mirror of https://github.com/ArduPilot/ardupilot
2173 lines
66 KiB
Plaintext
2173 lines
66 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
// use this to prevent recursion during sensor init
|
|
static bool in_mavlink_delay;
|
|
|
|
// true when we have received at least 1 MAVLink packet
|
|
static bool mavlink_active;
|
|
|
|
// check if a message will fit in the payload space available
|
|
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_ ## id ## _LEN) return false
|
|
|
|
/*
|
|
* !!NOTE!!
|
|
*
|
|
* the use of NOINLINE separate functions for each message type avoids
|
|
* a compiler bug in gcc that would cause it to use far more stack
|
|
* space than is needed. Without the NOINLINE we use the sum of the
|
|
* stack needed for each message type. Please be careful to follow the
|
|
* pattern below when adding any new messages
|
|
*/
|
|
|
|
static NOINLINE void send_heartbeat(mavlink_channel_t chan)
|
|
{
|
|
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
|
|
uint8_t system_status = MAV_STATE_ACTIVE;
|
|
uint32_t custom_mode = control_mode;
|
|
|
|
if (failsafe != FAILSAFE_NONE) {
|
|
system_status = MAV_STATE_CRITICAL;
|
|
}
|
|
|
|
// work out the base_mode. This value is not very useful
|
|
// for APM, but we calculate it as best we can so a generic
|
|
// MAVLink enabled ground station can work out something about
|
|
// what the MAV is up to. The actual bit values are highly
|
|
// ambiguous for most of the APM flight modes. In practice, you
|
|
// only get useful information from the custom_mode, which maps to
|
|
// the APM flight mode and has a well defined meaning in the
|
|
// ArduPlane documentation
|
|
switch (control_mode) {
|
|
case MANUAL:
|
|
case TRAINING:
|
|
base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
|
|
break;
|
|
case STABILIZE:
|
|
case FLY_BY_WIRE_A:
|
|
case FLY_BY_WIRE_B:
|
|
base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
|
|
break;
|
|
case AUTO:
|
|
case RTL:
|
|
case LOITER:
|
|
case GUIDED:
|
|
case CIRCLE:
|
|
base_mode = MAV_MODE_FLAG_GUIDED_ENABLED |
|
|
MAV_MODE_FLAG_STABILIZE_ENABLED;
|
|
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
|
|
// APM does in any mode, as that is defined as "system finds its own goal
|
|
// positions", which APM does not currently do
|
|
break;
|
|
case INITIALISING:
|
|
system_status = MAV_STATE_CALIBRATING;
|
|
break;
|
|
}
|
|
|
|
if (!training_manual_pitch || !training_manual_roll) {
|
|
base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
|
|
}
|
|
|
|
if (control_mode != MANUAL && control_mode != INITIALISING) {
|
|
// stabiliser of some form is enabled
|
|
base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
|
|
}
|
|
|
|
if (g.stick_mixing != STICK_MIXING_DISABLED && control_mode != INITIALISING) {
|
|
// all modes except INITIALISING have some form of manual
|
|
// override if stick mixing is enabled
|
|
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
|
|
}
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
|
|
#endif
|
|
|
|
// we are armed if we are not initialising
|
|
if (control_mode != INITIALISING) {
|
|
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
|
|
}
|
|
|
|
// indicate we have set a custom mode
|
|
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
|
|
|
|
mavlink_msg_heartbeat_send(
|
|
chan,
|
|
MAV_TYPE_FIXED_WING,
|
|
MAV_AUTOPILOT_ARDUPILOTMEGA,
|
|
base_mode,
|
|
custom_mode,
|
|
system_status);
|
|
}
|
|
|
|
static NOINLINE void send_attitude(mavlink_channel_t chan)
|
|
{
|
|
Vector3f omega = ahrs.get_gyro();
|
|
mavlink_msg_attitude_send(
|
|
chan,
|
|
millis(),
|
|
ahrs.roll,
|
|
ahrs.pitch - radians(g.pitch_trim_cd*0.01),
|
|
ahrs.yaw,
|
|
omega.x,
|
|
omega.y,
|
|
omega.z);
|
|
}
|
|
|
|
#if GEOFENCE_ENABLED == ENABLED
|
|
static NOINLINE void send_fence_status(mavlink_channel_t chan)
|
|
{
|
|
geofence_send_status(chan);
|
|
}
|
|
#endif
|
|
|
|
|
|
static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
|
|
{
|
|
uint32_t control_sensors_present = 0;
|
|
uint32_t control_sensors_enabled;
|
|
uint32_t control_sensors_health;
|
|
|
|
// first what sensors/controllers we have
|
|
control_sensors_present |= (1<<0); // 3D gyro present
|
|
control_sensors_present |= (1<<1); // 3D accelerometer present
|
|
if (g.compass_enabled) {
|
|
control_sensors_present |= (1<<2); // compass present
|
|
}
|
|
control_sensors_present |= (1<<3); // absolute pressure sensor present
|
|
if (g_gps != NULL && g_gps->status() >= GPS::NO_GPS) {
|
|
control_sensors_present |= (1<<5); // GPS present
|
|
}
|
|
control_sensors_present |= (1<<10); // 3D angular rate control
|
|
control_sensors_present |= (1<<11); // attitude stabilisation
|
|
control_sensors_present |= (1<<12); // yaw position
|
|
control_sensors_present |= (1<<13); // altitude control
|
|
control_sensors_present |= (1<<14); // X/Y position control
|
|
control_sensors_present |= (1<<15); // motor control
|
|
|
|
// now what sensors/controllers are enabled
|
|
|
|
// first the sensors
|
|
control_sensors_enabled = control_sensors_present & 0x1FF;
|
|
|
|
// now the controllers
|
|
control_sensors_enabled = control_sensors_present & 0x1FF;
|
|
|
|
switch (control_mode) {
|
|
case MANUAL:
|
|
break;
|
|
|
|
case STABILIZE:
|
|
case FLY_BY_WIRE_A:
|
|
control_sensors_enabled |= (1<<10); // 3D angular rate control
|
|
control_sensors_enabled |= (1<<11); // attitude stabilisation
|
|
break;
|
|
|
|
case FLY_BY_WIRE_B:
|
|
control_sensors_enabled |= (1<<10); // 3D angular rate control
|
|
control_sensors_enabled |= (1<<11); // attitude stabilisation
|
|
control_sensors_enabled |= (1<<15); // motor control
|
|
break;
|
|
|
|
case TRAINING:
|
|
if (!training_manual_roll || !training_manual_pitch) {
|
|
control_sensors_enabled |= (1<<10); // 3D angular rate control
|
|
control_sensors_enabled |= (1<<11); // attitude stabilisation
|
|
}
|
|
break;
|
|
|
|
case AUTO:
|
|
case RTL:
|
|
case LOITER:
|
|
case GUIDED:
|
|
case CIRCLE:
|
|
control_sensors_enabled |= (1<<10); // 3D angular rate control
|
|
control_sensors_enabled |= (1<<11); // attitude stabilisation
|
|
control_sensors_enabled |= (1<<12); // yaw position
|
|
control_sensors_enabled |= (1<<13); // altitude control
|
|
control_sensors_enabled |= (1<<14); // X/Y position control
|
|
control_sensors_enabled |= (1<<15); // motor control
|
|
break;
|
|
|
|
case INITIALISING:
|
|
break;
|
|
}
|
|
|
|
// at the moment all sensors/controllers are assumed healthy
|
|
control_sensors_health = control_sensors_present;
|
|
|
|
if (!ahrs.use_compass()) {
|
|
control_sensors_health &= ~(1<<2); // compass not being used
|
|
}
|
|
|
|
if (g_gps != NULL && g_gps->status() <= GPS::NO_FIX) {
|
|
control_sensors_health &= ~(1<<5); // GPS unhealthy
|
|
}
|
|
|
|
uint16_t battery_current = -1;
|
|
uint8_t battery_remaining = -1;
|
|
|
|
if (current_total1 != 0 && g.pack_capacity != 0) {
|
|
battery_remaining = (100.0 * (g.pack_capacity - current_total1) / g.pack_capacity);
|
|
}
|
|
if (current_total1 != 0) {
|
|
battery_current = current_amps1 * 100;
|
|
}
|
|
|
|
if (g.battery_monitoring == 3) {
|
|
/*setting a out-of-range value.
