mirror of https://github.com/ArduPilot/ardupilot
1846 lines
60 KiB
C++
1846 lines
60 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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// default sensors are present and healthy: gyro, accelerometer, barometer, rate_control, attitude_stabilization, yaw_position, altitude control, x/y position control, motor_control
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#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | MAV_SYS_STATUS_AHRS)
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// check if a message will fit in the payload space available
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#define HAVE_PAYLOAD_SPACE(chan, id) (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_ ## id ## _LEN)
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#define CHECK_PAYLOAD_SIZE(id) if (txspace < MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_ ## id ## _LEN) return false
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void Copter::gcs_send_heartbeat(void)
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{
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gcs_send_message(MSG_HEARTBEAT);
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}
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void Copter::gcs_send_deferred(void)
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{
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gcs_send_message(MSG_RETRY_DEFERRED);
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}
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/*
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* !!NOTE!!
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*
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* the use of NOINLINE separate functions for each message type avoids
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* a compiler bug in gcc that would cause it to use far more stack
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* space than is needed. Without the NOINLINE we use the sum of the
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* stack needed for each message type. Please be careful to follow the
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* pattern below when adding any new messages
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*/
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NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
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{
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uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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uint8_t system_status = ap.land_complete ? MAV_STATE_STANDBY : MAV_STATE_ACTIVE;
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uint32_t custom_mode = control_mode;
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// set system as critical if any failsafe have triggered
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if (failsafe.radio || failsafe.battery || failsafe.gcs || failsafe.ekf) {
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system_status = MAV_STATE_CRITICAL;
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}
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// work out the base_mode. This value is not very useful
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// for APM, but we calculate it as best we can so a generic
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// MAVLink enabled ground station can work out something about
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// what the MAV is up to. The actual bit values are highly
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// ambiguous for most of the APM flight modes. In practice, you
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// only get useful information from the custom_mode, which maps to
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// the APM flight mode and has a well defined meaning in the
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// ArduPlane documentation
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base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
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switch (control_mode) {
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case AUTO:
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case RTL:
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case LOITER:
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case GUIDED:
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case CIRCLE:
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case POSHOLD:
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case BRAKE:
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base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
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// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
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// APM does in any mode, as that is defined as "system finds its own goal
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// positions", which APM does not currently do
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break;
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}
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// all modes except INITIALISING have some form of manual
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// override if stick mixing is enabled
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base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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#if HIL_MODE != HIL_MODE_DISABLED
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base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
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#endif
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// we are armed if we are not initialising
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if (motors.armed()) {
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base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
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}
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// indicate we have set a custom mode
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base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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mavlink_msg_heartbeat_send(
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chan,
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#if (FRAME_CONFIG == QUAD_FRAME)
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MAV_TYPE_QUADROTOR,
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#elif (FRAME_CONFIG == TRI_FRAME)
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MAV_TYPE_TRICOPTER,
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#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
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MAV_TYPE_HEXAROTOR,
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#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
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MAV_TYPE_OCTOROTOR,
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#elif (FRAME_CONFIG == HELI_FRAME)
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MAV_TYPE_HELICOPTER,
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#elif (FRAME_CONFIG == SINGLE_FRAME) //because mavlink did not define a singlecopter, we use a rocket
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MAV_TYPE_ROCKET,
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#elif (FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a rocket
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MAV_TYPE_ROCKET,
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#else
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#error Unrecognised frame type
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#endif
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MAV_AUTOPILOT_ARDUPILOTMEGA,
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base_mode,
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custom_mode,
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system_status);
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}
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NOINLINE void Copter::send_attitude(mavlink_channel_t chan)
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{
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const Vector3f &gyro = ins.get_gyro();
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mavlink_msg_attitude_send(
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chan,
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millis(),
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ahrs.roll,
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ahrs.pitch,
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ahrs.yaw,
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gyro.x,
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gyro.y,
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gyro.z);
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}
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#if AC_FENCE == ENABLED
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NOINLINE void Copter::send_limits_status(mavlink_channel_t chan)
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{
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fence_send_mavlink_status(chan);
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}
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#endif
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NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
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{
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uint32_t control_sensors_present;
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uint32_t control_sensors_enabled;
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uint32_t control_sensors_health;
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// default sensors present
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control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
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// first what sensors/controllers we have
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if (g.compass_enabled) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
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}
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow.enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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if (ap.rc_receiver_present) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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// all present sensors enabled by default except altitude and position control and motors which we will set individually
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control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
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~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
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~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS);
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switch (control_mode) {
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case ALT_HOLD:
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case AUTO:
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case GUIDED:
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case LOITER:
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case RTL:
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case CIRCLE:
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case LAND:
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case OF_LOITER:
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case POSHOLD:
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case BRAKE:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
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break;
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case SPORT:
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
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break;
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}
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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// default to all healthy except baro, compass, gps and receiver which we set individually
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control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
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MAV_SYS_STATUS_SENSOR_3D_MAG |
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MAV_SYS_STATUS_SENSOR_GPS |
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MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
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if (barometer.all_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#if OPTFLOW == ENABLED
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if (optflow.healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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if (ap.rc_receiver_present && !failsafe.radio) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
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}
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if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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if (!ins.get_accel_health_all()) {
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control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (ahrs.initialised() && !ahrs.healthy()) {
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// AHRS subsystem is unhealthy
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control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
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}
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int16_t battery_current = -1;
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int8_t battery_remaining = -1;
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if (battery.has_current() && battery.healthy()) {
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battery_remaining = battery.capacity_remaining_pct();
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battery_current = battery.current_amps() * 100;
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}
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#if AP_TERRAIN_AVAILABLE
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switch (terrain.status()) {
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case AP_Terrain::TerrainStatusDisabled:
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break;
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case AP_Terrain::TerrainStatusUnhealthy:
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// To-Do: restore unhealthy terrain status reporting once terrain is used in copter
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//control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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//control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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//break;
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case AP_Terrain::TerrainStatusOK:
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control_sensors_present |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_enabled |= MAV_SYS_STATUS_TERRAIN;
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control_sensors_health |= MAV_SYS_STATUS_TERRAIN;
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break;
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}
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#endif
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#if CONFIG_SONAR == ENABLED
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if (sonar.num_sensors() > 0) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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if (sonar.has_data()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
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}
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}
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#endif
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if (!ap.initialised || ins.calibrating()) {
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// while initialising the gyros and accels are not enabled
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control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
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}
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mavlink_msg_sys_status_send(
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chan,
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control_sensors_present,
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control_sensors_enabled,
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control_sensors_health,
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(uint16_t)(scheduler.load_average(MAIN_LOOP_MICROS) * 1000),
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battery.voltage() * 1000, // mV
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battery_current, // in 10mA units
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battery_remaining, // in %
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0, // comm drops %,
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0, // comm drops in pkts,
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0, 0, 0, 0);
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}
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void NOINLINE Copter::send_location(mavlink_channel_t chan)
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{
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uint32_t fix_time;
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// if we have a GPS fix, take the time as the last fix time. That
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// allows us to correctly calculate velocities and extrapolate
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// positions.
