if (copter.failsafe.radio) {
return MAV_RESULT_ACCEPTED;
}
if (copter.motors->armed()) {
if (copter.ap.land_complete) {
// if landed, disarm motors
copter.arming.disarm();
} else {
// assume that shots modes are all done in guided.
// NOTE: this may need to change if we add a non-guided shot mode
bool shot_mode = (!is_zero(packet.param1) && (copter.control_mode == Mode::Number::GUIDED || copter.control_mode == Mode::Number::GUIDED_NOGPS));
if (!shot_mode) {
#if MODE_BRAKE_ENABLED == ENABLED
if (copter.set_mode(Mode::Number::BRAKE, MODE_REASON_GCS_COMMAND)) {
copter.mode_brake.timeout_to_loiter_ms(2500);
} else {
copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_GCS_COMMAND);
}
#else
copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_GCS_COMMAND);
#endif
} else {
// SoloLink is expected to handle pause in shots
}
}
}
return MAV_RESULT_ACCEPTED;
}
default:
return GCS_MAVLINK::handle_command_long_packet(packet);
}
}
void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
{
switch (msg.msgid) {
#if MOUNT == ENABLED
case MAVLINK_MSG_ID_MOUNT_CONTROL:
if(!copter.camera_mount.has_pan_control()) {
// if the mount doesn't do pan control then yaw the entire vehicle instead:
copter.flightmode->auto_yaw.set_fixed_yaw(
mavlink_msg_mount_control_get_input_c(&msg) * 0.01f,
0.0f,
0,
0);
break;
}
#endif
}
GCS_MAVLINK::handle_mount_message(msg);
}
void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: // MAV ID: 0
{
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
if(msg.sysid != copter.g.sysid_my_gcs) break;
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg.sysid != copter.g.sysid_my_gcs) {
break; // only accept control from our gcs
}
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(&msg, &packet);
if (packet.target != copter.g.sysid_this_mav) {
break; // only accept control aimed at us
}
if (packet.z < 0) { // Copter doesn't do negative thrust
break;
}
uint32_t tnow = AP_HAL::millis();
manual_override(copter.channel_roll, packet.y, 1000, 2000, tnow);
manual_override(copter.channel_pitch, packet.x, 1000, 2000, tnow, true);
manual_override(copter.channel_throttle, packet.z, 0, 1000, tnow);
manual_override(copter.channel_yaw, packet.r, 1000, 2000, tnow);
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.last_heartbeat_ms = tnow;
break;
}
#if MODE_GUIDED_ENABLED == ENABLED
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82
{
// decode packet
mavlink_set_attitude_target_t packet;
mavlink_msg_set_attitude_target_decode(&msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!copter.flightmode->in_guided_mode()) {
break;
}
// ensure type_mask specifies to use attitude and thrust
if ((packet.type_mask & ((1<<7)|(1<<6))) != 0) {
break;
}
// convert thrust to climb rate
packet.thrust = constrain_float(packet.thrust, 0.0f, 1.0f);
float climb_rate_cms = 0.0f;
if (is_equal(packet.thrust, 0.5f)) {
climb_rate_cms = 0.0f;
} else if (packet.thrust > 0.5f) {
// climb at up to WPNAV_SPEED_UP
climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * copter.wp_nav->get_default_speed_up();
} else {
// descend at up to WPNAV_SPEED_DN
climb_rate_cms = (0.5f - packet.thrust) * 2.0f * -fabsf(copter.wp_nav->get_default_speed_down());
}
// if the body_yaw_rate field is ignored, use the commanded yaw position
// otherwise use the commanded yaw rate
bool use_yaw_rate = false;
if ((packet.type_mask & (1<<2)) == 0) {
use_yaw_rate = true;
}
copter.mode_guided.set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
climb_rate_cms, use_yaw_rate, packet.body_yaw_rate);
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: // MAV ID: 84
{
// decode packet
mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!copter.flightmode->in_guided_mode()) {
break;
}
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_LOCAL_NED &&
packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED &&
packet.coordinate_frame != MAV_FRAME_BODY_NED &&
packet.coordinate_frame != MAV_FRAME_BODY_OFFSET_NED) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
/*
* for future use:
* bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE;
*/
// prepare position
Vector3f pos_vector;
if (!pos_ignore) {
// convert to cm
pos_vector = Vector3f(packet.x * 100.0f, packet.y * 100.0f, -packet.z * 100.0f);
// rotate to body-frame if necessary
if (packet.coordinate_frame == MAV_FRAME_BODY_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
copter.rotate_body_frame_to_NE(pos_vector.x, pos_vector.y);
}
// add body offset if necessary
if (packet.coordinate_frame == MAV_FRAME_LOCAL_OFFSET_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
pos_vector += copter.inertial_nav.get_position();
} else {
// convert from alt-above-home to alt-above-ekf-origin
if (!AP::ahrs().home_is_set()) {
break;
}
Location origin;
pos_vector.z += AP::ahrs().get_home().alt;
if (copter.ahrs.get_origin(origin)) {
pos_vector.z -= origin.alt;
}
}
}
// prepare velocity
Vector3f vel_vector;
if (!vel_ignore) {
// convert to cm
vel_vector = Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f);
// rotate to body-frame if necessary
if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
copter.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y);
}
}
// prepare yaw
float yaw_cd = 0.0f;
bool yaw_relative = false;
float yaw_rate_cds = 0.0f;
if (!yaw_ignore) {
yaw_cd = ToDeg(packet.yaw) * 100.0f;
yaw_relative = packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED;
}
if (!yaw_rate_ignore) {
yaw_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
}
// send request
if (!pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (!pos_ignore && vel_ignore && acc_ignore) {
copter.mode_guided.set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: // MAV ID: 86
{
// decode packet
mavlink_set_position_target_global_int_t packet;
mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!copter.flightmode->in_guided_mode()) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
/*
* for future use:
* bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE;
*/
Vector3f pos_neu_cm; // position (North, East, Up coordinates) in centimeters
if(!pos_ignore) {
// sanity check location
if (!check_latlng(packet.lat_int, packet.lon_int)) {
break;
}
Location::AltFrame frame;
if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)packet.coordinate_frame, frame)) {
// unknown coordinate frame
break;
}
const Location loc{
packet.lat_int,
packet.lon_int,
int32_t(packet.alt*100),
frame,
};
if (!loc.get_vector_from_origin_NEU(pos_neu_cm)) {
break;
}
}
// prepare yaw
float yaw_cd = 0.0f;
bool yaw_relative = false;
float yaw_rate_cds = 0.0f;
if (!yaw_ignore) {
yaw_cd = ToDeg(packet.yaw) * 100.0f;
yaw_relative = packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED;
}
if (!yaw_rate_ignore) {
yaw_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
}
if (!pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.mode_guided.set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
} else if (!pos_ignore && vel_ignore && acc_ignore) {
copter.mode_guided.set_destination(pos_neu_cm, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
}
break;
}
#endif
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
{
copter.rangefinder.handle_msg(msg);
#if PROXIMITY_ENABLED == ENABLED
copter.g2.proximity.handle_msg(msg);
#endif
break;
}
case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
{
#if PROXIMITY_ENABLED == ENABLED
copter.g2.proximity.handle_msg(msg);
#endif
break;
}
#if HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_HIL_STATE: // MAV ID: 90
{
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(&msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
// set gps hil sensor
Location loc;
loc.lat = packet.lat;
loc.lng = packet.lon;
loc.alt = packet.alt/10;
Vector3f vel(packet.vx, packet.vy, packet.vz);
vel *= 0.01f;
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
packet.time_usec/1000,
loc, vel, 10, 0);
// rad/sec
Vector3f gyros;
gyros.x = packet.rollspeed;
gyros.y = packet.pitchspeed;
gyros.z = packet.yawspeed;
// m/s/s
Vector3f accels;
accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
ins.set_gyro(0, gyros);
ins.set_accel(0, accels);
AP::baro().setHIL(packet.alt*0.001f);
copter.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
copter.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
break;
}
#endif // HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109
{
handle_radio_status(msg, copter.should_log(MASK_LOG_PM));
break;
}
#if PRECISION_LANDING == ENABLED
case MAVLINK_MSG_ID_LANDING_TARGET:
copter.precland.handle_msg(msg);
break;
#endif
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
copter.terrain.handle_data(chan, msg);
#endif
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)) {
if (!copter.set_home_to_current_location(true)) {
// silently ignored
}
} else {
Location new_home_loc;
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
if (!copter.set_home(new_home_loc, true)) {
// silently ignored
}
}
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:
#if ADSB_ENABLED == ENABLED
copter.adsb.handle_message(chan, msg);
#endif
break;
#if TOY_MODE_ENABLED == ENABLED
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
copter.g2.toy_mode.handle_message(msg);
break;
#endif
default:
handle_common_message(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 Copter::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
logger.EnableWrites(false);
uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs().send_message(MSG_HEARTBEAT);
gcs().send_message(MSG_SYS_STATUS);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs().update_receive();
gcs().update_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs().send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
logger.EnableWrites(true);
}
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) {
MAV_RESULT result = MAV_RESULT_FAILED;
#if ADVANCED_FAILSAFE == ENABLED
if (GCS_MAVLINK::handle_flight_termination(packet) != MAV_RESULT_ACCEPTED) {
#endif
if (packet.param1 > 0.5f) {
copter.arming.disarm();
result = MAV_RESULT_ACCEPTED;
}
#if ADVANCED_FAILSAFE == ENABLED
} else {
result = MAV_RESULT_ACCEPTED;
}
#endif
return result;
}
bool GCS_MAVLINK_Copter::set_mode(const uint8_t mode)
{
#ifdef DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE
if (copter.failsafe.radio) {
// don't allow mode changes while in radio failsafe
return false;
}
#endif
return copter.set_mode((Mode::Number)mode, MODE_REASON_GCS_COMMAND);
}
float GCS_MAVLINK_Copter::vfr_hud_alt() const
{
if (copter.g2.dev_options.get() & DevOptionVFR_HUDRelativeAlt) {
// compatibility option for older mavlink-aware devices that
// assume Copter returns a relative altitude in VFR_HUD.alt
return copter.current_loc.alt * 0.01f;
}
return GCS_MAVLINK::vfr_hud_alt();
}
uint64_t GCS_MAVLINK_Copter::capabilities() const
{
return (MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT |
MAV_PROTOCOL_CAPABILITY_MISSION_INT |
MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED |
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION |
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
(copter.terrain.enabled() ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0) |
#endif
MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION |
GCS_MAVLINK::capabilities());
}
MAV_LANDED_STATE GCS_MAVLINK_Copter::landed_state() const
{
if (copter.ap.land_complete) {
return MAV_LANDED_STATE_ON_GROUND;
}
if (copter.flightmode->is_landing()) {
return MAV_LANDED_STATE_LANDING;
}
if (copter.flightmode->is_taking_off()) {
return MAV_LANDED_STATE_TAKEOFF;
}
return MAV_LANDED_STATE_IN_AIR;
}
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