|
|
* It informs to external devices that
|
|
* it cannot be calculated properly just by voltage*/
|
|
battery_remaining = 150;
|
|
}
|
|
|
|
mavlink_msg_sys_status_send(
|
|
chan,
|
|
control_sensors_present,
|
|
control_sensors_enabled,
|
|
control_sensors_health,
|
|
(uint16_t)(load * 1000),
|
|
battery_voltage1 * 1000, // mV
|
|
battery_current, // in 10mA units
|
|
battery_remaining, // in %
|
|
0, // comm drops %,
|
|
0, // comm drops in pkts,
|
|
0, 0, 0, 0);
|
|
|
|
}
|
|
|
|
static void NOINLINE send_meminfo(mavlink_channel_t chan)
|
|
{
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
extern unsigned __brkval;
|
|
mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
|
|
#endif
|
|
}
|
|
|
|
static void NOINLINE send_location(mavlink_channel_t chan)
|
|
{
|
|
uint32_t fix_time;
|
|
// if we have a GPS fix, take the time as the last fix time. That
|
|
// allows us to correctly calculate velocities and extrapolate
|
|
// positions.
|
|
// If we don't have a GPS fix then we are dead reckoning, and will
|
|
// use the current boot time as the fix time.
|
|
if (g_gps->status() >= GPS::GPS_OK_FIX_2D) {
|
|
fix_time = g_gps->last_fix_time;
|
|
} else {
|
|
fix_time = millis();
|
|
}
|
|
mavlink_msg_global_position_int_send(
|
|
chan,
|
|
fix_time,
|
|
current_loc.lat, // in 1E7 degrees
|
|
current_loc.lng, // in 1E7 degrees
|
|
g_gps->altitude * 10, // millimeters above sea level
|
|
(current_loc.alt-home.alt) * 10, // millimeters above ground
|
|
g_gps->velocity_north() * 100, // X speed cm/s (+ve North)
|
|
g_gps->velocity_east() * 100, // Y speed cm/s (+ve East)
|
|
g_gps->velocity_down() * -100, // Z speed cm/s (+ve up)
|
|
ahrs.yaw_sensor);
|
|
}
|
|
|
|
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
|
|
{
|
|
mavlink_msg_nav_controller_output_send(
|
|
chan,
|
|
nav_roll_cd * 0.01,
|
|
nav_pitch_cd * 0.01,
|
|
nav_controller->nav_bearing_cd() * 0.01f,
|
|
nav_controller->target_bearing_cd() * 0.01f,
|
|
wp_distance,
|
|
altitude_error_cm * 0.01,
|
|
airspeed_error_cm,
|
|
nav_controller->crosstrack_error());
|
|
}
|
|
|
|
static void NOINLINE send_gps_raw(mavlink_channel_t chan)
|
|
{
|
|
mavlink_msg_gps_raw_int_send(
|
|
chan,
|
|
g_gps->last_fix_time*(uint64_t)1000,
|
|
g_gps->status(),
|
|
g_gps->latitude, // in 1E7 degrees
|
|
g_gps->longitude, // in 1E7 degrees
|
|
g_gps->altitude * 10, // in mm
|
|
g_gps->hdop,
|
|
65535,
|
|
g_gps->ground_speed, // cm/s
|
|
g_gps->ground_course, // 1/100 degrees,
|
|
g_gps->num_sats);
|
|
}
|
|
|
|
static void NOINLINE send_servo_out(mavlink_channel_t chan)
|
|
{
|
|
// normalized values scaled to -10000 to 10000
|
|
// This is used for HIL. Do not change without discussing with
|
|
// HIL maintainers
|
|
mavlink_msg_rc_channels_scaled_send(
|
|
chan,
|
|
millis(),
|
|
0, // port 0
|
|
10000 * g.channel_roll.norm_output(),
|
|
10000 * g.channel_pitch.norm_output(),
|
|
10000 * g.channel_throttle.norm_output(),
|
|
10000 * g.channel_rudder.norm_output(),
|
|
0,
|
|
0,
|
|
0,
|
|
0,
|
|
receiver_rssi);
|
|
}
|
|
|
|
static void NOINLINE send_radio_in(mavlink_channel_t chan)
|
|
{
|
|
mavlink_msg_rc_channels_raw_send(
|
|
chan,
|
|
millis(),
|
|
0, // port
|
|
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),
|
|
receiver_rssi);
|
|
}
|
|
|
|
static void NOINLINE send_radio_out(mavlink_channel_t chan)
|
|
{
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
if (!g.hil_servos) {
|
|
extern RC_Channel* rc_ch[8];
|
|
mavlink_msg_servo_output_raw_send(
|
|
chan,
|
|
micros(),
|
|
0, // port
|
|
rc_ch[0]->radio_out,
|
|
rc_ch[1]->radio_out,
|
|
rc_ch[2]->radio_out,
|
|
rc_ch[3]->radio_out,
|
|
rc_ch[4]->radio_out,
|
|
rc_ch[5]->radio_out,
|
|
rc_ch[6]->radio_out,
|
|
rc_ch[7]->radio_out);
|
|
return;
|
|
}
|
|
#endif
|
|
mavlink_msg_servo_output_raw_send(
|
|
chan,
|
|
micros(),
|
|
0, // port
|
|
hal.rcout->read(0),
|
|
hal.rcout->read(1),
|
|
hal.rcout->read(2),
|
|
hal.rcout->read(3),
|
|
hal.rcout->read(4),
|
|
hal.rcout->read(5),
|
|
hal.rcout->read(6),
|
|
hal.rcout->read(7));
|
|
}
|
|
|
|
static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
|
|
{
|
|
float aspeed;
|
|
if (airspeed.enabled()) {
|
|
aspeed = airspeed.get_airspeed();
|
|
} else if (!ahrs.airspeed_estimate(&aspeed)) {
|
|
aspeed = 0;
|
|
}
|
|
float throttle_norm = g.channel_throttle.norm_output() * 100;
|
|
throttle_norm = constrain_int16(throttle_norm, -100, 100);
|
|
uint16_t throttle = ((uint16_t)(throttle_norm + 100)) / 2;
|
|
mavlink_msg_vfr_hud_send(
|
|
chan,
|
|
aspeed,
|
|
(float)g_gps->ground_speed * 0.01,
|
|
(ahrs.yaw_sensor / 100) % 360,
|
|
throttle,
|
|
current_loc.alt / 100.0,
|
|
barometer.get_climb_rate());
|
|
}
|
|
|
|
static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
|
|
{
|
|
Vector3f accel = ins.get_accel();
|
|
Vector3f gyro = ins.get_gyro();
|
|
|
|
mavlink_msg_raw_imu_send(
|
|
chan,
|
|
micros(),
|
|
accel.x * 1000.0 / GRAVITY_MSS,
|
|
accel.y * 1000.0 / GRAVITY_MSS,
|
|
accel.z * 1000.0 / GRAVITY_MSS,
|
|
gyro.x * 1000.0,
|
|
gyro.y * 1000.0,
|
|
gyro.z * 1000.0,
|
|
compass.mag_x,
|
|
compass.mag_y,
|
|
compass.mag_z);
|
|
}
|
|
|
|
static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
|
|
{
|
|
int32_t pressure = barometer.get_pressure();
|
|
mavlink_msg_scaled_pressure_send(
|
|
chan,
|
|
millis(),
|
|
pressure/100.0,
|
|
(pressure - barometer.get_ground_pressure())/100.0,
|
|
barometer.get_temperature());
|
|
}
|
|
|
|
static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
|
|
{
|
|
Vector3f mag_offsets = compass.get_offsets();
|
|
Vector3f accel_offsets = ins.get_accel_offsets();
|
|
Vector3f gyro_offsets = ins.get_gyro_offsets();
|
|
|
|
mavlink_msg_sensor_offsets_send(chan,
|
|
mag_offsets.x,
|
|
mag_offsets.y,
|
|
mag_offsets.z,
|
|
compass.get_declination(),
|
|
barometer.get_raw_pressure(),
|
|
barometer.get_raw_temp(),
|
|
gyro_offsets.x,
|
|
gyro_offsets.y,
|
|
gyro_offsets.z,
|
|
accel_offsets.x,
|
|
accel_offsets.y,
|
|
accel_offsets.z);
|
|
}
|
|
|
|
static void NOINLINE send_ahrs(mavlink_channel_t chan)
|
|
{
|
|
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());
|
|
}
|
|
|
|
// report simulator state
|
|
static void NOINLINE send_simstate(mavlink_channel_t chan)
|
|
{
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
|
sitl.simstate_send(chan);
|
|
#endif
|
|
}
|
|
|
|
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
|
|
{
|
|
mavlink_msg_hwstatus_send(
|
|
chan,
|
|
board_voltage(),
|
|
hal.i2c->lockup_count());
|
|
}
|
|
|
|
static void NOINLINE send_wind(mavlink_channel_t chan)
|
|
{
|
|
Vector3f wind = ahrs.wind_estimate();
|
|
mavlink_msg_wind_send(
|
|
chan,
|
|
degrees(atan2f(-wind.y, -wind.x)), // use negative, to give
|
|
// direction wind is coming from
|
|
wind.length(),
|
|
wind.z);
|
|
}
|
|
|
|
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
|
|
{
|
|
mavlink_msg_mission_current_send(
|
|
chan,
|
|
g.command_index);
|
|
}
|
|
|
|
static void NOINLINE send_statustext(mavlink_channel_t chan)
|
|
{
|
|
mavlink_statustext_t *s = (chan == MAVLINK_COMM_0?&gcs0.pending_status:&gcs3.pending_status);
|
|
mavlink_msg_statustext_send(
|
|
chan,
|
|
s->severity,
|
|
s->text);
|
|
}
|
|
|
|
// are we still delaying telemetry to try to avoid Xbee bricking?