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// If we don't have a GPS fix then we are dead reckoning, and will
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// use the current boot time as the fix time.
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if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
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fix_time = gps.last_fix_time_ms();
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} else {
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fix_time = millis();
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}
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const Vector3f &vel = inertial_nav.get_velocity();
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mavlink_msg_global_position_int_send(
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chan,
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fix_time,
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current_loc.lat, // in 1E7 degrees
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current_loc.lng, // in 1E7 degrees
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(ahrs.get_home().alt + current_loc.alt) * 10UL, // millimeters above sea level
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current_loc.alt * 10, // millimeters above ground
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vel.x, // X speed cm/s (+ve North)
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vel.y, // Y speed cm/s (+ve East)
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vel.z, // Z speed cm/s (+ve up)
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ahrs.yaw_sensor); // compass heading in 1/100 degree
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}
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void NOINLINE Copter::send_nav_controller_output(mavlink_channel_t chan)
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{
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const Vector3f &targets = attitude_control.angle_ef_targets();
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mavlink_msg_nav_controller_output_send(
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chan,
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targets.x / 1.0e2f,
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targets.y / 1.0e2f,
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targets.z / 1.0e2f,
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wp_bearing / 1.0e2f,
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wp_distance / 1.0e2f,
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pos_control.get_alt_error() / 1.0e2f,
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0,
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0);
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}
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// report simulator state
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void NOINLINE Copter::send_simstate(mavlink_channel_t chan)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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sitl.simstate_send(chan);
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#endif
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}
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void NOINLINE Copter::send_hwstatus(mavlink_channel_t chan)
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{
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mavlink_msg_hwstatus_send(
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chan,
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hal.analogin->board_voltage()*1000,
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hal.i2c->lockup_count());
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}
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void NOINLINE Copter::send_servo_out(mavlink_channel_t chan)
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{
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#if HIL_MODE != HIL_MODE_DISABLED
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// normalized values scaled to -10000 to 10000
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// This is used for HIL. Do not change without discussing with HIL maintainers
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#if FRAME_CONFIG == HELI_FRAME
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mavlink_msg_rc_channels_scaled_send(
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chan,
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millis(),
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0, // port 0
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g.rc_1.servo_out,
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g.rc_2.servo_out,
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g.rc_3.radio_out,
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g.rc_4.servo_out,
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0,
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0,
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0,
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0,
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receiver_rssi);
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#else
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mavlink_msg_rc_channels_scaled_send(
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chan,
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millis(),
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0, // port 0
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g.rc_1.servo_out,
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g.rc_2.servo_out,
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g.rc_3.radio_out,
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g.rc_4.servo_out,
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10000 * g.rc_1.norm_output(),
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10000 * g.rc_2.norm_output(),
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10000 * g.rc_3.norm_output(),
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10000 * g.rc_4.norm_output(),
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receiver_rssi);
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#endif
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#endif // HIL_MODE
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}
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void NOINLINE Copter::send_radio_out(mavlink_channel_t chan)
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{
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mavlink_msg_servo_output_raw_send(
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chan,
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micros(),
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0, // port
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hal.rcout->read(0),
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hal.rcout->read(1),
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hal.rcout->read(2),
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hal.rcout->read(3),
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hal.rcout->read(4),
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hal.rcout->read(5),
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hal.rcout->read(6),
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hal.rcout->read(7));
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}
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void NOINLINE Copter::send_vfr_hud(mavlink_channel_t chan)
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{
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mavlink_msg_vfr_hud_send(
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chan,
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gps.ground_speed(),
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gps.ground_speed(),
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(ahrs.yaw_sensor / 100) % 360,
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(int16_t)(motors.get_throttle())/10,
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current_loc.alt / 100.0f,
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climb_rate / 100.0f);
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}
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void NOINLINE Copter::send_current_waypoint(mavlink_channel_t chan)
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{
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mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
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}
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#if CONFIG_SONAR == ENABLED
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void NOINLINE Copter::send_rangefinder(mavlink_channel_t chan)
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{
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// exit immediately if sonar is disabled
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if (!sonar.has_data()) {
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return;
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}
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mavlink_msg_rangefinder_send(
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chan,
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sonar.distance_cm() * 0.01f,
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sonar.voltage_mv() * 0.001f);
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}
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#endif
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/*
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send PID tuning message
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*/
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void Copter::send_pid_tuning(mavlink_channel_t chan)
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{
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const Vector3f &gyro = ahrs.get_gyro();
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if (g.gcs_pid_mask & 1) {
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const DataFlash_Class::PID_Info &pid_info = g.pid_rate_roll.get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL,
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pid_info.desired*0.01f,
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degrees(gyro.x),
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pid_info.FF*0.01f,
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pid_info.P*0.01f,
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pid_info.I*0.01f,
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pid_info.D*0.01f);
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if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
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return;
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}
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}
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if (g.gcs_pid_mask & 2) {
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const DataFlash_Class::PID_Info &pid_info = g.pid_rate_pitch.get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
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pid_info.desired*0.01f,
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degrees(gyro.y),
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pid_info.FF*0.01f,
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pid_info.P*0.01f,
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pid_info.I*0.01f,
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pid_info.D*0.01f);
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if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
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return;
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}
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}
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if (g.gcs_pid_mask & 4) {
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const DataFlash_Class::PID_Info &pid_info = g.pid_rate_yaw.get_pid_info();
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mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
|
|
pid_info.desired*0.01f,
|
|
degrees(gyro.z),
|
|
pid_info.FF*0.01f,
|
|
pid_info.P*0.01f,
|
|
pid_info.I*0.01f,
|
|
pid_info.D*0.01f);
|
|
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
|
|
return;
|
|
}
|
|
}
|
|
if (g.gcs_pid_mask & 8) {
|
|
const DataFlash_Class::PID_Info &pid_info = g.pid_accel_z.get_pid_info();
|
|
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
|
|
pid_info.desired*0.01f,
|
|
-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS),
|
|
pid_info.FF*0.01f,
|
|
pid_info.P*0.01f,
|
|
pid_info.I*0.01f,
|
|
pid_info.D*0.01f);
|
|
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void NOINLINE Copter::send_statustext(mavlink_channel_t chan)
|
|
{
|
|
mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
|
|
mavlink_msg_statustext_send(
|
|
chan,
|
|
s->severity,
|
|
s->text);
|
|
}
|
|
|
|
// are we still delaying telemetry to try to avoid Xbee bricking?
