mirror of https://github.com/ArduPilot/ardupilot
1339 lines
39 KiB
C++
1339 lines
39 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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Common GCS MAVLink functions for all vehicle types
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <GCS.h>
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#include <AP_AHRS.h>
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#include <AP_HAL.h>
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#include <AP_Vehicle.h>
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extern const AP_HAL::HAL& hal;
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uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
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uint8_t GCS_MAVLINK::mavlink_active = 0;
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GCS_MAVLINK::GCS_MAVLINK() :
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waypoint_receive_timeout(5000)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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void
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GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
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{
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// sanity check chan
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if (mav_chan >= MAVLINK_COMM_NUM_BUFFERS) {
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return;
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}
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_port = port;
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chan = mav_chan;
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mavlink_comm_port[chan] = _port;
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initialised = true;
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_queued_parameter = NULL;
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reset_cli_timeout();
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}
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/*
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setup a UART, handling begin() and init()
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*/
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void
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GCS_MAVLINK::setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance)
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{
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// search for serial port
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AP_HAL::UARTDriver *uart;
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uart = serial_manager.find_serial(protocol, instance);
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if (uart == NULL) {
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// return immediately if not found
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return;
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}
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// get associated mavlink channel
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mavlink_channel_t mav_chan;
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if (!serial_manager.get_mavlink_channel(protocol, instance, mav_chan)) {
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// return immediately in unlikely case mavlink channel cannot be found
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return;
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}
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/*
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Now try to cope with SiK radios that may be stuck in bootloader
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mode because CTS was held while powering on. This tells the
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bootloader to wait for a firmware. It affects any SiK radio with
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CTS connected that is externally powered. To cope we send 0x30
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0x20 at 115200 on startup, which tells the bootloader to reset
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and boot normally
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*/
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uart->begin(115200);
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AP_HAL::UARTDriver::flow_control old_flow_control = uart->get_flow_control();
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uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
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for (uint8_t i=0; i<3; i++) {
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hal.scheduler->delay(1);
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uart->write(0x30);
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uart->write(0x20);
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}
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uart->set_flow_control(old_flow_control);
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// now change back to desired baudrate
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uart->begin(serial_manager.find_baudrate(protocol, instance));
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// and init the gcs instance
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init(uart, mav_chan);
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}
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uint16_t
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GCS_MAVLINK::_count_parameters()
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{
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// if we haven't cached the parameter count yet...
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if (0 == _parameter_count) {
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AP_Param *vp;
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AP_Param::ParamToken token;
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vp = AP_Param::first(&token, NULL);
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do {
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_parameter_count++;
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} while (NULL != (vp = AP_Param::next_scalar(&token, NULL)));
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}
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return _parameter_count;
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}
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/**
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* @brief Send the next pending parameter, called from deferred message
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* handling code
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*/
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void
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GCS_MAVLINK::queued_param_send()
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{
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if (!initialised || _queued_parameter == NULL) {
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return;
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}
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uint16_t bytes_allowed;
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uint8_t count;
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uint32_t tnow = hal.scheduler->millis();
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// use at most 30% of bandwidth on parameters. The constant 26 is
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// 1/(1000 * 1/8 * 0.001 * 0.3)
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bytes_allowed = 57 * (tnow - _queued_parameter_send_time_ms) * 26;
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if (bytes_allowed > comm_get_txspace(chan)) {
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bytes_allowed = comm_get_txspace(chan);
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}
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count = bytes_allowed / (MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
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// when we don't have flow control we really need to keep the
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// param download very slow, or it tends to stall
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if (!have_flow_control() && count > 5) {
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count = 5;
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}
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while (_queued_parameter != NULL && count--) {
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AP_Param *vp;
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float value;
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// copy the current parameter and prepare to move to the next
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vp = _queued_parameter;
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// if the parameter can be cast to float, report it here and break out of the loop
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value = vp->cast_to_float(_queued_parameter_type);
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char param_name[AP_MAX_NAME_SIZE];
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vp->copy_name_token(_queued_parameter_token, param_name, sizeof(param_name), true);
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mavlink_msg_param_value_send(
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chan,
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param_name,
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value,
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mav_var_type(_queued_parameter_type),
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_queued_parameter_count,
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_queued_parameter_index);
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_queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
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_queued_parameter_index++;
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}
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_queued_parameter_send_time_ms = tnow;
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}
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/**
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* @brief Send the next pending waypoint, called from deferred message
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* handling code
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*/
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void
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GCS_MAVLINK::queued_waypoint_send()
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{
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if (initialised &&
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waypoint_receiving &&
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waypoint_request_i <= waypoint_request_last) {
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mavlink_msg_mission_request_send(
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chan,
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waypoint_dest_sysid,
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waypoint_dest_compid,
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waypoint_request_i);
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}
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}
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void GCS_MAVLINK::reset_cli_timeout() {
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_cli_timeout = hal.scheduler->millis();
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}
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void GCS_MAVLINK::send_meminfo(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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extern unsigned __brkval;
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#else
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unsigned __brkval = 0;
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#endif
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mavlink_msg_meminfo_send(chan, __brkval, hal.util->available_memory());
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}
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// report power supply status
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void GCS_MAVLINK::send_power_status(void)
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{
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
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mavlink_msg_power_status_send(chan,
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hal.analogin->board_voltage() * 1000,
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hal.analogin->servorail_voltage() * 1000,
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hal.analogin->power_status_flags());
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#endif
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}
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// report AHRS2 state
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void GCS_MAVLINK::send_ahrs2(AP_AHRS &ahrs)
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{
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#if AP_AHRS_NAVEKF_AVAILABLE
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Vector3f euler;
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struct Location loc;
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if (ahrs.get_secondary_attitude(euler) && ahrs.get_secondary_position(loc)) {
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mavlink_msg_ahrs2_send(chan,
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euler.x,
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euler.y,
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euler.z,
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loc.alt*1.0e-2f,
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loc.lat,