|
|
static bool telemetry_delayed(mavlink_channel_t chan)
|
|
{
|
|
uint32_t tnow = millis() >> 10;
|
|
if (tnow > (uint32_t)g.telem_delay) {
|
|
return false;
|
|
}
|
|
#if USB_MUX_PIN > 0
|
|
if (chan == MAVLINK_COMM_0 && usb_connected) {
|
|
// this is an APM2 with USB telemetry
|
|
return false;
|
|
}
|
|
// we're either on the 2nd UART, or no USB cable is connected
|
|
// we need to delay telemetry
|
|
return true;
|
|
#else
|
|
if (chan == MAVLINK_COMM_0) {
|
|
// we're on the USB port
|
|
return false;
|
|
}
|
|
// don't send telemetry yet
|
|
return true;
|
|
#endif
|
|
}
|
|
|
|
|
|
// try to send a message, return false if it won't fit in the serial tx buffer
|
|
static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
|
|
{
|
|
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
|
|
|
|
if (telemetry_delayed(chan)) {
|
|
return false;
|
|
}
|
|
|
|
switch (id) {
|
|
case MSG_HEARTBEAT:
|
|
CHECK_PAYLOAD_SIZE(HEARTBEAT);
|
|
send_heartbeat(chan);
|
|
return true;
|
|
|
|
case MSG_EXTENDED_STATUS1:
|
|
CHECK_PAYLOAD_SIZE(SYS_STATUS);
|
|
send_extended_status1(chan, packet_drops);
|
|
break;
|
|
|
|
case MSG_EXTENDED_STATUS2:
|
|
CHECK_PAYLOAD_SIZE(MEMINFO);
|
|
send_meminfo(chan);
|
|
break;
|
|
|
|
case MSG_ATTITUDE:
|
|
CHECK_PAYLOAD_SIZE(ATTITUDE);
|
|
send_attitude(chan);
|
|
break;
|
|
|
|
case MSG_LOCATION:
|
|
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
|
|
send_location(chan);
|
|
break;
|
|
|
|
case MSG_NAV_CONTROLLER_OUTPUT:
|
|
if (control_mode != MANUAL) {
|
|
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
|
|
send_nav_controller_output(chan);
|
|
}
|
|
break;
|
|
|
|
case MSG_GPS_RAW:
|
|
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
|
|
send_gps_raw(chan);
|
|
break;
|
|
|
|
case MSG_SERVO_OUT:
|
|
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
|
|
send_servo_out(chan);
|
|
break;
|
|
|
|
case MSG_RADIO_IN:
|
|
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
|
|
send_radio_in(chan);
|
|
break;
|
|
|
|
case MSG_RADIO_OUT:
|
|
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
|
|
send_radio_out(chan);
|
|
break;
|
|
|
|
case MSG_VFR_HUD:
|
|
CHECK_PAYLOAD_SIZE(VFR_HUD);
|
|
send_vfr_hud(chan);
|
|
break;
|
|
|
|
case MSG_RAW_IMU1:
|
|
CHECK_PAYLOAD_SIZE(RAW_IMU);
|
|
send_raw_imu1(chan);
|
|
break;
|
|
|
|
case MSG_RAW_IMU2:
|
|
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
|
|
send_raw_imu2(chan);
|
|
break;
|
|
|
|
case MSG_RAW_IMU3:
|
|
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
|
|
send_raw_imu3(chan);
|
|
break;
|
|
|
|
case MSG_CURRENT_WAYPOINT:
|
|
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
|
|
send_current_waypoint(chan);
|
|
break;
|
|
|
|
case MSG_NEXT_PARAM:
|
|
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
|
|
if (chan == MAVLINK_COMM_0) {
|
|
gcs0.queued_param_send();
|
|
} else if (gcs3.initialised) {
|
|
gcs3.queued_param_send();
|
|
}
|
|
break;
|
|
|
|
case MSG_NEXT_WAYPOINT:
|
|
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
|
|
if (chan == MAVLINK_COMM_0) {
|
|
gcs0.queued_waypoint_send();
|
|
} else if (gcs3.initialised) {
|
|
gcs3.queued_waypoint_send();
|
|
}
|
|
break;
|
|
|
|
case MSG_STATUSTEXT:
|
|
CHECK_PAYLOAD_SIZE(STATUSTEXT);
|
|
send_statustext(chan);
|
|
break;
|
|
|
|
#if GEOFENCE_ENABLED == ENABLED
|
|
case MSG_FENCE_STATUS:
|
|
CHECK_PAYLOAD_SIZE(FENCE_STATUS);
|
|
send_fence_status(chan);
|
|
break;
|
|
#endif
|
|
|
|
case MSG_AHRS:
|
|
CHECK_PAYLOAD_SIZE(AHRS);
|
|
send_ahrs(chan);
|
|
break;
|
|
|
|
case MSG_SIMSTATE:
|
|
CHECK_PAYLOAD_SIZE(SIMSTATE);
|
|
send_simstate(chan);
|
|
break;
|
|
|
|
case MSG_HWSTATUS:
|
|
CHECK_PAYLOAD_SIZE(HWSTATUS);
|
|
send_hwstatus(chan);
|
|
break;
|
|
|
|
case MSG_WIND:
|
|
CHECK_PAYLOAD_SIZE(WIND);
|
|
send_wind(chan);
|
|
break;
|
|
|
|
case MSG_RETRY_DEFERRED:
|
|
break; // just here to prevent a warning
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
#define MAX_DEFERRED_MESSAGES MSG_RETRY_DEFERRED
|
|
static struct mavlink_queue {
|
|
enum ap_message deferred_messages[MAX_DEFERRED_MESSAGES];
|
|
uint8_t next_deferred_message;
|
|
uint8_t num_deferred_messages;
|
|
} mavlink_queue[2];
|
|
|
|
// send a message using mavlink
|
|
static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
|
|
{
|
|
uint8_t i, nextid;
|
|
struct mavlink_queue *q = &mavlink_queue[(uint8_t)chan];
|
|
|
|
// see if we can send the deferred messages, if any
|
|
while (q->num_deferred_messages != 0) {
|
|
if (!mavlink_try_send_message(chan,
|
|
q->deferred_messages[q->next_deferred_message],
|
|
packet_drops)) {
|
|
break;
|
|
}
|
|
q->next_deferred_message++;
|
|
if (q->next_deferred_message == MAX_DEFERRED_MESSAGES) {
|
|
q->next_deferred_message = 0;
|
|
}
|
|
q->num_deferred_messages--;
|
|
}
|
|
|
|
if (id == MSG_RETRY_DEFERRED) {
|
|
return;
|
|
}
|
|
|
|
// this message id might already be deferred
|
|
for (i=0, nextid = q->next_deferred_message; i < q->num_deferred_messages; i++) {
|
|
if (q->deferred_messages[nextid] == id) {
|
|
// its already deferred, discard
|
|
return;
|
|
}
|
|
nextid++;
|
|
if (nextid == MAX_DEFERRED_MESSAGES) {
|
|
nextid = 0;
|
|
}
|
|
}
|
|
|
|
if (q->num_deferred_messages != 0 ||
|
|
!mavlink_try_send_message(chan, id, packet_drops)) {
|
|
// can't send it now, so defer it
|
|
if (q->num_deferred_messages == MAX_DEFERRED_MESSAGES) {
|
|
// the defer buffer is full, discard
|
|
return;
|
|
}
|
|
nextid = q->next_deferred_message + q->num_deferred_messages;
|
|
if (nextid >= MAX_DEFERRED_MESSAGES) {
|
|
nextid -= MAX_DEFERRED_MESSAGES;
|
|
}
|
|
q->deferred_messages[nextid] = id;
|
|
q->num_deferred_messages++;
|
|
}
|
|
}
|
|
|
|
void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char *str)
|
|
{
|
|
if (telemetry_delayed(chan)) {
|
|
return;
|
|
}
|
|
|
|
if (severity == SEVERITY_LOW) {
|
|
// send via the deferred queuing system
|
|
mavlink_statustext_t *s = (chan == MAVLINK_COMM_0?&gcs0.pending_status:&gcs3.pending_status);
|
|
s->severity = (uint8_t)severity;
|
|
strncpy((char *)s->text, str, sizeof(s->text));
|
|
mavlink_send_message(chan, MSG_STATUSTEXT, 0);
|
|
} else {
|
|
// send immediately
|
|
mavlink_msg_statustext_send(chan, severity, str);
|
|
}
|
|
}
|
|
|
|
/*
|
|
default stream rates to 1Hz
|
|
*/
|
|
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
|
|
// @Param: RAW_SENS
|
|
// @DisplayName: Raw sensor stream rate
|
|
// @Description: Raw sensor stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 1),