|
|
bool Copter::telemetry_delayed(mavlink_channel_t chan)
|
|
{
|
|
uint32_t tnow = millis() >> 10;
|
|
if (tnow > (uint32_t)g.telem_delay) {
|
|
return false;
|
|
}
|
|
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
|
|
// this is USB telemetry, so won't be an Xbee
|
|
return false;
|
|
}
|
|
// we're either on the 2nd UART, or no USB cable is connected
|
|
// we need to delay telemetry by the TELEM_DELAY time
|
|
return true;
|
|
}
|
|
|
|
|
|
// try to send a message, return false if it won't fit in the serial tx buffer
|
|
bool GCS_MAVLINK::try_send_message(enum ap_message id)
|
|
{
|
|
uint16_t txspace = comm_get_txspace(chan);
|
|
|
|
if (copter.telemetry_delayed(chan)) {
|
|
return false;
|
|
}
|
|
|
|
#if HIL_MODE != HIL_MODE_SENSORS
|
|
// if we don't have at least 250 micros remaining before the main loop
|
|
// wants to fire then don't send a mavlink message. We want to
|
|
// prioritise the main flight control loop over communications
|
|
if (copter.scheduler.time_available_usec() < 250 && copter.motors.armed()) {
|
|
copter.gcs_out_of_time = true;
|
|
return false;
|
|
}
|
|
#endif
|
|
|
|
switch(id) {
|
|
case MSG_HEARTBEAT:
|
|
CHECK_PAYLOAD_SIZE(HEARTBEAT);
|
|
copter.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis();
|
|
copter.send_heartbeat(chan);
|
|
break;
|
|
|
|
case MSG_EXTENDED_STATUS1:
|
|
// send extended status only once vehicle has been initialised
|
|
// to avoid unnecessary errors being reported to user
|
|
if (copter.ap.initialised) {
|
|
CHECK_PAYLOAD_SIZE(SYS_STATUS);
|
|
copter.send_extended_status1(chan);
|
|
CHECK_PAYLOAD_SIZE(POWER_STATUS);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_power_status();
|
|
}
|
|
break;
|
|
|
|
case MSG_EXTENDED_STATUS2:
|
|
CHECK_PAYLOAD_SIZE(MEMINFO);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_meminfo();
|
|
break;
|
|
|
|
case MSG_ATTITUDE:
|
|
CHECK_PAYLOAD_SIZE(ATTITUDE);
|
|
copter.send_attitude(chan);
|
|
break;
|
|
|
|
case MSG_LOCATION:
|
|
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
|
|
copter.send_location(chan);
|
|
break;
|
|
|
|
case MSG_LOCAL_POSITION:
|
|
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
|
|
send_local_position(copter.ahrs);
|
|
break;
|
|
|
|
case MSG_NAV_CONTROLLER_OUTPUT:
|
|
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
|
|
copter.send_nav_controller_output(chan);
|
|
break;
|
|
|
|
case MSG_GPS_RAW:
|
|
return copter.gcs[chan-MAVLINK_COMM_0].send_gps_raw(copter.gps);
|
|
|
|
case MSG_SYSTEM_TIME:
|
|
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_system_time(copter.gps);
|
|
break;
|
|
|
|
case MSG_SERVO_OUT:
|
|
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
|
|
copter.send_servo_out(chan);
|
|
break;
|
|
|
|
case MSG_RADIO_IN:
|
|
CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_radio_in(copter.receiver_rssi);
|
|
break;
|
|
|
|
case MSG_RADIO_OUT:
|
|
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
|
|
copter.send_radio_out(chan);
|
|
break;
|
|
|
|
case MSG_VFR_HUD:
|
|
CHECK_PAYLOAD_SIZE(VFR_HUD);
|
|
copter.send_vfr_hud(chan);
|
|
break;
|
|
|
|
case MSG_RAW_IMU1:
|
|
CHECK_PAYLOAD_SIZE(RAW_IMU);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_raw_imu(copter.ins, copter.compass);
|
|
break;
|
|
|
|
case MSG_RAW_IMU2:
|
|
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(copter.barometer);
|
|
break;
|
|
|
|
case MSG_RAW_IMU3:
|
|
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(copter.ins, copter.compass, copter.barometer);
|
|
break;
|
|
|
|
case MSG_CURRENT_WAYPOINT:
|
|
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
|
|
copter.send_current_waypoint(chan);
|
|
break;
|
|
|
|
case MSG_NEXT_PARAM:
|
|
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
|
|
copter.gcs[chan-MAVLINK_COMM_0].queued_param_send();
|
|
break;
|
|
|
|
case MSG_NEXT_WAYPOINT:
|
|
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
|
|
copter.gcs[chan-MAVLINK_COMM_0].queued_waypoint_send();
|
|
break;
|
|
|
|
case MSG_RANGEFINDER:
|
|
#if CONFIG_SONAR == ENABLED
|
|
CHECK_PAYLOAD_SIZE(RANGEFINDER);
|
|
copter.send_rangefinder(chan);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_TERRAIN:
|
|
#if AP_TERRAIN_AVAILABLE
|
|
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
|
|
copter.terrain.send_request(chan);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_CAMERA_FEEDBACK:
|
|
#if CAMERA == ENABLED
|
|
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
|
|
copter.camera.send_feedback(chan, copter.gps, copter.ahrs, copter.current_loc);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_STATUSTEXT:
|
|
CHECK_PAYLOAD_SIZE(STATUSTEXT);
|
|
copter.send_statustext(chan);
|
|
break;
|
|
|
|
case MSG_LIMITS_STATUS:
|
|
#if AC_FENCE == ENABLED
|
|
CHECK_PAYLOAD_SIZE(LIMITS_STATUS);
|
|
copter.send_limits_status(chan);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_AHRS:
