mirror of https://github.com/ArduPilot/ardupilot
475 lines
13 KiB
C
475 lines
13 KiB
C
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef Mavlink_Common_H
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#define Mavlink_Common_H
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#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK || GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
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byte mavdelay = 0;
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static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
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{
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//Serial.print("target = "); Serial.print(sysid, DEC); Serial.print("\tcomp = "); Serial.println(compid, DEC); //This line for debug only
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if (sysid != mavlink_system.sysid){
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return 1;
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// Currently we are not checking for correct compid since APM is not passing mavlink info to any subsystem
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// If it is addressed to our system ID we assume it is for us
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//}else if(compid != mavlink_system.compid){
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// gcs.send_text_P(SEVERITY_LOW,PSTR("component id mismatch"));
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// return 1; // XXX currently not receiving correct compid from gcs
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}else{
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return 0; // no error
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}
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}
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#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
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/*
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!!NOTE!!
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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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#define NOINLINE __attribute__((noinline))
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static NOINLINE void send_heartbeat(mavlink_channel_t chan)
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{
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mavlink_msg_heartbeat_send(
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chan,
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mavlink_system.type,
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MAV_AUTOPILOT_ARDUPILOTMEGA);
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}
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static NOINLINE void send_attitude(mavlink_channel_t chan)
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{
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Vector3f omega = dcm.get_gyro();
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mavlink_msg_attitude_send(
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chan,
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micros(),
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dcm.roll,
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dcm.pitch,
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dcm.yaw,
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omega.x,
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omega.y,
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omega.z);
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}
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static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
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{
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uint8_t mode = MAV_MODE_UNINIT;
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uint8_t nav_mode = MAV_NAV_VECTOR;
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switch(control_mode) {
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case MANUAL:
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mode = MAV_MODE_MANUAL;
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break;
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case STABILIZE:
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mode = MAV_MODE_TEST1;
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break;
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case FLY_BY_WIRE_A:
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mode = MAV_MODE_TEST2;
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nav_mode = 1; //FBW nav_mode mapping; 1=A, 2=B, 3=C, etc.
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break;
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case FLY_BY_WIRE_B:
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mode = MAV_MODE_TEST2;
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nav_mode = 2; //FBW nav_mode mapping; 1=A, 2=B, 3=C, etc.
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break;
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case GUIDED:
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mode = MAV_MODE_GUIDED;
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break;
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case AUTO:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_WAYPOINT;
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break;
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case RTL:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_RETURNING;
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break;
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case LOITER:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_LOITER;
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break;
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case INITIALISING:
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mode = MAV_MODE_UNINIT;
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nav_mode = MAV_NAV_GROUNDED;
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break;
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}
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uint8_t status = MAV_STATE_ACTIVE;
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uint16_t battery_remaining = 1000.0 * (float)(g.pack_capacity - current_total)/(float)g.pack_capacity; //Mavlink scaling 100% = 1000
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mavlink_msg_sys_status_send(
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chan,
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mode,
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nav_mode,
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status,
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load * 1000,
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battery_voltage * 1000,
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battery_remaining,
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packet_drops);
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}
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static void NOINLINE send_meminfo(mavlink_channel_t chan)
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{
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extern unsigned __brkval;
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mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
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}
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static void NOINLINE send_location(mavlink_channel_t chan)
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{
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Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
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mavlink_msg_global_position_int_send(
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chan,
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current_loc.lat,
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current_loc.lng,
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current_loc.alt * 10,
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g_gps->ground_speed * rot.a.x,
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g_gps->ground_speed * rot.b.x,
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g_gps->ground_speed * rot.c.x);
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}
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static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
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{
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mavlink_msg_nav_controller_output_send(
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chan,
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nav_roll / 1.0e2,
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nav_pitch / 1.0e2,
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nav_bearing / 1.0e2,
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target_bearing / 1.0e2,
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wp_distance,
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altitude_error / 1.0e2,
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airspeed_error,
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crosstrack_error);
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}
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static void NOINLINE send_gps_raw(mavlink_channel_t chan)
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{
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mavlink_msg_gps_raw_send(
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chan,
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micros(),
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g_gps->status(),
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g_gps->latitude / 1.0e7,
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g_gps->longitude / 1.0e7,
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g_gps->altitude / 100.0,
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g_gps->hdop,
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0.0,