|
|
|
|
// @Param: EXT_STAT
|
|
// @DisplayName: Extended status stream rate to ground station
|
|
// @Description: Extended status stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 1),
|
|
|
|
// @Param: RC_CHAN
|
|
// @DisplayName: RC Channel stream rate to ground station
|
|
// @Description: RC Channel stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 1),
|
|
|
|
// @Param: RAW_CTRL
|
|
// @DisplayName: Raw Control stream rate to ground station
|
|
// @Description: Raw Control stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 1),
|
|
|
|
// @Param: POSITION
|
|
// @DisplayName: Position stream rate to ground station
|
|
// @Description: Position stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 1),
|
|
|
|
// @Param: EXTRA1
|
|
// @DisplayName: Extra data type 1 stream rate to ground station
|
|
// @Description: Extra data type 1 stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 1),
|
|
|
|
// @Param: EXTRA2
|
|
// @DisplayName: Extra data type 2 stream rate to ground station
|
|
// @Description: Extra data type 2 stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 1),
|
|
|
|
// @Param: EXTRA3
|
|
// @DisplayName: Extra data type 3 stream rate to ground station
|
|
// @Description: Extra data type 3 stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 1),
|
|
|
|
// @Param: PARAMS
|
|
// @DisplayName: Parameter stream rate to ground station
|
|
// @Description: Parameter stream rate to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 50),
|
|
AP_GROUPEND
|
|
};
|
|
|
|
|
|
GCS_MAVLINK::GCS_MAVLINK() :
|
|
packet_drops(0),
|
|
waypoint_send_timeout(1000), // 1 second
|
|
waypoint_receive_timeout(1000) // 1 second
|
|
{
|
|
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;
|
|
}else{
|
|
mavlink_comm_1_port = port;
|
|
chan = MAVLINK_COMM_1;
|
|
}
|
|
_queued_parameter = NULL;
|
|
reset_cli_timeout();
|
|
}
|
|
|
|
void
|
|
GCS_MAVLINK::update(void)
|
|
{
|
|
// 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 CLI_ENABLED == ENABLED
|
|
/* allow CLI to be started by hitting enter 3 times, if no
|
|
* heartbeat packets have been received */
|
|
if (mavlink_active == 0 && (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);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// 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) {
|
|
mavlink_active = true;
|
|
}
|
|
handleMessage(&msg);
|
|
}
|
|
}
|
|
|
|
// Update packet drops counter
|
|
packet_drops += status.packet_rx_drop_count;
|
|
|
|
if (!waypoint_receiving) {
|
|
return;
|
|
}
|
|
|
|
uint32_t tnow = millis();
|
|
|
|
if (waypoint_receiving &&
|
|
waypoint_request_i <= waypoint_request_last &&
|
|
tnow > waypoint_timelast_request + 500 + (stream_slowdown*20)) {
|
|
waypoint_timelast_request = tnow;
|
|
send_message(MSG_NEXT_WAYPOINT);
|
|
}
|
|
|
|
// stop waypoint receiving if timeout
|
|
if (waypoint_receiving && (millis() - waypoint_timelast_receive) > waypoint_receive_timeout) {
|
|
waypoint_receiving = false;
|
|
}
|
|
}
|
|
|
|
// see if we should send a stream now. Called at 50Hz
|
|
bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
|
|
{
|
|
if (stream_num >= NUM_STREAMS) {
|
|
return false;
|
|
}
|
|
float rate = (uint8_t)streamRates[stream_num].get();
|
|
|
|
// send at a much lower rate while handling waypoints and
|
|
// parameter sends
|
|
if (waypoint_receiving || _queued_parameter != NULL) {
|
|
rate *= 0.25;
|
|
}
|
|
|
|
if (rate <= 0) {
|
|
return false;
|
|
}
|
|
|
|
if (stream_ticks[stream_num] == 0) {
|
|
// we're triggering now, setup the next trigger point
|
|
if (rate > 50) {
|
|
rate = 50;
|
|
}
|
|
stream_ticks[stream_num] = (50 / rate) + stream_slowdown;
|
|
return true;
|
|
}
|
|
|
|
// count down at 50Hz
|
|
stream_ticks[stream_num]--;
|
|
return false;
|
|
}
|
|
|
|
void
|
|
GCS_MAVLINK::data_stream_send(void)
|
|
{
|
|
if (_queued_parameter != NULL) {
|
|
if (streamRates[STREAM_PARAMS].get() <= 0) {
|
|
streamRates[STREAM_PARAMS].set(50);
|
|
}
|
|
if (stream_trigger(STREAM_PARAMS)) {
|
|
send_message(MSG_NEXT_PARAM);
|
|
}
|
|
}
|
|
|
|
if (in_mavlink_delay) {
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
// in HIL we need to keep sending servo values to ensure
|
|
// the simulator doesn't pause, otherwise our sensor
|
|
// calibration could stall
|
|
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
|
|
send_message(MSG_SERVO_OUT);
|
|
}
|
|
if (stream_trigger(STREAM_RC_CHANNELS)) {
|
|
send_message(MSG_RADIO_OUT);
|
|
}
|
|
#endif
|
|
// don't send any other stream types while in the delay callback
|
|
return;
|
|
}
|
|
|
|
if (stream_trigger(STREAM_RAW_SENSORS)) {
|
|
send_message(MSG_RAW_IMU1);
|
|
send_message(MSG_RAW_IMU2);
|
|
send_message(MSG_RAW_IMU3);
|
|
}
|
|
|
|
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
|
|
send_message(MSG_EXTENDED_STATUS1);
|
|
send_message(MSG_EXTENDED_STATUS2);
|
|
send_message(MSG_CURRENT_WAYPOINT);
|
|
send_message(MSG_GPS_RAW); // TODO - remove this message after location message is working
|
|
send_message(MSG_NAV_CONTROLLER_OUTPUT);
|
|
send_message(MSG_FENCE_STATUS);
|
|
}
|
|
|
|
if (stream_trigger(STREAM_POSITION)) {
|
|
// sent with GPS read
|
|
send_message(MSG_LOCATION);
|
|
}
|
|
|
|
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
|
|
send_message(MSG_SERVO_OUT);
|
|
}
|
|
|
|
if (stream_trigger(STREAM_RC_CHANNELS)) {
|
|
send_message(MSG_RADIO_OUT);
|
|
send_message(MSG_RADIO_IN);
|
|
}
|
|
|
|
if (stream_trigger(STREAM_EXTRA1)) {
|
|
send_message(MSG_ATTITUDE);
|
|
send_message(MSG_SIMSTATE);
|
|
}
|
|
|
|
if (stream_trigger(STREAM_EXTRA2)) {
|
|
send_message(MSG_VFR_HUD);
|
|
}
|
|
|
|
if (stream_trigger(STREAM_EXTRA3)) {
|
|
send_message(MSG_AHRS);
|
|
send_message(MSG_HWSTATUS);
|
|
send_message(MSG_WIND);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void
|
|
GCS_MAVLINK::send_message(enum ap_message id)
|
|
{
|
|
mavlink_send_message(chan,id, packet_drops);
|
|
}
|
|
|
|
void
|
|
GCS_MAVLINK::send_text_P(gcs_severity severity, const prog_char_t *str)
|
|
{
|
|
mavlink_statustext_t m;
|
|
uint8_t i;
|
|
for (i=0; i<sizeof(m.text); i++) {
|
|
m.text[i] = pgm_read_byte((const prog_char *)(str++));
|
|
}
|
|
if (i < sizeof(m.text)) m.text[i] = 0;
|
|
mavlink_send_text(chan, severity, (const char *)m.text);
|
|
}
|
|
|
|
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|
{
|
|
struct Location tell_command = {}; // command for telemetry
|
|
|
|
switch (msg->msgid) {
|