|
|
CHECK_PAYLOAD_SIZE(AHRS);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_ahrs(copter.ahrs);
|
|
break;
|
|
|
|
case MSG_SIMSTATE:
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
CHECK_PAYLOAD_SIZE(SIMSTATE);
|
|
copter.send_simstate(chan);
|
|
#endif
|
|
CHECK_PAYLOAD_SIZE(AHRS2);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_ahrs2(copter.ahrs);
|
|
break;
|
|
|
|
case MSG_HWSTATUS:
|
|
CHECK_PAYLOAD_SIZE(HWSTATUS);
|
|
copter.send_hwstatus(chan);
|
|
break;
|
|
|
|
case MSG_MOUNT_STATUS:
|
|
#if MOUNT == ENABLED
|
|
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
|
|
copter.camera_mount.status_msg(chan);
|
|
#endif // MOUNT == ENABLED
|
|
break;
|
|
|
|
case MSG_BATTERY2:
|
|
CHECK_PAYLOAD_SIZE(BATTERY2);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_battery2(copter.battery);
|
|
break;
|
|
|
|
case MSG_OPTICAL_FLOW:
|
|
#if OPTFLOW == ENABLED
|
|
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_opticalflow(copter.ahrs, copter.optflow);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_GIMBAL_REPORT:
|
|
#if MOUNT == ENABLED
|
|
CHECK_PAYLOAD_SIZE(GIMBAL_REPORT);
|
|
copter.camera_mount.send_gimbal_report(chan);
|
|
#endif
|
|
break;
|
|
|
|
case MSG_EKF_STATUS_REPORT:
|
|
CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
|
|
copter.ahrs.get_NavEKF().send_status_report(chan);
|
|
break;
|
|
|
|
case MSG_FENCE_STATUS:
|
|
case MSG_WIND:
|
|
// unused
|
|
break;
|
|
|
|
case MSG_PID_TUNING:
|
|
CHECK_PAYLOAD_SIZE(PID_TUNING);
|
|
copter.send_pid_tuning(chan);
|
|
break;
|
|
|
|
case MSG_VIBRATION:
|
|
CHECK_PAYLOAD_SIZE(VIBRATION);
|
|
send_vibration(copter.ins);
|
|
break;
|
|
|
|
case MSG_RETRY_DEFERRED:
|
|
break; // just here to prevent a warning
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
|
|
// @Param: RAW_SENS
|
|
// @DisplayName: Raw sensor stream rate
|
|
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 0),
|
|
|
|
// @Param: EXT_STAT
|
|
// @DisplayName: Extended status stream rate to ground station
|
|
// @Description: Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 0),
|
|
|
|
// @Param: RC_CHAN
|
|
// @DisplayName: RC Channel stream rate to ground station
|
|
// @Description: Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 0),
|
|
|
|
// @Param: RAW_CTRL
|
|
// @DisplayName: Raw Control stream rate to ground station
|
|
// @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 0),
|
|
|
|
// @Param: POSITION
|
|
// @DisplayName: Position stream rate to ground station
|
|
// @Description: Stream rate of GLOBAL_POSITION_INT to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 0),
|
|
|
|
// @Param: EXTRA1
|
|
// @DisplayName: Extra data type 1 stream rate to ground station
|
|
// @Description: Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 0),
|
|
|
|
// @Param: EXTRA2
|
|
// @DisplayName: Extra data type 2 stream rate to ground station
|
|
// @Description: Stream rate of VFR_HUD to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 0),
|
|
|
|
// @Param: EXTRA3
|
|
// @DisplayName: Extra data type 3 stream rate to ground station
|
|
// @Description: Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 0),
|
|
|
|
// @Param: PARAMS
|
|
// @DisplayName: Parameter stream rate to ground station
|
|
// @Description: Stream rate of PARAM_VALUE to ground station
|
|
// @Units: Hz
|
|
// @Range: 0 10
|
|
// @Increment: 1
|
|
// @User: Advanced
|
|
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 0),
|
|
AP_GROUPEND
|
|
};
|
|
|
|
|
|
// 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 ((stream_num != STREAM_PARAMS) &&
|
|
(waypoint_receiving || _queued_parameter != NULL)) {
|
|
rate *= 0.25f;
|
|
}
|
|
|
|
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) - 1 + stream_slowdown;
|
|
return true;
|
|
}
|
|
|
|
// count down at 50Hz
|
|
stream_ticks[stream_num]--;
|
|
return false;
|
|
}
|
|
|
|
void
|
|
GCS_MAVLINK::data_stream_send(void)
|
|
{
|
|
if (waypoint_receiving) {
|
|
// don't interfere with mission transfer
|
|
return;
|
|
}
|
|
|
|
if (!copter.in_mavlink_delay && !copter.motors.armed()) {
|
|
handle_log_send(copter.DataFlash);
|
|
}
|
|
|
|
copter.gcs_out_of_time = false;
|
|
|
|
if (_queued_parameter != NULL) {
|
|
if (streamRates[STREAM_PARAMS].get() <= 0) {
|
|
streamRates[STREAM_PARAMS].set(10);
|
|
}
|
|
if (stream_trigger(STREAM_PARAMS)) {
|
|
send_message(MSG_NEXT_PARAM);
|
|
}
|
|
// don't send anything else at the same time as parameters
|
|
return;
|
|
}
|
|
|
|
if (copter.gcs_out_of_time) return;
|
|
|
|
if (copter.in_mavlink_delay) {
|
|
// 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 (copter.gcs_out_of_time) return;
|
|
|
|
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);
|
|
send_message(MSG_NAV_CONTROLLER_OUTPUT);
|
|
send_message(MSG_LIMITS_STATUS);
|
|
}
|
|
|
|
if (copter.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_POSITION)) {
