ardupilot/libraries/GCS_MAVLink/GCS_Common.cpp

181 lines
5.1 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
Common GCS MAVLink functions for all vehicle types
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <GCS.h>
#include <AP_AHRS.h>
extern const AP_HAL::HAL& hal;
GCS_MAVLINK::GCS_MAVLINK() :
waypoint_receive_timeout(1000)
{
AP_Param::setup_object_defaults(this, var_info);
}
void
GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
{
GCS_Class::init(port);
if (port == (AP_HAL::BetterStream*)hal.uartA) {
mavlink_comm_0_port = port;
chan = MAVLINK_COMM_0;
initialised = true;
} else if (port == (AP_HAL::BetterStream*)hal.uartC) {
mavlink_comm_1_port = port;
chan = MAVLINK_COMM_1;
initialised = true;
#if MAVLINK_COMM_NUM_BUFFERS > 2
} else if (port == (AP_HAL::BetterStream*)hal.uartD) {
mavlink_comm_2_port = port;
chan = MAVLINK_COMM_2;
initialised = true;
#endif
}
_queued_parameter = NULL;
reset_cli_timeout();
}
uint16_t
GCS_MAVLINK::_count_parameters()
{
// if we haven't cached the parameter count yet...
if (0 == _parameter_count) {
AP_Param *vp;
AP_Param::ParamToken token;
vp = AP_Param::first(&token, NULL);
do {
_parameter_count++;
} while (NULL != (vp = AP_Param::next_scalar(&token, NULL)));
}
return _parameter_count;
}
/**
* @brief Send the next pending parameter, called from deferred message
* handling code
*/
void
GCS_MAVLINK::queued_param_send()
{
if (!initialised || _queued_parameter == NULL) {
return;
}
uint16_t bytes_allowed;
uint8_t count;
uint32_t tnow = hal.scheduler->millis();
// use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3)
bytes_allowed = 57 * (tnow - _queued_parameter_send_time_ms) * 26;
if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan);
}
count = bytes_allowed / (MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
while (_queued_parameter != NULL && count--) {
AP_Param *vp;
float value;
// copy the current parameter and prepare to move to the next
vp = _queued_parameter;
// if the parameter can be cast to float, report it here and break out of the loop
value = vp->cast_to_float(_queued_parameter_type);
char param_name[AP_MAX_NAME_SIZE];
vp->copy_name_token(_queued_parameter_token, param_name, sizeof(param_name), true);
mavlink_msg_param_value_send(
chan,
param_name,
value,
mav_var_type(_queued_parameter_type),
_queued_parameter_count,
_queued_parameter_index);
_queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
_queued_parameter_index++;
}
_queued_parameter_send_time_ms = tnow;
}
/**
* @brief Send the next pending waypoint, called from deferred message
* handling code
*/
void
GCS_MAVLINK::queued_waypoint_send()
{
if (initialised &&
waypoint_receiving &&
waypoint_request_i <= waypoint_request_last) {
mavlink_msg_mission_request_send(
chan,
waypoint_dest_sysid,
waypoint_dest_compid,
waypoint_request_i);
}
}
void GCS_MAVLINK::reset_cli_timeout() {
_cli_timeout = hal.scheduler->millis();
}
void GCS_MAVLINK::send_meminfo(void)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
extern unsigned __brkval;
#else
unsigned __brkval = 0;
#endif
mavlink_msg_meminfo_send(chan, __brkval, hal.util->available_memory());
}
// report power supply status
void GCS_MAVLINK::send_power_status(void)
{
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
mavlink_msg_power_status_send(chan,
hal.analogin->board_voltage() * 1000,
hal.analogin->servorail_voltage() * 1000,
hal.analogin->power_status_flags());
#endif
}
// report AHRS2 state
void GCS_MAVLINK::send_ahrs2(AP_AHRS &ahrs)
{
#if AP_AHRS_NAVEKF_AVAILABLE
Vector3f euler;
struct Location loc;
if (ahrs.get_secondary_attitude(euler) && ahrs.get_secondary_position(loc)) {
mavlink_msg_ahrs2_send(chan,
euler.x,
euler.y,
euler.z,
loc.alt*1.0e-2f,
loc.lat,
loc.lng);
}
#endif
}