|
|
|
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
|
|
{
|
|
// decode
|
|
mavlink_request_data_stream_t packet;
|
|
mavlink_msg_request_data_stream_decode(msg, &packet);
|
|
|
|
if (mavlink_check_target(packet.target_system, packet.target_component))
|
|
break;
|
|
|
|
int16_t freq = 0; // packet frequency
|
|
|
|
if (packet.start_stop == 0)
|
|
freq = 0; // stop sending
|
|
else if (packet.start_stop == 1)
|
|
freq = packet.req_message_rate; // start sending
|
|
else
|
|
break;
|
|
|
|
switch (packet.req_stream_id) {
|
|
case MAV_DATA_STREAM_ALL:
|
|
// note that we don't set STREAM_PARAMS - that is internal only
|
|
for (uint8_t i=0; i<STREAM_PARAMS; i++) {
|
|
streamRates[i].set_and_save_ifchanged(freq);
|
|
}
|
|
break;
|
|
case MAV_DATA_STREAM_RAW_SENSORS:
|
|
streamRates[STREAM_RAW_SENSORS].set_and_save_ifchanged(freq);
|
|
break;
|
|
case MAV_DATA_STREAM_EXTENDED_STATUS:
|
|
streamRates[STREAM_EXTENDED_STATUS].set_and_save_ifchanged(freq);
|
|
break;
|
|
case MAV_DATA_STREAM_RC_CHANNELS:
|
|
streamRates[STREAM_RC_CHANNELS].set_and_save_ifchanged(freq);
|
|
break;
|
|
case MAV_DATA_STREAM_RAW_CONTROLLER:
|
|
streamRates[STREAM_RAW_CONTROLLER].set_and_save_ifchanged(freq);
|
|
break;
|
|
case MAV_DATA_STREAM_POSITION:
|
|
streamRates[STREAM_POSITION].set_and_save_ifchanged(freq);
|
|
break;
|
|
case MAV_DATA_STREAM_EXTRA1:
|
|
streamRates[STREAM_EXTRA1].set_and_save_ifchanged(freq);
|
|
break;
|
|
case MAV_DATA_STREAM_EXTRA2:
|
|
streamRates[STREAM_EXTRA2].set_and_save_ifchanged(freq);
|
|
break;
|
|
case MAV_DATA_STREAM_EXTRA3:
|
|
streamRates[STREAM_EXTRA3].set_and_save_ifchanged(freq);
|
|
break;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_COMMAND_LONG:
|
|
{
|
|
// decode
|
|
mavlink_command_long_t packet;
|
|
mavlink_msg_command_long_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
|
|
|
|
uint8_t result = MAV_RESULT_UNSUPPORTED;
|
|
|
|
// do command
|
|
send_text_P(SEVERITY_LOW,PSTR("command received: "));
|
|
|
|
switch(packet.command) {
|
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM:
|
|
set_mode(LOITER);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
set_mode(RTL);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_MISSION_START:
|
|
set_mode(AUTO);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_PREFLIGHT_CALIBRATION:
|
|
if (packet.param1 == 1 ||
|
|
packet.param2 == 1) {
|
|
startup_INS_ground(true);
|
|
} else if (packet.param3 == 1) {
|
|
init_barometer();
|
|
if (airspeed.enabled()) {
|
|
zero_airspeed();
|
|
}
|
|
}
|
|
if (packet.param4 == 1) {
|
|
trim_radio();
|
|
}
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_MODE:
|
|
switch ((uint16_t)packet.param1) {
|
|
case MAV_MODE_MANUAL_ARMED:
|
|
case MAV_MODE_MANUAL_DISARMED:
|
|
set_mode(MANUAL);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_MODE_AUTO_ARMED:
|
|
case MAV_MODE_AUTO_DISARMED:
|
|
set_mode(AUTO);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_MODE_STABILIZE_DISARMED:
|
|
case MAV_MODE_STABILIZE_ARMED:
|
|
set_mode(FLY_BY_WIRE_A);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
default:
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
servo_write(packet.param1 - 1, packet.param2);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_SERVO:
|
|
do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
|
|
if (packet.param1 == 1) {
|
|
reboot_apm();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
mavlink_msg_command_ack_send(
|
|
chan,
|
|
packet.command,
|
|
result);
|
|
|
|
break;
|
|
}
|
|
|
|
|
|
case MAVLINK_MSG_ID_SET_MODE:
|
|
{
|
|
// decode
|
|
mavlink_set_mode_t packet;
|
|
mavlink_msg_set_mode_decode(msg, &packet);
|
|
|
|
if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) {
|
|
// we ignore base_mode as there is no sane way to map
|
|
// from that bitmap to a APM flight mode. We rely on
|
|
// custom_mode instead.
|
|
break;
|
|
}
|
|
switch (packet.custom_mode) {
|
|
case MANUAL:
|
|
case CIRCLE:
|
|
case STABILIZE:
|
|
case TRAINING:
|
|
case FLY_BY_WIRE_A:
|
|
case FLY_BY_WIRE_B:
|
|
case AUTO:
|
|
case RTL:
|
|
case LOITER:
|
|
set_mode((enum FlightMode)packet.custom_mode);
|
|
break;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
|
|
{
|
|
// decode
|
|
mavlink_mission_request_list_t packet;
|
|
mavlink_msg_mission_request_list_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system, packet.target_component))
|
|
break;
|
|
|
|
// Start sending waypoints
|
|
mavlink_msg_mission_count_send(
|
|
chan,msg->sysid,
|
|
msg->compid,
|
|
g.command_total + 1); // + home
|
|
|
|
waypoint_timelast_send = millis();
|
|
waypoint_receiving = false;
|
|
waypoint_dest_sysid = msg->sysid;
|
|
waypoint_dest_compid = msg->compid;
|
|
break;
|
|
}
|
|
|
|
|
|
// XXX read a WP from EEPROM and send it to the GCS
|
|
case MAVLINK_MSG_ID_MISSION_REQUEST:
|
|
{
|
|
// decode
|
|
mavlink_mission_request_t packet;
|
|
mavlink_msg_mission_request_decode(msg, &packet);
|
|
|
|
if (mavlink_check_target(packet.target_system, packet.target_component))
|
|
break;
|
|
|
|
// send waypoint
|
|
tell_command = get_cmd_with_index_raw(packet.seq);
|
|
|
|
// set frame of waypoint
|
|
uint8_t frame;
|
|
|
|
if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
|
|
frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // reference frame
|
|
} else {
|
|
frame = MAV_FRAME_GLOBAL; // reference frame
|
|
}
|
|
|
|
float param1 = 0, param2 = 0, param3 = 0, param4 = 0;
|
|
|
|
// time that the mav should loiter in milliseconds
|
|
uint8_t current = 0; // 1 (true), 0 (false)
|
|
|
|
if (packet.seq == (uint16_t)g.command_index)
|
|
current = 1;
|
|
|
|
uint8_t autocontinue = 1; // 1 (true), 0 (false)
|
|
|
|
float x = 0, y = 0, z = 0;
|
|
|
|
if (tell_command.id < MAV_CMD_NAV_LAST || tell_command.id == MAV_CMD_CONDITION_CHANGE_ALT) {
|
|
// command needs scaling
|
|
x = tell_command.lat/1.0e7; // local (x), global (latitude)
|
|
y = tell_command.lng/1.0e7; // local (y), global (longitude)
|
|
z = tell_command.alt/1.0e2;
|
|
}
|
|
|
|
switch (tell_command.id) { // Switch to map APM command fields inot MAVLink command fields
|
|
|
|
case MAV_CMD_NAV_LOITER_TIME:
|
|
case MAV_CMD_NAV_LOITER_TURNS:
|
|
if (tell_command.options & MASK_OPTIONS_LOITER_DIRECTION) {
|
|
param3 = -abs(g.loiter_radius);
|
|
} else {
|
|
param3 = abs(g.loiter_radius);
|
|
}
|
|
case MAV_CMD_NAV_TAKEOFF:
|
|
case MAV_CMD_DO_SET_HOME:
|
|
param1 = tell_command.p1;
|
|
break;
|