|
|
send_message(MSG_LOCATION);
|
|
send_message(MSG_LOCAL_POSITION);
|
|
}
|
|
|
|
if (copter.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
|
|
send_message(MSG_SERVO_OUT);
|
|
}
|
|
|
|
if (copter.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_RC_CHANNELS)) {
|
|
send_message(MSG_RADIO_OUT);
|
|
send_message(MSG_RADIO_IN);
|
|
}
|
|
|
|
if (copter.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_EXTRA1)) {
|
|
send_message(MSG_ATTITUDE);
|
|
send_message(MSG_SIMSTATE);
|
|
send_message(MSG_PID_TUNING);
|
|
}
|
|
|
|
if (copter.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_EXTRA2)) {
|
|
send_message(MSG_VFR_HUD);
|
|
}
|
|
|
|
if (copter.gcs_out_of_time) return;
|
|
|
|
if (stream_trigger(STREAM_EXTRA3)) {
|
|
send_message(MSG_AHRS);
|
|
send_message(MSG_HWSTATUS);
|
|
send_message(MSG_SYSTEM_TIME);
|
|
send_message(MSG_RANGEFINDER);
|
|
#if AP_TERRAIN_AVAILABLE
|
|
send_message(MSG_TERRAIN);
|
|
#endif
|
|
send_message(MSG_BATTERY2);
|
|
send_message(MSG_MOUNT_STATUS);
|
|
send_message(MSG_OPTICAL_FLOW);
|
|
send_message(MSG_GIMBAL_REPORT);
|
|
send_message(MSG_EKF_STATUS_REPORT);
|
|
send_message(MSG_VIBRATION);
|
|
}
|
|
}
|
|
|
|
|
|
void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
|
|
{
|
|
copter.do_guided(cmd);
|
|
}
|
|
|
|
void GCS_MAVLINK::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
|
|
{
|
|
// add home alt if needed
|
|
if (cmd.content.location.flags.relative_alt) {
|
|
cmd.content.location.alt += copter.ahrs.get_home().alt;
|
|
}
|
|
|
|
// To-Do: update target altitude for loiter or waypoint controller depending upon nav mode
|
|
}
|
|
|
|
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
|
|
{
|
|
uint8_t result = MAV_RESULT_FAILED; // assume failure. Each messages id is responsible for return ACK or NAK if required
|
|
|
|
switch (msg->msgid) {
|
|
|
|
case MAVLINK_MSG_ID_HEARTBEAT: // MAV ID: 0
|
|
{
|
|
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
|
|
if(msg->sysid != copter.g.sysid_my_gcs) break;
|
|
copter.failsafe.last_heartbeat_ms = hal.scheduler->millis();
|
|
copter.pmTest1++;
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_SET_MODE: // MAV ID: 11
|
|
{
|
|
handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::set_mode, bool, uint8_t));
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: // MAV ID: 20
|
|
{
|
|
handle_param_request_read(msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // MAV ID: 21
|
|
{
|
|
// mark the firmware version in the tlog
|
|
send_text_P(SEVERITY_LOW, PSTR(FIRMWARE_STRING));
|
|
|
|
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
|
|
send_text_P(SEVERITY_LOW, PSTR("PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION));
|
|
#endif
|
|
send_text_P(SEVERITY_LOW, PSTR("Frame: " FRAME_CONFIG_STRING));
|
|
handle_param_request_list(msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_PARAM_SET: // 23
|
|
{
|
|
handle_param_set(msg, &copter.DataFlash);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST: // MAV ID: 38
|
|
{
|
|
handle_mission_write_partial_list(copter.mission, msg);
|
|
break;
|
|
}
|
|
|
|
// GCS has sent us a mission item, store to EEPROM
|
|
case MAVLINK_MSG_ID_MISSION_ITEM: // MAV ID: 39
|
|
{
|
|
if (handle_mission_item(msg, copter.mission)) {
|
|
copter.DataFlash.Log_Write_EntireMission(copter.mission);
|
|
}
|
|
break;
|
|
}
|
|
|
|
// read an individual command from EEPROM and send it to the GCS
|
|
case MAVLINK_MSG_ID_MISSION_REQUEST: // MAV ID: 40
|
|
{
|
|
handle_mission_request(copter.mission, msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: // MAV ID: 41
|
|
{
|
|
handle_mission_set_current(copter.mission, msg);
|
|
break;
|
|
}
|
|
|
|
// GCS request the full list of commands, we return just the number and leave the GCS to then request each command individually
|
|
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: // MAV ID: 43
|
|
{
|
|
handle_mission_request_list(copter.mission, msg);
|
|
break;
|
|
}
|
|
|
|
// GCS provides the full number of commands it wishes to upload
|
|
// individual commands will then be sent from the GCS using the MAVLINK_MSG_ID_MISSION_ITEM message
|
|
case MAVLINK_MSG_ID_MISSION_COUNT: // MAV ID: 44
|
|
{
|
|
handle_mission_count(copter.mission, msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: // MAV ID: 45
|
|
{
|
|
handle_mission_clear_all(copter.mission, msg);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: // MAV ID: 66
|
|
{
|
|
handle_request_data_stream(msg, false);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_GIMBAL_REPORT:
|
|
{
|
|
#if MOUNT == ENABLED
|
|
handle_gimbal_report(copter.camera_mount, msg);
|
|
#endif
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: // MAV ID: 70
|
|
{
|
|
// allow override of RC channel values for HIL
|
|
// or for complete GCS control of switch position
|
|
// and RC PWM values.