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loc.lng);
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}
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#endif
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}
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/*
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handle a MISSION_REQUEST_LIST mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_request_list(AP_Mission &mission, mavlink_message_t *msg)
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{
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// decode
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mavlink_mission_request_list_t packet;
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mavlink_msg_mission_request_list_decode(msg, &packet);
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// reply with number of commands in the mission. The GCS will then request each command separately
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mavlink_msg_mission_count_send(chan,msg->sysid, msg->compid, mission.num_commands());
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// set variables to help handle the expected sending of commands to the GCS
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waypoint_receiving = false; // record that we are sending commands (i.e. not receiving)
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waypoint_dest_sysid = msg->sysid; // record system id of GCS who has requested the commands
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waypoint_dest_compid = msg->compid; // record component id of GCS who has requested the commands
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}
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/*
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handle a MISSION_REQUEST mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_request(AP_Mission &mission, mavlink_message_t *msg)
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{
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AP_Mission::Mission_Command cmd;
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// decode
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mavlink_mission_request_t packet;
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mavlink_msg_mission_request_decode(msg, &packet);
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// retrieve mission from eeprom
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if (!mission.read_cmd_from_storage(packet.seq, cmd)) {
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goto mission_item_send_failed;
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}
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// convert mission command to mavlink mission item packet
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mavlink_mission_item_t ret_packet;
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memset(&ret_packet, 0, sizeof(ret_packet));
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if (!AP_Mission::mission_cmd_to_mavlink(cmd, ret_packet)) {
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goto mission_item_send_failed;
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}
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// set packet's current field to 1 if this is the command being executed
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if (cmd.id == (uint16_t)mission.get_current_nav_cmd().index) {
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ret_packet.current = 1;
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} else {
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ret_packet.current = 0;
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}
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// set auto continue to 1
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ret_packet.autocontinue = 1; // 1 (true), 0 (false)
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/*
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avoid the _send() function to save memory on APM2, as it avoids
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the stack usage of the _send() function by using the already
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declared ret_packet above
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*/
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ret_packet.target_system = msg->sysid;
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ret_packet.target_component = msg->compid;
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ret_packet.seq = packet.seq;
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ret_packet.command = cmd.id;
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_mav_finalize_message_chan_send(chan,
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MAVLINK_MSG_ID_MISSION_ITEM,
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(const char *)&ret_packet,
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MAVLINK_MSG_ID_MISSION_ITEM_LEN,
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MAVLINK_MSG_ID_MISSION_ITEM_CRC);
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return;
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mission_item_send_failed:
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// send failure message
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mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ERROR);
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}
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/*
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handle a MISSION_SET_CURRENT mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg)
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{
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// decode
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mavlink_mission_set_current_t packet;
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mavlink_msg_mission_set_current_decode(msg, &packet);
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// set current command
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if (mission.set_current_cmd(packet.seq)) {
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mavlink_msg_mission_current_send(chan, mission.get_current_nav_cmd().index);
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}
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}
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/*
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handle a MISSION_COUNT mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_count(AP_Mission &mission, mavlink_message_t *msg)
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{
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// decode
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mavlink_mission_count_t packet;
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mavlink_msg_mission_count_decode(msg, &packet);
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// start waypoint receiving
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if (packet.count > mission.num_commands_max()) {
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// send NAK
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mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_NO_SPACE);
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return;
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}
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// new mission arriving, truncate mission to be the same length
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mission.truncate(packet.count);
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// set variables to help handle the expected receiving of commands from the GCS
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waypoint_timelast_receive = hal.scheduler->millis(); // set time we last received commands to now
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waypoint_receiving = true; // record that we expect to receive commands
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waypoint_request_i = 0; // reset the next expected command number to zero
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waypoint_request_last = packet.count; // record how many commands we expect to receive
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waypoint_timelast_request = 0; // set time we last requested commands to zero
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}
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/*
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handle a MISSION_CLEAR_ALL mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg)
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{
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// decode
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mavlink_mission_clear_all_t packet;
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mavlink_msg_mission_clear_all_decode(msg, &packet);
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// clear all waypoints
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if (mission.clear()) {
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// send ack
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mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_RESULT_ACCEPTED);
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}else{
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// send nack
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mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, 1);
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}
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}
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/*
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handle a MISSION_WRITE_PARTIAL_LIST mavlink packet
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*/
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void GCS_MAVLINK::handle_mission_write_partial_list(AP_Mission &mission, mavlink_message_t *msg)
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{
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// decode
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mavlink_mission_write_partial_list_t packet;
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mavlink_msg_mission_write_partial_list_decode(msg, &packet);
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// start waypoint receiving
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if ((unsigned)packet.start_index > mission.num_commands() ||
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(unsigned)packet.end_index > mission.num_commands() ||
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packet.end_index < packet.start_index) {
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send_text_P(SEVERITY_LOW,PSTR("flight plan update rejected"));
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return;
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}
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waypoint_timelast_receive = hal.scheduler->millis();
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waypoint_timelast_request = 0;
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waypoint_receiving = true;
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waypoint_request_i = packet.start_index;
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waypoint_request_last= packet.end_index;
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}
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/*
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handle a GIMBAL_REPORT mavlink packet
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*/
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void GCS_MAVLINK::handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const
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{
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mount.handle_gimbal_report(chan, msg);
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}
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/*
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return true if a channel has flow control
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*/
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bool GCS_MAVLINK::have_flow_control(void)
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{
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// sanity check chan
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if (chan >= MAVLINK_COMM_NUM_BUFFERS) {
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return false;
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}
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if (mavlink_comm_port[chan] == NULL) {
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return false;
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}
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if (chan == MAVLINK_COMM_0) {
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// assume USB console has flow control
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return hal.gpio->usb_connected() || mavlink_comm_port[chan]->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
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} else {
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// all other channels
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return mavlink_comm_port[chan]->get_flow_control() != AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
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}
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}
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/*
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handle a request to change stream rate. Note that copter passes in
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save==false, as sending mavlink messages on copter on APM2 costs
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enough that it can cause flight issues, so we don't want the save to
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happen when the user connects the ground station.