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM:
|
|
if (tell_command.options & MASK_OPTIONS_LOITER_DIRECTION) {
|
|
param3 = -abs(g.loiter_radius);
|
|
} else {
|
|
param3 = abs(g.loiter_radius);
|
|
}
|
|
break;
|
|
case MAV_CMD_CONDITION_CHANGE_ALT:
|
|
x=0; // Clear fields loaded above that we don't want sent for this command
|
|
y=0;
|
|
case MAV_CMD_CONDITION_DELAY:
|
|
case MAV_CMD_CONDITION_DISTANCE:
|
|
param1 = tell_command.lat;
|
|
break;
|
|
|
|
case MAV_CMD_DO_JUMP:
|
|
param2 = tell_command.lat;
|
|
param1 = tell_command.p1;
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_SERVO:
|
|
param4 = tell_command.lng;
|
|
case MAV_CMD_DO_REPEAT_RELAY:
|
|
case MAV_CMD_DO_CHANGE_SPEED:
|
|
param3 = tell_command.lat;
|
|
param2 = tell_command.alt;
|
|
param1 = tell_command.p1;
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_PARAMETER:
|
|
case MAV_CMD_DO_SET_RELAY:
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
param2 = tell_command.alt;
|
|
param1 = tell_command.p1;
|
|
break;
|
|
}
|
|
|
|
mavlink_msg_mission_item_send(chan,msg->sysid,
|
|
msg->compid,
|
|
packet.seq,
|
|
frame,
|
|
tell_command.id,
|
|
current,
|
|
autocontinue,
|
|
param1,
|
|
param2,
|
|
param3,
|
|
param4,
|
|
x,
|
|
y,
|
|
z);
|
|
|
|
// update last waypoint comm stamp
|
|
waypoint_timelast_send = millis();
|
|
break;
|
|
}
|
|
|
|
|
|
case MAVLINK_MSG_ID_MISSION_ACK:
|
|
{
|
|
// decode
|
|
mavlink_mission_ack_t packet;
|
|
mavlink_msg_mission_ack_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
|
|
{
|
|
// decode
|
|
mavlink_param_request_list_t packet;
|
|
mavlink_msg_param_request_list_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
|
|
|
|
// 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();
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
|
|
{
|
|
// decode
|
|
mavlink_param_request_read_t packet;
|
|
mavlink_msg_param_request_read_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
|
|
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) {
|
|
gcs_send_text_fmt(PSTR("Unknown parameter index %d"), packet.param_index);
|
|
break;
|
|
}
|
|
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) {
|
|
gcs_send_text_fmt(PSTR("Unknown parameter %.16s"), packet.param_id);
|
|
break;
|
|
}
|
|
}
|
|
|
|
float value = vp->cast_to_float(p_type);
|
|
mavlink_msg_param_value_send(
|
|
chan,
|
|
param_name,
|
|
value,
|
|
mav_var_type(p_type),
|
|
_count_parameters(),
|
|
packet.param_index);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
|
|
{
|
|
// decode
|
|
mavlink_mission_clear_all_t packet;
|
|
mavlink_msg_mission_clear_all_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
|
|
|
|
// clear all commands
|
|
g.command_total.set_and_save(0);
|
|
|
|
// note that we don't send multiple acks, as otherwise a
|
|
// GCS that is doing a clear followed by a set may see
|
|
// the additional ACKs as ACKs of the set operations
|
|
mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
|
|
{
|
|
// decode
|
|
mavlink_mission_set_current_t packet;
|
|
mavlink_msg_mission_set_current_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
|
|
|
|
// set current command
|
|
change_command(packet.seq);
|
|
|
|
mavlink_msg_mission_current_send(chan, g.command_index);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_COUNT:
|
|
{
|
|
// decode
|
|
mavlink_mission_count_t packet;
|
|
mavlink_msg_mission_count_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
|
|
|
|
// start waypoint receiving
|
|
if (packet.count > MAX_WAYPOINTS) {
|
|
packet.count = MAX_WAYPOINTS;
|
|
}
|
|
g.command_total.set_and_save(packet.count - 1);
|
|
|
|
waypoint_timelast_receive = millis();
|
|
waypoint_timelast_request = 0;
|
|
waypoint_receiving = true;
|
|
waypoint_request_i = 0;
|
|
waypoint_request_last= g.command_total;
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
|
|
{
|
|
// decode
|
|
mavlink_mission_write_partial_list_t packet;
|
|
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
|
|
|
|
// start waypoint receiving
|
|
if (packet.start_index > g.command_total ||
|
|
packet.end_index > g.command_total ||
|
|
packet.end_index < packet.start_index) {
|
|
send_text_P(SEVERITY_LOW,PSTR("flight plan update rejected"));
|
|
break;
|
|
}
|
|
|
|
waypoint_timelast_receive = millis();
|
|
waypoint_timelast_request = 0;
|
|
waypoint_receiving = true;
|
|
waypoint_request_i = packet.start_index;
|
|
waypoint_request_last= packet.end_index;
|
|
break;
|
|
}
|
|
|
|
#ifdef MAVLINK_MSG_ID_SET_MAG_OFFSETS
|
|
case MAVLINK_MSG_ID_SET_MAG_OFFSETS:
|
|
{
|
|
mavlink_set_mag_offsets_t packet;
|
|
mavlink_msg_set_mag_offsets_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
|
|
compass.set_offsets(Vector3f(packet.mag_ofs_x, packet.mag_ofs_y, packet.mag_ofs_z));
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
// XXX receive a WP from GCS and store in EEPROM
|
|
case MAVLINK_MSG_ID_MISSION_ITEM:
|
|
{
|
|
// decode
|
|
mavlink_mission_item_t packet;
|
|
uint8_t result = MAV_MISSION_ACCEPTED;
|
|
|
|
mavlink_msg_mission_item_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
|
|
|
|
// defaults
|
|
tell_command.id = packet.command;
|
|
|
|
switch (packet.frame)
|
|
{
|
|
case MAV_FRAME_MISSION:
|
|
case MAV_FRAME_GLOBAL:
|
|
{
|
|
tell_command.lat = 1.0e7f*packet.x; // in as DD converted to * t7
|
|
tell_command.lng = 1.0e7f*packet.y; // in as DD converted to * t7
|
|
tell_command.alt = packet.z*1.0e2f; // in as m converted to cm
|
|
tell_command.options = 0; // absolute altitude
|
|
break;
|
|
}
|
|
|
|
#ifdef MAV_FRAME_LOCAL_NED
|
|
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
|
|
{
|
|
tell_command.lat = 1.0e7f*ToDeg(packet.x/
|
|
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
|
|
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
|
|
tell_command.alt = -packet.z*1.0e2f;
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
#ifdef MAV_FRAME_LOCAL
|
|
case MAV_FRAME_LOCAL: // local (relative to home position)
|
|
{
|
|
tell_command.lat = 1.0e7f*ToDeg(packet.x/
|
|
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
|
|
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
|
|
tell_command.alt = packet.z*1.0e2f;
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
|
|
{
|
|
tell_command.lat = 1.0e7f * packet.x; // in as DD converted to * t7
|
|
tell_command.lng = 1.0e7f * packet.y; // in as DD converted to * t7
|
|
tell_command.alt = packet.z * 1.0e2f;
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!!
