mirror of https://github.com/ArduPilot/ardupilot
280 lines
5.7 KiB
C
280 lines
5.7 KiB
C
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef Mavlink_Common_H
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#define Mavlink_Common_H
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#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK || GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
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byte mavdelay = 0;
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// what does this do?
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static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
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{
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if (sysid != mavlink_system.sysid){
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return 1;
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}else if(compid != mavlink_system.compid){
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gcs.send_text_P(SEVERITY_LOW,PSTR("component id mismatch"));
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return 0; // XXX currently not receiving correct compid from gcs
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}else{
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return 0; // no error
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}
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}
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void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, uint16_t packet_drops)
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{
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uint64_t timeStamp = micros();
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switch(id) {
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case MSG_HEARTBEAT:
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mavlink_msg_heartbeat_send(
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chan,
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mavlink_system.type,
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MAV_AUTOPILOT_ARDUPILOTMEGA);
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break;
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case MSG_EXTENDED_STATUS:
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{
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uint8_t mode = MAV_MODE_UNINIT;
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uint8_t nav_mode = MAV_NAV_VECTOR;
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switch(control_mode) {
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case ACRO:
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mode = MAV_MODE_MANUAL;
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break;
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case STABILIZE:
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mode = MAV_MODE_GUIDED;
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break;
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case SIMPLE:
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mode = MAV_MODE_TEST1;
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break;
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case ALT_HOLD:
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mode = MAV_MODE_TEST2;
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break;
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case LOITER:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_HOLD;
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break;
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case AUTO:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_WAYPOINT;
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break;
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case RTL:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_RETURNING;
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break;
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}
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uint8_t status = MAV_STATE_ACTIVE;
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uint8_t motor_block = false;
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mavlink_msg_sys_status_send(
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chan,
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mode,
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nav_mode,
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status,
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load * 1000,
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battery_voltage1 * 1000,
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motor_block,
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packet_drops);
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break;
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}
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case MSG_ATTITUDE:
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{
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Vector3f omega = dcm.get_gyro();
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mavlink_msg_attitude_send(
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chan,
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timeStamp,
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dcm.roll,
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dcm.pitch,
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dcm.yaw,
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omega.x,
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omega.y,
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omega.z);
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break;
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}
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case MSG_LOCATION:
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{
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Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
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mavlink_msg_global_position_int_send(
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chan,
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current_loc.lat,
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current_loc.lng,
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current_loc.alt * 10,
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g_gps->ground_speed * rot.a.x,
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g_gps->ground_speed * rot.b.x,
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g_gps->ground_speed * rot.c.x);
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break;
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}
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case MSG_LOCAL_LOCATION:
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{
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Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
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mavlink_msg_local_position_send(
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chan,
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timeStamp,
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ToRad((current_loc.lat - home.lat) / 1.0e7) * radius_of_earth,
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ToRad((current_loc.lng - home.lng) / 1.0e7) * radius_of_earth * cos(ToRad(home.lat / 1.0e7)),
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(current_loc.alt - home.alt) / 1.0e2,
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g_gps->ground_speed / 1.0e2 * rot.a.x,
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g_gps->ground_speed / 1.0e2 * rot.b.x,
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g_gps->ground_speed / 1.0e2 * rot.c.x);
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break;
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}
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case MSG_GPS_RAW:
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{
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mavlink_msg_gps_raw_send(
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chan,
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timeStamp,
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g_gps->status(),
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g_gps->latitude / 1.0e7,
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g_gps->longitude / 1.0e7,
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g_gps->altitude / 100.0,
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g_gps->hdop,
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0.0,
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g_gps->ground_speed / 100.0,
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g_gps->ground_course / 100.0);
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break;
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}
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case MSG_SERVO_OUT:
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{
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uint8_t rssi = 1;
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// normalized values scaled to -10000 to 10000
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// This is used for HIL. Do not change without discussing with HIL maintainers
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mavlink_msg_rc_channels_scaled_send(
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chan,
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10000 * g.rc_1.norm_output(),
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10000 * g.rc_2.norm_output(),
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10000 * g.rc_3.norm_output(),
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10000 * g.rc_4.norm_output(),
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0,
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0,
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0,
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0,
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rssi);
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break;
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}
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case MSG_RADIO_IN:
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{
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uint8_t rssi = 1;
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mavlink_msg_rc_channels_raw_send(
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chan,
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g.rc_1.radio_in,
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g.rc_2.radio_in,
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g.rc_3.radio_in,
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g.rc_4.radio_in,
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g.rc_5.radio_in,
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g.rc_6.radio_in,
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g.rc_7.radio_in,
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g.rc_8.radio_in,
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rssi);
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break;
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}
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case MSG_RADIO_OUT:
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{
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mavlink_msg_servo_output_raw_send(
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chan,
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motor_out[0],
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motor_out[1],
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motor_out[2],
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motor_out[3],
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motor_out[4],
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motor_out[5],
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motor_out[6],
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motor_out[7]);
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break;
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}
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case MSG_VFR_HUD:
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{
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mavlink_msg_vfr_hud_send(
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chan,
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(float)airspeed / 100.0,
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(float)g_gps->ground_speed / 100.0,
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(dcm.yaw_sensor / 100) % 360,
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nav_throttle,
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current_loc.alt / 100.0,
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climb_rate);
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break;
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE
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case MSG_RAW_IMU:
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{
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Vector3f accel = imu.get_accel();
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Vector3f gyro = imu.get_gyro();
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//Serial.printf_P(PSTR("sending accel: %f %f %f\n"), accel.x, accel.y, accel.z);
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//Serial.printf_P(PSTR("sending gyro: %f %f %f\n"), gyro.x, gyro.y, gyro.z);
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mavlink_msg_raw_imu_send(
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chan,
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timeStamp,
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accel.x * 1000.0 / gravity,
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accel.y * 1000.0 / gravity,
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accel.z * 1000.0 / gravity,
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gyro.x * 1000.0,
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gyro.y * 1000.0,
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gyro.z * 1000.0,
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compass.mag_x,
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compass.mag_y,
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compass.mag_z);
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mavlink_msg_raw_pressure_send(
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chan,
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timeStamp,
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adc.Ch(AIRSPEED_CH),
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barometer.RawPress,
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0,
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0);
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break;
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}
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#endif // HIL_PROTOCOL != HIL_PROTOCOL_ATTITUDE
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case MSG_GPS_STATUS:
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{
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mavlink_msg_gps_status_send(
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chan,
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g_gps->num_sats,
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NULL,
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NULL,
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NULL,
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NULL,
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NULL);
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break;
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}
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case MSG_CURRENT_WAYPOINT:
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{
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mavlink_msg_waypoint_current_send(
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chan,
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g.waypoint_index);
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break;
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}
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default:
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break;
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}
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}
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void mavlink_send_text(mavlink_channel_t chan, uint8_t severity, const char *str)
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{
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mavlink_msg_statustext_send(
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chan,
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severity,
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(const int8_t*) str);
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}
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void mavlink_acknowledge(mavlink_channel_t chan, uint8_t id, uint8_t sum1, uint8_t sum2)
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{
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}
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#endif // mavlink in use
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#endif // inclusion guard
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