|
|
if(msg->sysid != copter.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);
|
|
|
|
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);
|
|
|
|
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
|
|
copter.failsafe.rc_override_active = true;
|
|
// a RC override message is consiered to be a 'heartbeat' from the ground station for failsafe purposes
|
|
copter.failsafe.last_heartbeat_ms = hal.scheduler->millis();
|
|
break;
|
|
}
|
|
|
|
// Pre-Flight calibration requests
|
|
case MAVLINK_MSG_ID_COMMAND_LONG: // MAV ID: 76
|
|
{
|
|
// decode packet
|
|
mavlink_command_long_t packet;
|
|
mavlink_msg_command_long_decode(msg, &packet);
|
|
|
|
switch(packet.command) {
|
|
|
|
case MAV_CMD_START_RX_PAIR:
|
|
// initiate bind procedure
|
|
if (!hal.rcin->rc_bind(packet.param1)) {
|
|
result = MAV_RESULT_FAILED;
|
|
} else {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_NAV_TAKEOFF: {
|
|
// param3 : horizontal navigation by pilot acceptable
|
|
// param4 : yaw angle (not supported)
|
|
// param5 : latitude (not supported)
|
|
// param6 : longitude (not supported)
|
|
// param7 : altitude [metres]
|
|
|
|
float takeoff_alt = packet.param7 * 100; // Convert m to cm
|
|
|
|
if(copter.do_user_takeoff(takeoff_alt, is_zero(packet.param3))) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
break;
|
|
}
|
|
|
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM:
|
|
if (copter.set_mode(LOITER)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
if (copter.set_mode(RTL)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_NAV_LAND:
|
|
if (copter.set_mode(LAND)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_CONDITION_YAW:
|
|
// param1 : target angle [0-360]
|
|
// param2 : speed during change [deg per second]
|
|
// param3 : direction (-1:ccw, +1:cw)
|
|
// param4 : relative offset (1) or absolute angle (0)
|
|
if ((packet.param1 >= 0.0f) &&
|
|
(packet.param1 <= 360.0f) &&
|
|
(is_zero(packet.param4) || is_equal(packet.param4,1.0f))) {
|
|
copter.set_auto_yaw_look_at_heading(packet.param1, packet.param2, (int8_t)packet.param3, (uint8_t)packet.param4);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_CHANGE_SPEED:
|
|
// param1 : unused
|
|
// param2 : new speed in m/s
|
|
// param3 : unused
|
|
// param4 : unused
|
|
if (packet.param2 > 0.0f) {
|
|
copter.wp_nav.set_speed_xy(packet.param2 * 100.0f);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_HOME:
|
|
// param1 : use current (1=use current location, 0=use specified location)
|
|
// param5 : latitude
|
|
// param6 : longitude
|
|
// param7 : altitude (absolute)
|
|
result = MAV_RESULT_FAILED; // assume failure
|
|
if(is_equal(packet.param1,1.0f) || (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7))) {
|
|
if (copter.set_home_to_current_location_and_lock()) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
} else {
|
|
Location new_home_loc;
|
|
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
|
|
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
|
|
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
|
|
if (!copter.far_from_EKF_origin(new_home_loc)) {
|
|
if (copter.set_home_and_lock(new_home_loc)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_ROI:
|
|
// param1 : regional of interest mode (not supported)
|
|
// param2 : mission index/ target id (not supported)
|
|
// param3 : ROI index (not supported)
|
|
// param5 : x / lat
|
|
// param6 : y / lon
|
|
// param7 : z / alt
|
|
Location roi_loc;
|
|
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
|
|
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
|
|
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
|
|
copter.set_auto_yaw_roi(roi_loc);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_MISSION_START:
|
|
if (copter.motors.armed() && copter.set_mode(AUTO)) {
|
|
copter.set_auto_armed(true);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_PREFLIGHT_CALIBRATION:
|
|
// exit immediately if armed
|
|
if (copter.motors.armed()) {
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
if (is_equal(packet.param1,1.0f)) {
|
|
// gyro offset calibration
|
|
copter.ins.init_gyro();
|
|
// reset ahrs gyro bias
|
|
if (copter.ins.gyro_calibrated_ok_all()) {
|
|
copter.ahrs.reset_gyro_drift();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
} else if (is_equal(packet.param3,1.0f)) {
|
|
// fast barometer calibration
|
|
copter.init_barometer(false);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else if (is_equal(packet.param4,1.0f)) {
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
} else if (is_equal(packet.param5,1.0f)) {
|
|
// 3d accel calibration
|
|
float trim_roll, trim_pitch;
|
|
// this blocks
|
|
AP_InertialSensor_UserInteract_MAVLink interact(this);
|
|
if(copter.ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
|
|
// reset ahrs's trim to suggested values from calibration routine
|
|
copter.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
} else if (is_equal(packet.param5,2.0f)) {
|
|
// accel trim
|
|
float trim_roll, trim_pitch;
|
|
if(copter.ins.calibrate_trim(trim_roll, trim_pitch)) {
|
|
// reset ahrs's trim to suggested values from calibration routine
|
|
copter.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
} else if (is_equal(packet.param6,1.0f)) {
|
|
// compassmot calibration
|
|
result = copter.mavlink_compassmot(chan);
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
|
|
if (is_equal(packet.param1,2.0f)) {
|
|
// save first compass's offsets
|
|
copter.compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
if (is_equal(packet.param1,5.0f)) {
|
|
// save secondary compass's offsets
|
|
copter.compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_COMPONENT_ARM_DISARM:
|
|
if (is_equal(packet.param1,1.0f)) {
|
|
// attempt to arm and return success or failure
|
|
if (copter.init_arm_motors(true)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
} else if (is_zero(packet.param1) && (copter.mode_has_manual_throttle(copter.control_mode) || copter.ap.land_complete || is_equal(packet.param2,21196.0f))) {
|
|
copter.init_disarm_motors();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_SERVO:
|
|
if (copter.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_SERVO:
|
|
if (copter.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_RELAY:
|
|
if (copter.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_REPEAT_RELAY:
|
|
if (copter.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
|
|
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
|
|
AP_Notify::events.firmware_update = 1;
|
|
copter.update_notify();
|
|
hal.scheduler->delay(50);
|
|
// when packet.param1 == 3 we reboot to hold in bootloader
|
|
hal.scheduler->reboot(is_equal(packet.param1,3.0f));
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_FENCE_ENABLE:
|
|
#if AC_FENCE == ENABLED
|
|