|
|
break;
|
|
}
|
|
|
|
default:
|
|
result = MAV_MISSION_UNSUPPORTED_FRAME;
|
|
break;
|
|
}
|
|
|
|
|
|
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
|
|
|
|
// Switch to map APM command fields into MAVLink command fields
|
|
switch (tell_command.id) {
|
|
case MAV_CMD_NAV_LOITER_UNLIM:
|
|
if (packet.param3 < 0) {
|
|
tell_command.options |= MASK_OPTIONS_LOITER_DIRECTION;
|
|
}
|
|
case MAV_CMD_NAV_WAYPOINT:
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
case MAV_CMD_NAV_LAND:
|
|
break;
|
|
|
|
case MAV_CMD_NAV_LOITER_TURNS:
|
|
case MAV_CMD_NAV_LOITER_TIME:
|
|
if (packet.param3 < 0) {
|
|
tell_command.options |= MASK_OPTIONS_LOITER_DIRECTION;
|
|
}
|
|
case MAV_CMD_NAV_TAKEOFF:
|
|
case MAV_CMD_DO_SET_HOME:
|
|
tell_command.p1 = packet.param1;
|
|
break;
|
|
|
|
case MAV_CMD_CONDITION_CHANGE_ALT:
|
|
tell_command.lat = packet.param1;
|
|
break;
|
|
|
|
case MAV_CMD_CONDITION_DELAY:
|
|
case MAV_CMD_CONDITION_DISTANCE:
|
|
tell_command.lat = packet.param1;
|
|
break;
|
|
|
|
case MAV_CMD_DO_JUMP:
|
|
tell_command.lat = packet.param2;
|
|
tell_command.p1 = packet.param1;
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_SERVO:
|
|
tell_command.lng = packet.param4;
|
|
case MAV_CMD_DO_REPEAT_RELAY:
|
|
case MAV_CMD_DO_CHANGE_SPEED:
|
|
tell_command.lat = packet.param3;
|
|
tell_command.alt = packet.param2;
|
|
tell_command.p1 = packet.param1;
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_PARAMETER:
|
|
case MAV_CMD_DO_SET_RELAY:
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
tell_command.alt = packet.param2;
|
|
tell_command.p1 = packet.param1;
|
|
break;
|
|
|
|
case MAV_CMD_DO_DIGICAM_CONTROL:
|
|
break;
|
|
|
|
default:
|
|
result = MAV_MISSION_UNSUPPORTED;
|
|
break;
|
|
}
|
|
|
|
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
|
|
|
|
if(packet.current == 2) { //current = 2 is a flag to tell us this is a "guided mode" waypoint and not for the mission
|
|
guided_WP = tell_command;
|
|
|
|
// add home alt if needed
|
|
if (guided_WP.options & MASK_OPTIONS_RELATIVE_ALT) {
|
|
guided_WP.alt += home.alt;
|
|
}
|
|
|
|
set_mode(GUIDED);
|
|
|
|
// make any new wp uploaded instant (in case we are already in Guided mode)
|
|
set_guided_WP();
|
|
|
|
// verify we recevied the command
|
|
mavlink_msg_mission_ack_send(
|
|
chan,
|
|
msg->sysid,
|
|
msg->compid,
|
|
0);
|
|
|
|
} else if(packet.current == 3) { //current = 3 is a flag to tell us this is a alt change only
|
|
|
|
// add home alt if needed
|
|
if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
|
|
tell_command.alt += home.alt;
|
|
}
|
|
|
|
next_WP.alt = tell_command.alt;
|
|
|
|
// verify we recevied the command
|
|
mavlink_msg_mission_ack_send(
|
|
chan,
|
|
msg->sysid,
|
|
msg->compid,
|
|
0);
|
|
|
|
} else {
|
|
// Check if receiving waypoints (mission upload expected)
|
|
if (!waypoint_receiving) {
|
|
result = MAV_MISSION_ERROR;
|
|
goto mission_failed;
|
|
}
|
|
|
|
// check if this is the requested waypoint
|
|
if (packet.seq != waypoint_request_i) {
|
|
result = MAV_MISSION_INVALID_SEQUENCE;
|
|
goto mission_failed;
|
|
}
|
|
|
|
set_cmd_with_index(tell_command, packet.seq);
|
|
|
|
// update waypoint receiving state machine
|
|
waypoint_timelast_receive = millis();
|
|
waypoint_timelast_request = 0;
|
|
waypoint_request_i++;
|
|
|
|
if (waypoint_request_i > waypoint_request_last) {
|
|
mavlink_msg_mission_ack_send(
|
|
chan,
|
|
msg->sysid,
|
|
msg->compid,
|
|
result);
|
|
|
|
send_text_P(SEVERITY_LOW,PSTR("flight plan received"));
|
|
waypoint_receiving = false;
|
|
// XXX ignores waypoint radius for individual waypoints, can
|
|
// only set WP_RADIUS parameter
|
|
}
|
|
}
|
|
break;
|
|
|
|
mission_failed:
|
|
// we are rejecting the mission/waypoint
|
|
mavlink_msg_mission_ack_send(
|
|
chan,
|
|
msg->sysid,
|
|
msg->compid,
|
|
result);
|
|
break;
|
|
}
|
|
|
|
#if GEOFENCE_ENABLED == ENABLED
|
|
// receive a fence point from GCS and store in EEPROM
|
|
case MAVLINK_MSG_ID_FENCE_POINT: {
|
|
mavlink_fence_point_t packet;
|
|
mavlink_msg_fence_point_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system, packet.target_component))
|
|
break;
|
|
if (g.fence_action != FENCE_ACTION_NONE) {
|
|
send_text_P(SEVERITY_LOW,PSTR("fencing must be disabled"));
|
|
} else if (packet.count != g.fence_total) {
|
|
send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
|
|
} else {
|
|
Vector2l point;
|
|
point.x = packet.lat*1.0e7;
|
|
point.y = packet.lng*1.0e7;
|
|
set_fence_point_with_index(point, packet.idx);
|
|
}
|
|
break;
|
|
}
|
|
|
|
// send a fence point to GCS
|
|
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
|
|
mavlink_fence_fetch_point_t packet;
|
|
mavlink_msg_fence_fetch_point_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system, packet.target_component))
|
|
break;
|
|
if (packet.idx >= g.fence_total) {
|
|
send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
|
|
} else {
|
|
Vector2l point = get_fence_point_with_index(packet.idx);
|
|
mavlink_msg_fence_point_send(chan, msg->sysid, msg->compid, packet.idx, g.fence_total,
|
|
point.x*1.0e-7, point.y*1.0e-7);
|
|
}
|
|
break;
|
|
}
|
|
#endif // GEOFENCE_ENABLED
|
|
|
|
case MAVLINK_MSG_ID_PARAM_SET:
|
|
{
|
|
AP_Param *vp;
|
|
enum ap_var_type var_type;
|
|
|
|
// decode
|
|
mavlink_param_set_t packet;
|
|
mavlink_msg_param_set_decode(msg, &packet);
|
|
|
|
if (mavlink_check_target(packet.target_system, packet.target_component))
|
|
break;
|
|
|
|
// set parameter
|
|
|
|
char key[AP_MAX_NAME_SIZE+1];
|
|
strncpy(key, (char *)packet.param_id, AP_MAX_NAME_SIZE);
|
|
key[AP_MAX_NAME_SIZE] = 0;
|
|
|
|
// find the requested parameter
|
|
vp = AP_Param::find(key, &var_type);
|
|
if ((NULL != vp) && // exists
|
|
!isnan(packet.param_value) && // not nan
|
|
!isinf(packet.param_value)) { // not inf
|
|
|
|
// add a small amount before casting parameter values
|
|
// from float to integer to avoid truncating to the
|
|
// next lower integer value.
|
|
float rounding_addition = 0.01;
|
|
|
|
// handle variables with standard type IDs
|
|
if (var_type == AP_PARAM_FLOAT) {
|
|
((AP_Float *)vp)->set_and_save(packet.param_value);
|
|
} else if (var_type == AP_PARAM_INT32) {
|
|
if (packet.param_value < 0) rounding_addition = -rounding_addition;
|
|
float v = packet.param_value+rounding_addition;
|
|
v = constrain(v, -2147483648.0, 2147483647.0);
|
|
((AP_Int32 *)vp)->set_and_save(v);
|
|
} else if (var_type == AP_PARAM_INT16) {
|
|
if (packet.param_value < 0) rounding_addition = -rounding_addition;
|
|
float v = packet.param_value+rounding_addition;
|
|
v = constrain(v, -32768, 32767);
|
|
((AP_Int16 *)vp)->set_and_save(v);
|
|
} else if (var_type == AP_PARAM_INT8) {
|
|
if (packet.param_value < 0) rounding_addition = -rounding_addition;
|
|
float v = packet.param_value+rounding_addition;
|
|
v = constrain(v, -128, 127);
|
|
((AP_Int8 *)vp)->set_and_save(v);
|
|
} else {
|
|
// we don't support mavlink set on this parameter
|
|
break;
|
|
}
|
|
|
|
// 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(
|
|
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 LOGGING_ENABLED == ENABLED
|
|
DataFlash.Log_Write_Parameter(key, vp->cast_to_float(var_type));
|
|
#endif
|
|
}
|
|
|
|
break;
|
|
} // end case
|
|
|
|
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
|
|
{
|
|
// allow override of RC channel values for HIL
|
|
// or for complete GCS control of switch position
|
|
// and RC PWM values.