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*/
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void GCS_MAVLINK::handle_request_data_stream(mavlink_message_t *msg, bool save)
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{
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mavlink_request_data_stream_t packet;
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mavlink_msg_request_data_stream_decode(msg, &packet);
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int16_t freq = 0; // packet frequency
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if (packet.start_stop == 0)
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freq = 0; // stop sending
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else if (packet.start_stop == 1)
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freq = packet.req_message_rate; // start sending
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else
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return;
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AP_Int16 *rate = NULL;
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switch (packet.req_stream_id) {
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case MAV_DATA_STREAM_ALL:
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// note that we don't set STREAM_PARAMS - that is internal only
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for (uint8_t i=0; i<STREAM_PARAMS; i++) {
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if (save) {
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streamRates[i].set_and_save_ifchanged(freq);
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} else {
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streamRates[i].set(freq);
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}
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}
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break;
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case MAV_DATA_STREAM_RAW_SENSORS:
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rate = &streamRates[STREAM_RAW_SENSORS];
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break;
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case MAV_DATA_STREAM_EXTENDED_STATUS:
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rate = &streamRates[STREAM_EXTENDED_STATUS];
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break;
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case MAV_DATA_STREAM_RC_CHANNELS:
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rate = &streamRates[STREAM_RC_CHANNELS];
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break;
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case MAV_DATA_STREAM_RAW_CONTROLLER:
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rate = &streamRates[STREAM_RAW_CONTROLLER];
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break;
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case MAV_DATA_STREAM_POSITION:
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rate = &streamRates[STREAM_POSITION];
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break;
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case MAV_DATA_STREAM_EXTRA1:
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rate = &streamRates[STREAM_EXTRA1];
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break;
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case MAV_DATA_STREAM_EXTRA2:
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rate = &streamRates[STREAM_EXTRA2];
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break;
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case MAV_DATA_STREAM_EXTRA3:
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rate = &streamRates[STREAM_EXTRA3];
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break;
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}
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if (rate != NULL) {
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if (save) {
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rate->set_and_save_ifchanged(freq);
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} else {
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rate->set(freq);
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}
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}
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}
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void GCS_MAVLINK::handle_param_request_list(mavlink_message_t *msg)
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{
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mavlink_param_request_list_t packet;
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mavlink_msg_param_request_list_decode(msg, &packet);
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#if CONFIG_HAL_BOARD != HAL_BOARD_APM1 && CONFIG_HAL_BOARD != HAL_BOARD_APM2
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// send system ID if we can
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char sysid[40];
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if (hal.util->get_system_id(sysid)) {
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send_text(SEVERITY_LOW, sysid);
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}
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#endif
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|
|
// Start sending parameters - next call to ::update will kick the first one out
|
|
_queued_parameter = AP_Param::first(&_queued_parameter_token, &_queued_parameter_type);
|
|
_queued_parameter_index = 0;
|
|
_queued_parameter_count = _count_parameters();
|
|
}
|
|
|
|
void GCS_MAVLINK::handle_param_request_read(mavlink_message_t *msg)
|
|
{
|
|
mavlink_param_request_read_t packet;
|
|
mavlink_msg_param_request_read_decode(msg, &packet);
|
|
|
|
enum ap_var_type p_type;
|
|
AP_Param *vp;
|
|
char param_name[AP_MAX_NAME_SIZE+1];
|
|
if (packet.param_index != -1) {
|
|
AP_Param::ParamToken token;
|
|
vp = AP_Param::find_by_index(packet.param_index, &p_type, &token);
|
|
if (vp == NULL) {
|
|
return;
|
|
}
|
|
vp->copy_name_token(token, param_name, AP_MAX_NAME_SIZE, true);
|
|
param_name[AP_MAX_NAME_SIZE] = 0;
|
|
} else {
|
|
strncpy(param_name, packet.param_id, AP_MAX_NAME_SIZE);
|
|
param_name[AP_MAX_NAME_SIZE] = 0;
|
|
vp = AP_Param::find(param_name, &p_type);
|
|
if (vp == NULL) {
|
|
return;
|
|
}
|
|
}
|
|
|
|
float value = vp->cast_to_float(p_type);
|
|
mavlink_msg_param_value_send_buf(
|
|
msg,
|
|
chan,
|
|
param_name,
|
|
value,
|
|
mav_var_type(p_type),
|
|
_count_parameters(),
|
|
packet.param_index);
|
|
}
|
|
|
|
void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash)
|
|
{
|
|
mavlink_param_set_t packet;
|
|
mavlink_msg_param_set_decode(msg, &packet);
|
|
enum ap_var_type var_type;
|
|
|
|
// set parameter
|
|
AP_Param *vp;
|
|
char key[AP_MAX_NAME_SIZE+1];
|
|
strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
|
|
key[AP_MAX_NAME_SIZE] = 0;
|
|
|
|
vp = AP_Param::set_param_by_name(key, packet.param_value, &var_type);
|
|
if (vp == NULL) {
|
|
return;
|
|
}
|
|
|
|
// save the change
|
|
vp->save();
|
|
|
|
// Report back the new value if we accepted the change
|
|
// we send the value we actually set, which could be
|
|
// different from the value sent, in case someone sent
|
|
// a fractional value to an integer type
|
|
mavlink_msg_param_value_send_buf(
|
|
msg,
|
|
chan,
|
|
key,
|
|
vp->cast_to_float(var_type),
|
|
mav_var_type(var_type),
|
|
_count_parameters(),
|
|
-1); // XXX we don't actually know what its index is...