result = MAV_RESULT_ACCEPTED;
|
|
switch ((uint16_t)packet.param1) {
|
|
case 0:
|
|
copter.fence.enable(false);
|
|
break;
|
|
case 1:
|
|
copter.fence.enable(true);
|
|
break;
|
|
default:
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
#else
|
|
// if fence code is not included return failure
|
|
result = MAV_RESULT_FAILED;
|
|
#endif
|
|
break;
|
|
|
|
#if PARACHUTE == ENABLED
|
|
case MAV_CMD_DO_PARACHUTE:
|
|
// configure or release parachute
|
|
result = MAV_RESULT_ACCEPTED;
|
|
switch ((uint16_t)packet.param1) {
|
|
case PARACHUTE_DISABLE:
|
|
copter.parachute.enabled(false);
|
|
copter.Log_Write_Event(DATA_PARACHUTE_DISABLED);
|
|
break;
|
|
case PARACHUTE_ENABLE:
|
|
copter.parachute.enabled(true);
|
|
copter.Log_Write_Event(DATA_PARACHUTE_ENABLED);
|
|
break;
|
|
case PARACHUTE_RELEASE:
|
|
// treat as a manual release which performs some additional check of altitude
|
|
copter.parachute_manual_release();
|
|
break;
|
|
default:
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
case MAV_CMD_DO_MOTOR_TEST:
|
|
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
|
|
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
|
|
// param3 : throttle (range depends upon param2)
|
|
// param4 : timeout (in seconds)
|
|
result = copter.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4);
|
|
break;
|
|
|
|
#if EPM_ENABLED == ENABLED
|
|
case MAV_CMD_DO_GRIPPER:
|
|
// param1 : gripper number (ignored)
|
|
// param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
|
|
if(!copter.epm.enabled()) {
|
|
result = MAV_RESULT_FAILED;
|
|
} else {
|
|
result = MAV_RESULT_ACCEPTED;
|
|
switch ((uint8_t)packet.param2) {
|
|
case GRIPPER_ACTION_RELEASE:
|
|
copter.epm.release();
|
|
break;
|
|
case GRIPPER_ACTION_GRAB:
|
|
copter.epm.grab();
|
|
break;
|
|
default:
|
|
result = MAV_RESULT_FAILED;
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
|
|
if (is_equal(packet.param1,1.0f)) {
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
}
|
|
|
|
default:
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
break;
|
|
}
|
|
|
|
// send ACK or NAK
|
|
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
|
|
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_COMMAND_ACK: // MAV ID: 77
|
|
{
|
|
copter.command_ack_counter++;
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: // MAV ID: 84
|
|
{
|
|
// decode packet
|
|
mavlink_set_position_target_local_ned_t packet;
|
|
mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
|
|
|
|
// exit if vehicle is not in Guided mode or Auto-Guided mode
|
|
if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.auto_mode == Auto_NavGuided)) {
|
|
break;
|
|
}
|
|
|
|
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
|
|
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
|
|
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
|
|
|
|
/*
|
|
* for future use:
|
|
* bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE;
|
|
* bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
|
|
* bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
|
|
*/
|
|
|
|
if (!pos_ignore && !vel_ignore && acc_ignore) {
|
|
Vector3f pos_ned = Vector3f(packet.x * 100.0f, packet.y * 100.0f, -packet.z * 100.0f);
|
|
pos_ned.z = copter.pv_alt_above_origin(pos_ned.z);
|
|
copter.guided_set_destination_posvel(pos_ned, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
|
|
} else if (pos_ignore && !vel_ignore && acc_ignore) {
|
|
copter.guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
|
|
} else if (!pos_ignore && vel_ignore && acc_ignore) {
|
|
Vector3f pos_ned = Vector3f(packet.x * 100.0f, packet.y * 100.0f, -packet.z * 100.0f);
|
|
pos_ned.z = copter.pv_alt_above_origin(pos_ned.z);
|
|
copter.guided_set_destination(pos_ned);
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: // MAV ID: 86
|
|
{
|
|
// decode packet
|
|
mavlink_set_position_target_global_int_t packet;
|
|
mavlink_msg_set_position_target_global_int_decode(msg, &packet);
|
|
|
|
// exit if vehicle is not in Guided mode or Auto-Guided mode
|
|
if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.auto_mode == Auto_NavGuided)) {
|
|
break;
|
|
}
|
|
|
|
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
|
|
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
|
|
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
|
|
|
|
/*
|
|
* for future use:
|
|
* bool force = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE;
|
|
* bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
|
|
* bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
|
|
*/
|
|
|
|
Vector3f pos_ned;
|
|
|
|
if(!pos_ignore) {
|
|
Location loc;
|
|
loc.lat = packet.lat_int;
|
|
loc.lng = packet.lon_int;
|
|
loc.alt = packet.alt*100;
|
|
switch (packet.coordinate_frame) {
|
|
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
|
|
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
|
|
loc.flags.relative_alt = true;
|
|
loc.flags.terrain_alt = false;
|
|
break;
|
|
case MAV_FRAME_GLOBAL_TERRAIN_ALT:
|
|
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
|
|
loc.flags.relative_alt = true;
|
|
loc.flags.terrain_alt = true;
|
|
break;
|
|
case MAV_FRAME_GLOBAL:
|
|
case MAV_FRAME_GLOBAL_INT:
|
|
default:
|
|
loc.flags.relative_alt = false;
|
|
loc.flags.terrain_alt = false;
|
|
break;
|
|
}
|
|
pos_ned = copter.pv_location_to_vector(loc);
|
|
}
|
|
|
|
if (!pos_ignore && !vel_ignore && acc_ignore) {
|
|
copter.guided_set_destination_posvel(pos_ned, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
|
|
} else if (pos_ignore && !vel_ignore && acc_ignore) {
|
|
copter.guided_set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f));
|
|
} else if (!pos_ignore && vel_ignore && acc_ignore) {
|
|
copter.guided_set_destination(pos_ned);
|
|
} else {
|
|
result = MAV_RESULT_FAILED;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
case MAVLINK_MSG_ID_HIL_STATE: // MAV ID: 90
|
|
{
|
|
mavlink_hil_state_t packet;
|
|
mavlink_msg_hil_state_decode(msg, &packet);
|
|
|
|
// set gps hil sensor
|
|
Location loc;
|
|
loc.lat = packet.lat;
|
|
loc.lng = packet.lon;
|
|
loc.alt = packet.alt/10;
|
|
Vector3f vel(packet.vx, packet.vy, packet.vz);
|
|
vel *= 0.01f;
|
|
|
|
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
|
|
packet.time_usec/1000,
|
|
loc, vel, 10, 0, true);
|
|
|
|
// rad/sec
|
|
Vector3f gyros;
|
|
gyros.x = packet.rollspeed;
|
|
gyros.y = packet.pitchspeed;
|
|
gyros.z = packet.yawspeed;
|
|
|
|
// m/s/s
|
|
Vector3f accels;
|
|
accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
|
|
accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
|
|
accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
|
|
|
|
ins.set_gyro(0, gyros);
|
|
|
|
ins.set_accel(0, accels);
|
|
|
|
copter.barometer.setHIL(packet.alt*0.001f);
|
|
copter.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
|
|