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g_gps->ground_speed / 100.0,
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g_gps->ground_course / 100.0);
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}
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static void NOINLINE send_servo_out(mavlink_channel_t chan)
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{
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const uint8_t rssi = 1;
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// normalized values scaled to -10000 to 10000
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// This is used for HIL. Do not change without discussing with HIL maintainers
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mavlink_msg_rc_channels_scaled_send(
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chan,
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10000 * g.channel_roll.norm_output(),
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10000 * g.channel_pitch.norm_output(),
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10000 * g.channel_throttle.norm_output(),
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10000 * g.channel_rudder.norm_output(),
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0,
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0,
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0,
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0,
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rssi);
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}
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static void NOINLINE send_radio_in(mavlink_channel_t chan)
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{
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uint8_t rssi = 1;
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mavlink_msg_rc_channels_raw_send(
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chan,
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g.channel_roll.radio_in,
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g.channel_pitch.radio_in,
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g.channel_throttle.radio_in,
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g.channel_rudder.radio_in,
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g.rc_5.radio_in, // XXX currently only 4 RC channels defined
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g.rc_6.radio_in,
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g.rc_7.radio_in,
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g.rc_8.radio_in,
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rssi);
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}
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static void NOINLINE 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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g.channel_roll.radio_out,
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g.channel_pitch.radio_out,
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g.channel_throttle.radio_out,
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g.channel_rudder.radio_out,
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g.rc_5.radio_out, // XXX currently only 4 RC channels defined
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g.rc_6.radio_out,
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g.rc_7.radio_out,
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g.rc_8.radio_out);
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}
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static void NOINLINE 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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(float)airspeed / 100.0,
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(float)g_gps->ground_speed / 100.0,
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(dcm.yaw_sensor / 100) % 360,
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(int)g.channel_throttle.servo_out,
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current_loc.alt / 100.0,
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climb_rate);
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE
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static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
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{
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Vector3f accel = imu.get_accel();
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Vector3f gyro = imu.get_gyro();
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mavlink_msg_raw_imu_send(
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chan,
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micros(),
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accel.x * 1000.0 / gravity,
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accel.y * 1000.0 / gravity,
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accel.z * 1000.0 / gravity,
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gyro.x * 1000.0,
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gyro.y * 1000.0,
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gyro.z * 1000.0,
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compass.mag_x,
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compass.mag_y,
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compass.mag_z);
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}
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static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
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{
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mavlink_msg_scaled_pressure_send(
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chan,
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micros(),
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(float)barometer.Press/100.0,
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(float)(barometer.Press-g.ground_pressure)/100.0,
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(int)(barometer.Temp*10));
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}
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static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
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{
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Vector3f mag_offsets = compass.get_offsets();
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mavlink_msg_sensor_offsets_send(chan,
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mag_offsets.x,
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mag_offsets.y,
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mag_offsets.z,
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compass.get_declination(),
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barometer.RawPress,
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barometer.RawTemp,
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imu.gx(), imu.gy(), imu.gz(),
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imu.ax(), imu.ay(), imu.az());
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}
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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static void NOINLINE send_gps_status(mavlink_channel_t chan)
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{
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mavlink_msg_gps_status_send(
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chan,
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g_gps->num_sats,
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NULL,
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NULL,
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NULL,
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NULL,
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NULL);
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}
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static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
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{
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mavlink_msg_waypoint_current_send(
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chan,
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g.waypoint_index);
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}
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// try to send a message, return false if it won't fit in the serial tx buffer
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static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
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{
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int payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
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if (chan == MAVLINK_COMM_1 && millis() < MAVLINK_TELEMETRY_PORT_DELAY) {
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// defer any messages on the telemetry port for 1 second after
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// bootup, to try to prevent bricking of Xbees
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return false;
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}
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switch (id) {
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case MSG_HEARTBEAT:
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CHECK_PAYLOAD_SIZE(HEARTBEAT);
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send_heartbeat(chan);
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return true;
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case MSG_EXTENDED_STATUS1:
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CHECK_PAYLOAD_SIZE(SYS_STATUS);
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send_extended_status1(chan, packet_drops);
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break;
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case MSG_EXTENDED_STATUS2:
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CHECK_PAYLOAD_SIZE(MEMINFO);
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send_meminfo(chan);
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break;