|
|
|
|
if (DataFlash != NULL) {
|
|
DataFlash->Log_Write_Parameter(key, vp->cast_to_float(var_type));
|
|
}
|
|
}
|
|
|
|
|
|
void
|
|
GCS_MAVLINK::send_text(gcs_severity severity, const char *str)
|
|
{
|
|
if (severity != SEVERITY_LOW &&
|
|
comm_get_txspace(chan) >=
|
|
MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_STATUSTEXT_LEN) {
|
|
// send immediately
|
|
mavlink_msg_statustext_send(chan, severity, str);
|
|
} else {
|
|
// send via the deferred queuing system
|
|
mavlink_statustext_t *s = &pending_status;
|
|
s->severity = (uint8_t)severity;
|
|
strncpy((char *)s->text, str, sizeof(s->text));
|
|
send_message(MSG_STATUSTEXT);
|
|
}
|
|
}
|
|
|
|
void
|
|
GCS_MAVLINK::send_text_P(gcs_severity severity, const prog_char_t *str)
|
|
{
|
|
mavlink_statustext_t m;
|
|
uint8_t i;
|
|
memset(m.text, 0, sizeof(m.text));
|
|
for (i=0; i<sizeof(m.text); i++) {
|
|
m.text[i] = pgm_read_byte((const prog_char *)(str++));
|
|
if (m.text[i] == '\0') {
|
|
break;
|
|
}
|
|
}
|
|
if (i < sizeof(m.text)) m.text[i] = 0;
|
|
send_text(severity, (const char *)m.text);
|
|
}
|
|
|
|
|
|
void GCS_MAVLINK::handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio)
|
|
{
|
|
mavlink_radio_t packet;
|
|
mavlink_msg_radio_decode(msg, &packet);
|
|
|
|
// record if the GCS has been receiving radio messages from
|
|
// the aircraft
|
|
if (packet.remrssi != 0) {
|
|
last_radio_status_remrssi_ms = hal.scheduler->millis();
|
|
}
|
|
|
|
// use the state of the transmit buffer in the radio to
|
|
// control the stream rate, giving us adaptive software
|
|
// flow control
|
|
if (packet.txbuf < 20 && stream_slowdown < 100) {
|
|
// we are very low on space - slow down a lot
|
|
stream_slowdown += 3;
|
|
} else if (packet.txbuf < 50 && stream_slowdown < 100) {
|
|
// we are a bit low on space, slow down slightly
|
|
stream_slowdown += 1;
|
|
} else if (packet.txbuf > 95 && stream_slowdown > 10) {
|
|
// the buffer has plenty of space, speed up a lot
|
|
stream_slowdown -= 2;
|
|
} else if (packet.txbuf > 90 && stream_slowdown != 0) {
|
|
// the buffer has enough space, speed up a bit
|
|
stream_slowdown--;
|
|
}
|
|
|
|
//log rssi, noise, etc if logging Performance monitoring data
|
|
if (log_radio) {
|
|
dataflash.Log_Write_Radio(packet);
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
handle an incoming mission item
|
|
return true if this is the last mission item, otherwise false
|
|
*/
|
|
bool GCS_MAVLINK::handle_mission_item(mavlink_message_t *msg, AP_Mission &mission)
|
|
{
|
|
mavlink_mission_item_t packet;
|
|
MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
|
|
struct AP_Mission::Mission_Command cmd = {};
|
|
bool mission_is_complete = false;
|
|
|
|
mavlink_msg_mission_item_decode(msg, &packet);
|
|
|
|
// convert mavlink packet to mission command
|
|
if (!AP_Mission::mavlink_to_mission_cmd(packet, cmd)) {
|
|
result = MAV_MISSION_INVALID;
|
|
goto mission_ack;
|
|
}
|
|
|
|
if (packet.current == 2) {
|
|
// current = 2 is a flag to tell us this is a "guided mode"
|
|
// waypoint and not for the mission
|
|
handle_guided_request(cmd);
|
|
|
|
// verify we received the command
|
|
result = MAV_MISSION_ACCEPTED;
|
|
goto mission_ack;
|
|
}
|
|
|
|
if (packet.current == 3) {
|
|
//current = 3 is a flag to tell us this is a alt change only
|
|
// add home alt if needed
|
|
handle_change_alt_request(cmd);
|
|
|
|
// verify we recevied the command
|
|
result = MAV_MISSION_ACCEPTED;
|
|
goto mission_ack;
|
|
}
|
|
|
|
// Check if receiving waypoints (mission upload expected)
|
|
if (!waypoint_receiving) {
|
|
result = MAV_MISSION_ERROR;
|
|
goto mission_ack;
|
|
}
|
|
|
|
// check if this is the requested waypoint
|
|
if (packet.seq != waypoint_request_i) {
|
|
result = MAV_MISSION_INVALID_SEQUENCE;
|
|
goto mission_ack;
|
|
}
|
|
|
|
// if command index is within the existing list, replace the command
|
|
if (packet.seq < mission.num_commands()) {
|
|
if (mission.replace_cmd(packet.seq,cmd)) {
|
|
result = MAV_MISSION_ACCEPTED;
|
|
}else{
|
|
result = MAV_MISSION_ERROR;
|
|
goto mission_ack;
|
|
}
|
|
// if command is at the end of command list, add the command
|
|
} else if (packet.seq == mission.num_commands()) {
|
|
if (mission.add_cmd(cmd)) {
|
|
result = MAV_MISSION_ACCEPTED;
|
|
}else{
|
|
result = MAV_MISSION_ERROR;
|
|
goto mission_ack;
|
|
}
|
|
// if beyond the end of the command list, return an error
|
|
} else {
|
|
result = MAV_MISSION_ERROR;
|
|
goto mission_ack;
|
|
}
|
|
|
|
// update waypoint receiving state machine
|
|
waypoint_timelast_receive = hal.scheduler->millis();
|