copter.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
|
|
|
|
break;
|
|
}
|
|
#endif // HIL_MODE != HIL_MODE_DISABLED
|
|
|
|
case MAVLINK_MSG_ID_RADIO:
|
|
case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109
|
|
{
|
|
handle_radio_status(msg, copter.DataFlash, copter.should_log(MASK_LOG_PM));
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
|
|
case MAVLINK_MSG_ID_LOG_ERASE:
|
|
copter.in_log_download = true;
|
|
// fallthru
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
|
|
if (!copter.in_mavlink_delay && !copter.motors.armed()) {
|
|
handle_log_message(msg, copter.DataFlash);
|
|
}
|
|
break;
|
|
case MAVLINK_MSG_ID_LOG_REQUEST_END:
|
|
copter.in_log_download = false;
|
|
if (!copter.in_mavlink_delay && !copter.motors.armed()) {
|
|
handle_log_message(msg, copter.DataFlash);
|
|
}
|
|
break;
|
|
|
|
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
|
|
case MAVLINK_MSG_ID_SERIAL_CONTROL:
|
|
handle_serial_control(msg, copter.gps);
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_GPS_INJECT_DATA:
|
|
handle_gps_inject(msg, copter.gps);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
#endif
|
|
|
|
#if CAMERA == ENABLED
|
|
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: // MAV ID: 202
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
|
|
copter.camera.control_msg(msg);
|
|
copter.log_picture();
|
|
break;
|
|
#endif // CAMERA == ENABLED
|
|
|
|
#if MOUNT == ENABLED
|
|
case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // MAV ID: 204
|
|
copter.camera_mount.configure_msg(msg);
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_MOUNT_CONTROL:
|
|
copter.camera_mount.control_msg(msg);
|
|
break;
|
|
#endif // MOUNT == ENABLED
|
|
|
|
case MAVLINK_MSG_ID_TERRAIN_DATA:
|
|
case MAVLINK_MSG_ID_TERRAIN_CHECK:
|
|
#if AP_TERRAIN_AVAILABLE
|
|
copter.terrain.handle_data(chan, msg);
|
|
#endif
|
|
break;
|
|
|
|
#if AC_RALLY == ENABLED
|
|
// receive a rally point from GCS and store in EEPROM
|
|
case MAVLINK_MSG_ID_RALLY_POINT: {
|
|
mavlink_rally_point_t packet;
|
|
mavlink_msg_rally_point_decode(msg, &packet);
|
|
|
|
if (packet.idx >= copter.rally.get_rally_total() ||
|
|
packet.idx >= copter.rally.get_rally_max()) {
|
|
send_text_P(SEVERITY_LOW,PSTR("bad rally point message ID"));
|
|
break;
|
|
}
|
|
|
|
if (packet.count != copter.rally.get_rally_total()) {
|
|
send_text_P(SEVERITY_LOW,PSTR("bad rally point message count"));
|
|
break;
|
|
}
|
|
|
|
RallyLocation rally_point;
|
|
rally_point.lat = packet.lat;
|
|
rally_point.lng = packet.lng;
|
|
rally_point.alt = packet.alt;
|
|
rally_point.break_alt = packet.break_alt;
|
|
rally_point.land_dir = packet.land_dir;
|
|
rally_point.flags = packet.flags;
|
|
|
|
if (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) {
|
|
send_text_P(SEVERITY_HIGH, PSTR("error setting rally point"));
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
//send a rally point to the GCS
|
|
case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 1")); // #### TEMP
|
|
|
|
mavlink_rally_fetch_point_t packet;
|
|
mavlink_msg_rally_fetch_point_decode(msg, &packet);
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 2")); // #### TEMP
|
|
|
|
if (packet.idx > copter.rally.get_rally_total()) {
|
|
send_text_P(SEVERITY_LOW, PSTR("bad rally point index"));
|
|
break;
|
|
}
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 3")); // #### TEMP
|
|
|
|
RallyLocation rally_point;
|
|
if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) {
|
|
send_text_P(SEVERITY_LOW, PSTR("failed to set rally point"));
|
|
break;
|
|
}
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 4")); // #### TEMP
|
|
|
|
mavlink_msg_rally_point_send_buf(msg,
|
|
chan, msg->sysid, msg->compid, packet.idx,
|
|
copter.rally.get_rally_total(), rally_point.lat, rally_point.lng,
|
|
rally_point.alt, rally_point.break_alt, rally_point.land_dir,
|
|
rally_point.flags);
|
|
|
|
//send_text_P(SEVERITY_HIGH, PSTR("## getting rally point in GCS_Mavlink.cpp 5")); // #### TEMP
|
|
|
|
break;
|
|
}
|
|
#endif // AC_RALLY == ENABLED
|
|
|
|
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
|
|
copter.gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_LED_CONTROL:
|
|
// send message to Notify
|
|
AP_Notify::handle_led_control(msg);
|
|
break;
|
|
|
|
} // end switch
|
|
} // end handle mavlink
|
|
|
|
|
|
/*
|
|
* a delay() callback that processes MAVLink packets. We set this as the
|
|
* callback in long running library initialisation routines to allow
|
|
* MAVLink to process packets while waiting for the initialisation to
|
|
* complete
|
|
*/
|
|
void Copter::mavlink_delay_cb()
|
|
{
|
|
static uint32_t last_1hz, last_50hz, last_5s;
|
|
if (!gcs[0].initialised || in_mavlink_delay) return;
|
|
|
|
in_mavlink_delay = true;
|
|
|
|
uint32_t tnow = millis();
|
|
if (tnow - last_1hz > 1000) {
|
|
last_1hz = tnow;
|
|
gcs_send_heartbeat();
|
|
gcs_send_message(MSG_EXTENDED_STATUS1);
|
|
}
|
|
if (tnow - last_50hz > 20) {
|
|
last_50hz = tnow;
|
|
gcs_check_input();
|
|
gcs_data_stream_send();
|
|
gcs_send_deferred();
|
|
notify.update();
|
|
}
|
|
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
|
|
*/
|
|
void Copter::gcs_send_message(enum ap_message id)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].send_message(id);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* send data streams in the given rate range on both links
|
|
*/
|
|
void Copter::gcs_data_stream_send(void)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].data_stream_send();
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* look for incoming commands on the GCS links
|
|
*/
|
|
void Copter::gcs_check_input(void)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
#if CLI_ENABLED == ENABLED
|
|
gcs[i].update(g.cli_enabled==1?FUNCTOR_BIND_MEMBER(&Copter::run_cli, void, AP_HAL::UARTDriver *):NULL);
|
|
#else
|
|
gcs[i].update(NULL);
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
|
|
void Copter::gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].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 Copter::gcs_send_text_fmt(const prog_char_t *fmt, ...)
|
|
{
|
|
va_list arg_list;
|
|
gcs[0].pending_status.severity = (uint8_t)SEVERITY_LOW;
|
|
va_start(arg_list, fmt);
|
|
hal.util->vsnprintf_P((char *)gcs[0].pending_status.text,
|
|
sizeof(gcs[0].pending_status.text), fmt, arg_list);
|
|
va_end(arg_list);
|
|
gcs[0].send_message(MSG_STATUSTEXT);
|
|
for (uint8_t i=1; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].pending_status = gcs[0].pending_status;
|
|
gcs[i].send_message(MSG_STATUSTEXT);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* send mission_item_reached message to all GCSs
|
|
*/
|
|
void Copter::gcs_send_mission_item_reached(uint16_t seq)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].send_mission_item_reached(seq);
|
|
}
|
|
}
|
|
}
|