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case MSG_ATTITUDE:
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CHECK_PAYLOAD_SIZE(ATTITUDE);
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send_attitude(chan);
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break;
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case MSG_LOCATION:
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CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
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send_location(chan);
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break;
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case MSG_NAV_CONTROLLER_OUTPUT:
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if (control_mode != MANUAL) {
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CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
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send_nav_controller_output(chan);
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}
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break;
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case MSG_GPS_RAW:
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CHECK_PAYLOAD_SIZE(GPS_RAW);
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send_gps_raw(chan);
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break;
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case MSG_SERVO_OUT:
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CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
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send_servo_out(chan);
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break;
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case MSG_RADIO_IN:
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CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
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send_radio_in(chan);
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break;
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case MSG_RADIO_OUT:
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CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
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send_radio_out(chan);
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break;
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case MSG_VFR_HUD:
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CHECK_PAYLOAD_SIZE(VFR_HUD);
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send_vfr_hud(chan);
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break;
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#if HIL_MODE != HIL_MODE_ATTITUDE
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case MSG_RAW_IMU1:
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CHECK_PAYLOAD_SIZE(RAW_IMU);
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send_raw_imu1(chan);
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break;
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case MSG_RAW_IMU2:
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CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
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send_raw_imu2(chan);
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break;
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case MSG_RAW_IMU3:
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CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
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send_raw_imu3(chan);
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break;
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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case MSG_GPS_STATUS:
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CHECK_PAYLOAD_SIZE(GPS_STATUS);
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send_gps_status(chan);
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break;
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case MSG_CURRENT_WAYPOINT:
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CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
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send_current_waypoint(chan);
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break;
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default:
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break;
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}
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return true;
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}
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#define MAX_DEFERRED_MESSAGES MSG_RETRY_DEFERRED
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static struct mavlink_queue {
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enum ap_message deferred_messages[MAX_DEFERRED_MESSAGES];
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uint8_t next_deferred_message;
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uint8_t num_deferred_messages;
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} mavlink_queue[2];
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// send a message using mavlink
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static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
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{
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uint8_t i, nextid;
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struct mavlink_queue *q = &mavlink_queue[(uint8_t)chan];
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// see if we can send the deferred messages, if any
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while (q->num_deferred_messages != 0) {
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if (!mavlink_try_send_message(chan,
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q->deferred_messages[q->next_deferred_message],
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packet_drops)) {
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break;
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}
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q->next_deferred_message++;
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if (q->next_deferred_message == MAX_DEFERRED_MESSAGES) {
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q->next_deferred_message = 0;
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}
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q->num_deferred_messages--;
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}
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if (id == MSG_RETRY_DEFERRED) {
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return;
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}
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// this message id might already be deferred
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for (i=0, nextid = q->next_deferred_message; i < q->num_deferred_messages; i++) {
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if (q->deferred_messages[nextid] == id) {
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// its already deferred, discard
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return;
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}
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nextid++;
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if (nextid == MAX_DEFERRED_MESSAGES) {
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nextid = 0;
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}
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}
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if (q->num_deferred_messages != 0 ||
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!mavlink_try_send_message(chan, id, packet_drops)) {
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// can't send it now, so defer it
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if (q->num_deferred_messages == MAX_DEFERRED_MESSAGES) {
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// the defer buffer is full, discard
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return;
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}
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nextid = q->next_deferred_message + q->num_deferred_messages;
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if (nextid >= MAX_DEFERRED_MESSAGES) {
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nextid -= MAX_DEFERRED_MESSAGES;
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}
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q->deferred_messages[nextid] = id;
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q->num_deferred_messages++;
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}
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}
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void mavlink_send_text(mavlink_channel_t chan, uint8_t severity, const char *str)
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{
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if (chan == MAVLINK_COMM_1 && millis() < MAVLINK_TELEMETRY_PORT_DELAY) {
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// don't send status MAVLink messages for 1 second after
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// bootup, to try to prevent Xbee bricking
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return;
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}
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mavlink_msg_statustext_send(
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chan,
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severity,
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(const int8_t*) str);
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}
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void mavlink_acknowledge(mavlink_channel_t chan, uint8_t id, uint8_t sum1, uint8_t sum2)
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{
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}
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#endif // mavlink in use
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#endif // inclusion guard
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