|
waypoint_request_i++;
|
|
|
|
if (waypoint_request_i >= waypoint_request_last) {
|
|
mavlink_msg_mission_ack_send_buf(
|
|
msg,
|
|
chan,
|
|
msg->sysid,
|
|
msg->compid,
|
|
MAV_MISSION_ACCEPTED);
|
|
|
|
send_text_P(SEVERITY_LOW,PSTR("flight plan received"));
|
|
waypoint_receiving = false;
|
|
mission_is_complete = true;
|
|
// XXX ignores waypoint radius for individual waypoints, can
|
|
// only set WP_RADIUS parameter
|
|
} else {
|
|
waypoint_timelast_request = hal.scheduler->millis();
|
|
// if we have enough space, then send the next WP immediately
|
|
if (comm_get_txspace(chan) >=
|
|
MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_MISSION_ITEM_LEN) {
|
|
queued_waypoint_send();
|
|
} else {
|
|
send_message(MSG_NEXT_WAYPOINT);
|
|
}
|
|
}
|
|
return mission_is_complete;
|
|
|
|
mission_ack:
|
|
// we are rejecting the mission/waypoint
|
|
mavlink_msg_mission_ack_send_buf(
|
|
msg,
|
|
chan,
|
|
msg->sysid,
|
|
msg->compid,
|
|
result);
|
|
|
|
return mission_is_complete;
|
|
}
|
|
|
|
void
|
|
GCS_MAVLINK::handle_gps_inject(const mavlink_message_t *msg, AP_GPS &gps)
|
|
{
|
|
mavlink_gps_inject_data_t packet;
|
|
mavlink_msg_gps_inject_data_decode(msg, &packet);
|
|
//TODO: check target
|
|
|
|
gps.inject_data(packet.data, packet.len);
|
|
|
|
}
|
|
|
|
// send a message using mavlink, handling message queueing
|
|
void GCS_MAVLINK::send_message(enum ap_message id)
|
|
{
|
|
uint8_t i, nextid;
|
|
|
|
// see if we can send the deferred messages, if any
|
|
while (num_deferred_messages != 0) {
|
|
if (!try_send_message(deferred_messages[next_deferred_message])) {
|
|
break;
|
|
}
|
|
next_deferred_message++;
|
|
if (next_deferred_message == MSG_RETRY_DEFERRED) {
|
|
next_deferred_message = 0;
|
|
}
|
|
num_deferred_messages--;
|
|
}
|
|
|
|
if (id == MSG_RETRY_DEFERRED) {
|
|
return;
|
|
}
|
|
|
|
// this message id might already be deferred
|
|
for (i=0, nextid = next_deferred_message; i < num_deferred_messages; i++) {
|
|
if (deferred_messages[nextid] == id) {
|
|
// its already deferred, discard
|
|
return;
|
|
}
|
|
nextid++;
|
|
if (nextid == MSG_RETRY_DEFERRED) {
|
|
nextid = 0;
|
|
}
|
|
}
|
|
|
|
if (num_deferred_messages != 0 ||
|
|
!try_send_message(id)) {
|
|
// can't send it now, so defer it
|
|
if (num_deferred_messages == MSG_RETRY_DEFERRED) {
|
|
// the defer buffer is full, discard
|
|
return;
|
|
}
|
|
nextid = next_deferred_message + num_deferred_messages;
|
|
if (nextid >= MSG_RETRY_DEFERRED) {
|
|
nextid -= MSG_RETRY_DEFERRED;
|
|
}
|
|
deferred_messages[nextid] = id;
|
|
num_deferred_messages++;
|
|
}
|
|
}
|
|
|
|
void
|
|
GCS_MAVLINK::update(run_cli_fn run_cli)
|
|
{
|
|
// receive new packets
|
|
mavlink_message_t msg;
|
|
mavlink_status_t status;
|
|
status.packet_rx_drop_count = 0;
|
|
|
|
// process received bytes
|
|
uint16_t nbytes = comm_get_available(chan);
|
|
for (uint16_t i=0; i<nbytes; i++)
|
|
{
|
|
uint8_t c = comm_receive_ch(chan);
|
|
|
|
if (run_cli) {
|
|
/* allow CLI to be started by hitting enter 3 times, if no
|
|
* heartbeat packets have been received */
|
|
if ((mavlink_active==0) && (hal.scheduler->millis() - _cli_timeout) < 20000 &&
|
|
comm_is_idle(chan)) {
|
|
if (c == '\n' || c == '\r') {
|
|
crlf_count++;
|
|
} else {
|
|
crlf_count = 0;
|
|
}
|
|
if (crlf_count == 3) {
|
|
run_cli(_port);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Try to get a new message
|
|
if (mavlink_parse_char(chan, c, &msg, &status)) {
|
|
// we exclude radio packets to make it possible to use the
|
|
// CLI over the radio
|
|
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
|
|
mavlink_active |= (1U<<(chan-MAVLINK_COMM_0));
|
|
}
|
|
// if a snoop handler has been setup then use it
|
|
if (msg_snoop != NULL) {
|
|
msg_snoop(&msg);
|
|
}
|
|
if (routing.check_and_forward(chan, &msg)) {
|
|
handleMessage(&msg);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!waypoint_receiving) {
|
|
return;
|
|
}
|
|
|
|
uint32_t tnow = hal.scheduler->millis();
|
|
uint32_t wp_recv_time = 1000U + (stream_slowdown*20);
|
|
|
|
if (waypoint_receiving &&
|
|
waypoint_request_i <= waypoint_request_last &&
|
|
tnow - waypoint_timelast_request > wp_recv_time) {
|
|
waypoint_timelast_request = tnow;
|
|
send_message(MSG_NEXT_WAYPOINT);
|
|
}
|
|
|
|
// stop waypoint receiving if timeout
|
|
if (waypoint_receiving && (tnow - waypoint_timelast_receive) > wp_recv_time+waypoint_receive_timeout) {
|
|
waypoint_receiving = false;
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
send raw GPS position information (GPS_RAW_INT, GPS2_RAW, GPS_RTK and GPS2_RTK).