|
|
if(msg->sysid != g.sysid_my_gcs) break; // Only accept control from our gcs
|
|
mavlink_rc_channels_override_t packet;
|
|
int16_t v[8];
|
|
mavlink_msg_rc_channels_override_decode(msg, &packet);
|
|
|
|
if (mavlink_check_target(packet.target_system,packet.target_component))
|
|
break;
|
|
|
|
v[0] = packet.chan1_raw;
|
|
v[1] = packet.chan2_raw;
|
|
v[2] = packet.chan3_raw;
|
|
v[3] = packet.chan4_raw;
|
|
v[4] = packet.chan5_raw;
|
|
v[5] = packet.chan6_raw;
|
|
v[6] = packet.chan7_raw;
|
|
v[7] = packet.chan8_raw;
|
|
|
|
hal.rcin->set_overrides(v, 8);
|
|
|
|
// a RC override message is consiered to be a 'heartbeat' from
|
|
// the ground station for failsafe purposes
|
|
last_heartbeat_ms = millis();
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_HEARTBEAT:
|
|
{
|
|
// We keep track of the last time we received a heartbeat from
|
|
// our GCS for failsafe purposes
|
|
if (msg->sysid != g.sysid_my_gcs) break;
|
|
last_heartbeat_ms = millis();
|
|
pmTest1++;
|
|
break;
|
|
}
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
case MAVLINK_MSG_ID_HIL_STATE:
|
|
{
|
|
mavlink_hil_state_t packet;
|
|
mavlink_msg_hil_state_decode(msg, &packet);
|
|
|
|
float vel = pythagorous2(packet.vx, packet.vy);
|
|
float cog = wrap_360_cd(ToDeg(atan2f(packet.vy, packet.vx)) * 100);
|
|
|
|
if (g_gps != NULL) {
|
|
// set gps hil sensor
|
|
g_gps->setHIL(packet.time_usec/1000,
|
|
packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3,
|
|
vel*1.0e-2, cog*1.0e-2, 0, 10);
|
|
}
|
|
|
|
// rad/sec
|
|
Vector3f gyros;
|
|
gyros.x = packet.rollspeed;
|
|
gyros.y = packet.pitchspeed;
|
|
gyros.z = packet.yawspeed;
|
|
|
|
// m/s/s
|
|
Vector3f accels;
|
|
accels.x = packet.xacc * (GRAVITY_MSS/1000.0);
|
|
accels.y = packet.yacc * (GRAVITY_MSS/1000.0);
|
|
accels.z = packet.zacc * (GRAVITY_MSS/1000.0);
|
|
|
|
ins.set_gyro(gyros);
|
|
ins.set_accel(accels);
|
|
|
|
// approximate a barometer
|
|
float y;
|
|
const float Temp = 312;
|
|
|
|
y = (packet.alt - 584000.0) / 29271.267;
|
|
y /= (Temp / 10.0) + 273.15;
|
|
y = 1.0/exp(y);
|
|
y *= 95446.0;
|
|
|
|
barometer.setHIL(Temp, y);
|
|
break;
|
|
}
|
|
#endif // HIL_MODE
|
|
|
|
#if CAMERA == ENABLED
|
|
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
|
|
{
|
|
camera.configure_msg(msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
|
|
{
|
|
camera.control_msg(msg);
|
|
break;
|
|
}
|
|
#endif // CAMERA == ENABLED
|
|
|
|
#if MOUNT == ENABLED
|
|
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
|
|
{
|
|
camera_mount.configure_msg(msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MOUNT_CONTROL:
|
|
{
|
|
camera_mount.control_msg(msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MOUNT_STATUS:
|
|
{
|
|
camera_mount.status_msg(msg);
|
|
break;
|
|
}
|
|
#endif // MOUNT == ENABLED
|
|
|
|
case MAVLINK_MSG_ID_RADIO:
|
|
{
|
|
mavlink_radio_t packet;
|
|
mavlink_msg_radio_decode(msg, &packet);
|
|
// 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--;
|
|
}
|
|
break;
|
|
}
|
|
|
|
default:
|
|
// forward unknown messages to the other link if there is one
|
|
if ((chan == MAVLINK_COMM_1 && gcs0.initialised) ||
|
|
(chan == MAVLINK_COMM_0 && gcs3.initialised)) {
|
|
mavlink_channel_t out_chan = (mavlink_channel_t)(((uint8_t)chan)^1);
|
|
// only forward if it would fit in our transmit buffer
|
|
if (comm_get_txspace(out_chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
|
|
_mavlink_resend_uart(out_chan, msg);
|
|
}
|
|
}
|
|
break;
|
|
|
|
} // end switch
|
|
} // end handle mavlink
|
|
|
|
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 (_queued_parameter == NULL) {
|
|
return;
|
|
}
|
|
|
|
uint16_t bytes_allowed;
|
|
uint8_t count;
|
|
uint32_t tnow = millis();
|
|
|
|
// use at most 30% of bandwidth on parameters. The constant 26 is
|
|
// 1/(1000 * 1/8 * 0.001 * 0.3)
|
|
bytes_allowed = g.serial3_baud * (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 (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 = millis();
|
|
}
|
|
/*
|
|
* a delay() callback that processes MAVLink packets. We set this as the
|
|
* callback in long running library initialisation routines to allow
|
|
* MAVLink to process packets while waiting for the initialisation to
|
|
* complete
|
|
*/
|
|
static void mavlink_delay_cb()
|
|
{
|
|
static uint32_t last_1hz, last_50hz, last_5s;
|
|
if (!gcs0.initialised) return;
|
|
|
|
in_mavlink_delay = true;
|
|
|
|
uint32_t tnow = millis();
|
|
if (tnow - last_1hz > 1000) {
|
|
last_1hz = tnow;
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
gcs_send_message(MSG_EXTENDED_STATUS1);
|
|
}
|
|
if (tnow - last_50hz > 20) {
|
|
last_50hz = tnow;
|
|
gcs_update();
|
|
gcs_data_stream_send();
|
|
}
|
|
if (tnow - last_5s > 5000) {
|
|
last_5s = tnow;
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
|
|
}
|
|
check_usb_mux();
|
|
|
|
in_mavlink_delay = false;
|
|
}
|
|
|
|
/*
|
|
* send a message on both GCS links
|
|
*/
|
|
static void gcs_send_message(enum ap_message id)
|
|
{
|
|
gcs0.send_message(id);
|
|
if (gcs3.initialised) {
|
|
gcs3.send_message(id);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* send data streams in the given rate range on both links
|
|
*/
|
|
static void gcs_data_stream_send(void)
|
|
{
|
|
gcs0.data_stream_send();
|
|
if (gcs3.initialised) {
|
|
gcs3.data_stream_send();
|
|
}
|
|
}
|
|
|
|
/*
|
|
* look for incoming commands on the GCS links
|
|
*/
|
|
static void gcs_update(void)
|
|
{
|
|
gcs0.update();
|
|
if (gcs3.initialised) {
|
|
gcs3.update();
|
|
}
|
|
}
|
|
|
|
static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
|
|
{
|
|
gcs0.send_text_P(severity, str);
|
|
if (gcs3.initialised) {
|
|
gcs3.send_text_P(severity, str);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* send a low priority formatted message to the GCS
|
|
* only one fits in the queue, so if you send more than one before the
|
|
* last one gets into the serial buffer then the old one will be lost
|
|
*/
|
|
void gcs_send_text_fmt(const prog_char_t *fmt, ...)
|
|
{
|
|
va_list arg_list;
|
|
gcs0.pending_status.severity = (uint8_t)SEVERITY_LOW;
|
|
va_start(arg_list, fmt);
|
|
hal.util->vsnprintf_P((char *)gcs0.pending_status.text,
|
|
sizeof(gcs0.pending_status.text), fmt, arg_list);
|
|
va_end(arg_list);
|
|
gcs3.pending_status = gcs0.pending_status;
|
|
mavlink_send_message(MAVLINK_COMM_0, MSG_STATUSTEXT, 0);
|
|
if (gcs3.initialised) {
|
|
mavlink_send_message(MAVLINK_COMM_1, MSG_STATUSTEXT, 0);
|
|
}
|
|
}
|
|
|