|
|
returns true if messages fit into transmit buffer, false otherwise.
|
|
*/
|
|
bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
|
|
{
|
|
if (comm_get_txspace(chan) >=
|
|
MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
|
|
gps.send_mavlink_gps_raw(chan);
|
|
} else {
|
|
return false;
|
|
}
|
|
|
|
#if GPS_RTK_AVAILABLE
|
|
if (gps.highest_supported_status(0) > AP_GPS::GPS_OK_FIX_3D) {
|
|
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS_RTK_LEN) {
|
|
gps.send_mavlink_gps_rtk(chan);
|
|
}
|
|
|
|
}
|
|
#endif
|
|
|
|
#if GPS_MAX_INSTANCES > 1
|
|
|
|
if (gps.num_sensors() > 1 && gps.status(1) > AP_GPS::NO_GPS) {
|
|
|
|
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RAW_LEN) {
|
|
gps.send_mavlink_gps2_raw(chan);
|
|
}
|
|
|
|
#if GPS_RTK_AVAILABLE
|
|
if (gps.highest_supported_status(1) > AP_GPS::GPS_OK_FIX_3D) {
|
|
if (comm_get_txspace(chan) >=
|
|
MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RTK_LEN) {
|
|
gps.send_mavlink_gps2_rtk(chan);
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
//TODO: Should check what else managed to get through...
|
|
return true;
|
|
|
|
}
|
|
|
|
|
|
/*
|
|
send the SYSTEM_TIME message
|
|
*/
|
|
void GCS_MAVLINK::send_system_time(AP_GPS &gps)
|
|
{
|
|
mavlink_msg_system_time_send(
|
|
chan,
|
|
gps.time_epoch_usec(),
|
|
hal.scheduler->millis());
|
|
}
|
|
|
|
|
|
/*
|
|
send RC_CHANNELS_RAW, and RC_CHANNELS messages
|
|
*/
|
|
void GCS_MAVLINK::send_radio_in(uint8_t receiver_rssi)
|
|
{
|
|
uint32_t now = hal.scheduler->millis();
|
|
|
|
uint16_t values[8];
|
|
memset(values, 0, sizeof(values));
|
|
hal.rcin->read(values, 8);
|
|
|
|
mavlink_msg_rc_channels_raw_send(
|
|
chan,
|
|
now,
|
|
0, // port
|
|
values[0],
|
|
values[1],
|
|
values[2],
|
|
values[3],
|
|
values[4],
|
|
values[5],
|
|
values[6],
|
|
values[7],
|
|
receiver_rssi);
|
|
|
|
if (hal.rcin->num_channels() > 8 &&
|
|
comm_get_txspace(chan) >= MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
|
|
mavlink_msg_rc_channels_send(
|
|
chan,
|
|
now,
|
|
hal.rcin->num_channels(),
|
|
hal.rcin->read(CH_1),
|
|
hal.rcin->read(CH_2),
|
|
hal.rcin->read(CH_3),
|
|
hal.rcin->read(CH_4),
|
|
hal.rcin->read(CH_5),
|
|
hal.rcin->read(CH_6),
|
|
hal.rcin->read(CH_7),
|
|
hal.rcin->read(CH_8),
|
|
hal.rcin->read(CH_9),
|
|
hal.rcin->read(CH_10),
|
|
hal.rcin->read(CH_11),
|
|
hal.rcin->read(CH_12),
|
|
hal.rcin->read(CH_13),
|
|
hal.rcin->read(CH_14),
|
|
hal.rcin->read(CH_15),
|
|
hal.rcin->read(CH_16),
|
|
hal.rcin->read(CH_17),
|
|
hal.rcin->read(CH_18),
|
|
receiver_rssi);
|
|
}
|
|
}
|
|
|
|
void GCS_MAVLINK::send_raw_imu(const AP_InertialSensor &ins, const Compass &compass)
|
|
{
|
|
const Vector3f &accel = ins.get_accel(0);
|
|
const Vector3f &gyro = ins.get_gyro(0);
|
|
Vector3f mag;
|
|
if (compass.get_count() >= 1) {
|
|
mag = compass.get_field(0);
|
|
} else {
|
|
mag.zero();
|
|
}
|
|
|
|
mavlink_msg_raw_imu_send(
|
|
chan,
|
|
hal.scheduler->micros(),
|
|
accel.x * 1000.0f / GRAVITY_MSS,
|
|
accel.y * 1000.0f / GRAVITY_MSS,
|
|
accel.z * 1000.0f / GRAVITY_MSS,
|
|
gyro.x * 1000.0f,
|
|
gyro.y * 1000.0f,
|
|
gyro.z * 1000.0f,
|
|
mag.x,
|
|
mag.y,
|
|
mag.z);
|
|
#if INS_MAX_INSTANCES > 1
|
|
if (ins.get_gyro_count() <= 1 &&
|
|
ins.get_accel_count() <= 1 &&
|
|
compass.get_count() <= 1) {
|
|
return;
|
|
}
|
|
const Vector3f &accel2 = ins.get_accel(1);
|
|
const Vector3f &gyro2 = ins.get_gyro(1);
|
|
if (compass.get_count() >= 2) {
|
|
mag = compass.get_field(1);
|
|
} else {
|
|
mag.zero();
|
|
}
|
|
mavlink_msg_scaled_imu2_send(
|
|
chan,
|
|
hal.scheduler->millis(),
|
|
accel2.x * 1000.0f / GRAVITY_MSS,
|
|
accel2.y * 1000.0f / GRAVITY_MSS,
|
|
accel2.z * 1000.0f / GRAVITY_MSS,
|
|
gyro2.x * 1000.0f,
|
|
gyro2.y * 1000.0f,
|
|
gyro2.z * 1000.0f,
|
|
mag.x,
|
|
mag.y,
|
|
mag.z);
|
|
#endif
|
|
#if INS_MAX_INSTANCES > 2
|
|
if (ins.get_gyro_count() <= 2 &&
|
|
ins.get_accel_count() <= 2 &&
|
|
compass.get_count() <= 2) {
|
|
return;
|
|
}
|
|
const Vector3f &accel3 = ins.get_accel(2);
|
|
const Vector3f &gyro3 = ins.get_gyro(2);
|
|
if (compass.get_count() >= 3) {
|
|
mag = compass.get_field(2);
|
|
} else {
|
|
mag.zero();
|
|
}
|
|
mavlink_msg_scaled_imu3_send(
|
|
chan,
|
|
hal.scheduler->millis(),
|
|
accel3.x * 1000.0f / GRAVITY_MSS,
|
|
accel3.y * 1000.0f / GRAVITY_MSS,
|
|
accel3.z * 1000.0f / GRAVITY_MSS,
|
|
gyro3.x * 1000.0f,
|
|
gyro3.y * 1000.0f,
|
|
gyro3.z * 1000.0f,
|
|
mag.x,
|
|
mag.y,
|
|
mag.z);
|
|
#endif
|
|
}
|
|
|
|
void GCS_MAVLINK::send_scaled_pressure(AP_Baro &barometer)
|
|
{
|
|
uint32_t now = hal.scheduler->millis();
|
|
float pressure = barometer.get_pressure(0);
|
|
mavlink_msg_scaled_pressure_send(
|
|
chan,
|
|
now,
|
|
pressure*0.01f, // hectopascal
|
|
(pressure - barometer.get_ground_pressure(0))*0.01f, // hectopascal
|
|
barometer.get_temperature(0)*100); // 0.01 degrees C
|
|
#if BARO_MAX_INSTANCES > 1
|
|
if (barometer.num_instances() > 1) {
|
|
pressure = barometer.get_pressure(1);
|
|
mavlink_msg_scaled_pressure2_send(
|
|
chan,
|
|
now,
|
|
pressure*0.01f, // hectopascal
|
|
(pressure - barometer.get_ground_pressure(1))*0.01f, // hectopascal
|
|
barometer.get_temperature(1)*100); // 0.01 degrees C
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer)
|
|
{
|
|
// run this message at a much lower rate - otherwise it
|
|
// pointlessly wastes quite a lot of bandwidth
|
|
static uint8_t counter;
|
|
if (counter++ < 10) {
|
|
return;
|
|
}
|
|
counter = 0;
|
|
|
|
const Vector3f &mag_offsets = compass.get_offsets(0);
|
|
const Vector3f &accel_offsets = ins.get_accel_offsets(0);
|
|
const Vector3f &gyro_offsets = ins.get_gyro_offsets(0);
|
|
|
|
mavlink_msg_sensor_offsets_send(chan,
|
|
mag_offsets.x,
|
|
mag_offsets.y,
|
|
mag_offsets.z,
|
|
compass.get_declination(),
|
|
barometer.get_pressure(),
|
|
barometer.get_temperature()*100,
|
|
gyro_offsets.x,
|
|
gyro_offsets.y,
|
|
gyro_offsets.z,
|
|
accel_offsets.x,
|
|
accel_offsets.y,
|
|
accel_offsets.z);
|
|
}
|
|
|
|
void GCS_MAVLINK::send_ahrs(AP_AHRS &ahrs)
|
|
{
|
|
const Vector3f &omega_I = ahrs.get_gyro_drift();
|
|
mavlink_msg_ahrs_send(
|
|
chan,
|
|
omega_I.x,
|
|
omega_I.y,
|
|
omega_I.z,
|
|
0,
|
|
0,
|
|
ahrs.get_error_rp(),
|
|
ahrs.get_error_yaw());
|
|
}
|
|
|
|
/*
|
|
send a statustext message to all active MAVLink connections
|
|
*/
|
|
void GCS_MAVLINK::send_statustext_all(const prog_char_t *msg)
|
|
{
|
|
for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
|
|
if ((1U<<i) & mavlink_active) {
|
|
mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0+i);
|
|
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_STATUSTEXT_LEN) {
|
|
char msg2[50];
|
|
strncpy_P(msg2, msg, sizeof(msg2));
|
|
mavlink_msg_statustext_send(chan,
|
|
SEVERITY_HIGH,
|
|
msg2);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// report battery2 state
|
|
void GCS_MAVLINK::send_battery2(const AP_BattMonitor &battery)
|
|
{
|
|
if (battery.num_instances() > 1) {
|
|
mavlink_msg_battery2_send(chan, battery.voltage2()*1000, -1);
|
|
}
|
|
}
|
|
|
|
/*
|
|
handle a SET_MODE MAVLink message
|
|
*/
|
|
void GCS_MAVLINK::handle_set_mode(mavlink_message_t* msg, set_mode_fn set_mode)
|
|
{
|
|
uint8_t result = MAV_RESULT_FAILED;
|
|
mavlink_set_mode_t packet;
|
|
mavlink_msg_set_mode_decode(msg, &packet);
|
|
|
|
// only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
|
|
if (packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
|
|
if (set_mode(packet.custom_mode)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
} else if (packet.base_mode == MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
|
|
// set the safety switch position. Must be in a command by itself
|
|
if (packet.custom_mode == 0) {
|
|
// turn safety off (pwm outputs flow to the motors)
|
|
hal.rcout->force_safety_off();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else if (packet.custom_mode == 1) {
|
|
// turn safety on (no pwm outputs to the motors)
|
|
if (hal.rcout->force_safety_on()) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
}
|
|
}
|
|
|
|
// send ACK or NAK
|
|
mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, result);
|
|
}
|
|
|
|
#if AP_AHRS_NAVEKF_AVAILABLE
|
|
/*
|
|
send OPTICAL_FLOW message
|
|
*/
|
|
void GCS_MAVLINK::send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optflow)
|
|
{
|
|
// exit immediately if no optical flow sensor or not healthy
|
|
if (!optflow.healthy()) {
|
|
return;
|
|
}
|
|
|
|
// get rates from sensor
|
|
const Vector2f &flowRate = optflow.flowRate();
|
|
const Vector2f &bodyRate = optflow.bodyRate();
|
|
float hagl = 0;
|
|
|
|
if (ahrs.have_inertial_nav()) {
|
|
ahrs.get_NavEKF().getHAGL(hagl);
|
|
}
|
|
|
|
// populate and send message
|
|
mavlink_msg_optical_flow_send(
|
|
chan,
|
|
hal.scheduler->millis(),
|
|
0, // sensor id is zero
|
|
flowRate.x,
|
|
flowRate.y,
|
|
bodyRate.x,
|
|
bodyRate.y,
|
|
optflow.quality(),
|
|
hagl); // ground distance (in meters) set to zero
|
|
}
|
|
#endif
|
|
|
|
/*
|
|
send AUTOPILOT_VERSION packet
|
|
*/
|
|
void GCS_MAVLINK::send_autopilot_version(void) const
|
|
{
|
|
uint16_t capabilities = 0;
|
|
uint32_t flight_sw_version = 0;
|
|
uint32_t middleware_sw_version = 0;
|
|
uint32_t os_sw_version = 0;
|
|
uint32_t board_version = 0;
|
|
uint8_t flight_custom_version[8];
|
|
uint8_t middleware_custom_version[8];
|
|
uint8_t os_custom_version[8];
|
|
uint16_t vendor_id = 0;
|
|
uint16_t product_id = 0;
|
|
uint64_t uid = 0;
|
|
|
|
#if defined(GIT_VERSION)
|
|
strncpy((char *)flight_custom_version, GIT_VERSION, 8);
|
|
#else
|
|
memset(middleware_custom_version,0,8);
|
|
#endif
|
|
|
|
#if defined(PX4_GIT_VERSION)
|
|
strncpy((char *)middleware_custom_version, PX4_GIT_VERSION, 8);
|
|
#else
|
|
memset(middleware_custom_version,0,8);
|
|
#endif
|
|
|
|
#if defined(NUTTX_GIT_VERSION)
|
|
strncpy((char *)os_custom_version, NUTTX_GIT_VERSION, 8);
|
|
#else
|
|
memset(os_custom_version,0,8);
|
|
#endif
|
|
|
|
mavlink_msg_autopilot_version_send(
|
|
chan,
|
|
capabilities,
|
|
flight_sw_version,
|
|
middleware_sw_version,
|
|
os_sw_version,
|
|
board_version,
|
|
flight_custom_version,
|
|
middleware_custom_version,
|
|
os_custom_version,
|
|
vendor_id,
|
|
product_id,
|
|
uid
|
|
);
|
|
}
|
|
|
|
|
|
/*
|
|
send LOCAL_POSITION_NED message
|
|
*/
|
|
void GCS_MAVLINK::send_local_position(const AP_AHRS &ahrs) const
|
|
{
|
|
Vector3f local_position, velocity;
|
|
if (!ahrs.get_relative_position_NED(local_position) ||
|
|
!ahrs.get_velocity_NED(velocity)) {
|
|
// we don't know the position and velocity
|
|
return;
|
|
}
|
|
|
|
mavlink_msg_local_position_ned_send(
|
|
chan,
|
|
hal.scheduler->millis(),
|
|
local_position.x,
|
|
local_position.y,
|
|
local_position.z,
|
|
velocity.x,
|
|
velocity.y,
|
|
velocity.z);
|
|
}
|
|
|
|
/*
|
|
send LOCAL_POSITION_NED message
|
|
*/
|
|
void GCS_MAVLINK::send_vibration(const AP_InertialSensor &ins) const
|
|
{
|
|
#if INS_VIBRATION_CHECK
|
|
Vector3f vibration = ins.get_vibration_levels();
|
|
|
|
mavlink_msg_vibration_send(
|
|
chan,
|
|
hal.scheduler->micros64(),
|
|
vibration.x,
|
|
vibration.y,
|
|
vibration.z,
|
|
ins.get_accel_clip_count(0),
|
|
ins.get_accel_clip_count(1),
|
|
ins.get_accel_clip_count(2));
|
|
#endif
|
|
}
|