mirror of https://github.com/ArduPilot/ardupilot
880 lines
25 KiB
Plaintext
880 lines
25 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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)
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// use this to prevent recursion during sensor init
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static bool in_mavlink_delay;
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// check if a message will fit in the payload space available
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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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/*
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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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static NOINLINE void 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 = MAV_STATE_ACTIVE;
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uint32_t custom_mode = control_mode;
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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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switch (control_mode) {
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case MANUAL:
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base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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break;
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case STOP:
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break;
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case SCAN:
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case AUTO:
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base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED |
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MAV_MODE_FLAG_STABILIZE_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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case INITIALISING:
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system_status = MAV_STATE_CALIBRATING;
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break;
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}
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mavlink_msg_heartbeat_send(
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chan,
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MAV_TYPE_ANTENNA_TRACKER,
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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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static NOINLINE void send_attitude(mavlink_channel_t chan)
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{
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Vector3f omega = ahrs.get_gyro();
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mavlink_msg_attitude_send(
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chan,
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hal.scheduler->millis(),
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ahrs.roll,
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ahrs.pitch,
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ahrs.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 void NOINLINE send_location(mavlink_channel_t chan)
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{
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uint32_t 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 = hal.scheduler->millis();
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}
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const Vector3f &vel = gps.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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current_loc.alt * 10, // millimeters above sea level
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0,
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vel.x * 100, // X speed cm/s (+ve North)
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vel.y * 100, // Y speed cm/s (+ve East)
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vel.z * -100, // Z speed cm/s (+ve up)
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ahrs.yaw_sensor);
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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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hal.scheduler->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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static void NOINLINE 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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0,
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hal.i2c->lockup_count());
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}
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static void NOINLINE send_waypoint_request(mavlink_channel_t chan)
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{
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gcs[chan-MAVLINK_COMM_0].queued_waypoint_send();
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}
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static void NOINLINE send_statustext(mavlink_channel_t chan)
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{
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mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
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mavlink_msg_statustext_send(
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chan,
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s->severity,
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s->text);
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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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0,
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nav_status.pitch,
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nav_status.bearing,
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nav_status.bearing,
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nav_status.distance,
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nav_status.altitude_difference,
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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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static void NOINLINE send_simstate(mavlink_channel_t chan)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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sitl.simstate_send(chan);
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#endif
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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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bool GCS_MAVLINK::try_send_message(enum ap_message id)
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{
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uint16_t txspace = comm_get_txspace(chan);
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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_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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CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
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send_nav_controller_output(chan);
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break;
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case MSG_GPS_RAW:
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CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
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gcs[chan-MAVLINK_COMM_0].send_gps_raw(gps);
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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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gcs[chan-MAVLINK_COMM_0].send_radio_in(0);
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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_RAW_IMU1:
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CHECK_PAYLOAD_SIZE(RAW_IMU);
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gcs[chan-MAVLINK_COMM_0].send_raw_imu(ins, compass);
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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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gcs[chan-MAVLINK_COMM_0].send_scaled_pressure(barometer);
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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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gcs[chan-MAVLINK_COMM_0].send_sensor_offsets(ins, compass, barometer);
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break;
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case MSG_NEXT_PARAM:
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CHECK_PAYLOAD_SIZE(PARAM_VALUE);
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gcs[chan-MAVLINK_COMM_0].queued_param_send();
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break;
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case MSG_NEXT_WAYPOINT:
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CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
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send_waypoint_request(chan);
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break;
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case MSG_STATUSTEXT:
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CHECK_PAYLOAD_SIZE(STATUSTEXT);
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send_statustext(chan);
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break;
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case MSG_AHRS:
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CHECK_PAYLOAD_SIZE(AHRS);
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gcs[chan-MAVLINK_COMM_0].send_ahrs(ahrs);
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break;
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case MSG_SIMSTATE:
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CHECK_PAYLOAD_SIZE(SIMSTATE);
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send_simstate(chan);
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break;
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case MSG_HWSTATUS:
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CHECK_PAYLOAD_SIZE(HWSTATUS);
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send_hwstatus(chan);
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break;
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case MSG_SERVO_OUT:
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case MSG_EXTENDED_STATUS1:
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case MSG_EXTENDED_STATUS2:
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case MSG_RETRY_DEFERRED:
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case MSG_CURRENT_WAYPOINT:
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case MSG_VFR_HUD:
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case MSG_SYSTEM_TIME:
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case MSG_LIMITS_STATUS:
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case MSG_FENCE_STATUS:
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case MSG_WIND:
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case MSG_RANGEFINDER:
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case MSG_TERRAIN:
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case MSG_BATTERY2:
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case MSG_CAMERA_FEEDBACK:
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case MSG_MOUNT_STATUS:
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case MSG_OPTICAL_FLOW:
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case MSG_GIMBAL_REPORT:
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break; // just here to prevent a warning
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}
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return true;
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}
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/*
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default stream rates to 1Hz
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*/
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const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
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// @Param: RAW_SENS
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// @DisplayName: Raw sensor stream rate
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// @Description: Raw sensor stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK, streamRates[0], 1),
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// @Param: EXT_STAT
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// @DisplayName: Extended status stream rate to ground station
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// @Description: Extended status stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK, streamRates[1], 1),
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// @Param: RC_CHAN
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// @DisplayName: RC Channel stream rate to ground station
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// @Description: RC Channel stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK, streamRates[2], 1),
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// @Param: RAW_CTRL
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// @DisplayName: Raw Control stream rate to ground station
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// @Description: Raw Control stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK, streamRates[3], 1),
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// @Param: POSITION
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// @DisplayName: Position stream rate to ground station
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// @Description: Position stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("POSITION", 4, GCS_MAVLINK, streamRates[4], 1),
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// @Param: EXTRA1
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// @DisplayName: Extra data type 1 stream rate to ground station
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// @Description: Extra data type 1 stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK, streamRates[5], 1),
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// @Param: EXTRA2
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// @DisplayName: Extra data type 2 stream rate to ground station
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// @Description: Extra data type 2 stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK, streamRates[6], 1),
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// @Param: EXTRA3
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// @DisplayName: Extra data type 3 stream rate to ground station
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// @Description: Extra data type 3 stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK, streamRates[7], 1),
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// @Param: PARAMS
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// @DisplayName: Parameter stream rate to ground station
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// @Description: Parameter stream rate to ground station
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// @Units: Hz
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// @Range: 0 10
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK, streamRates[8], 10),
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AP_GROUPEND
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};
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// see if we should send a stream now. Called at 50Hz
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bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
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{
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if (stream_num >= NUM_STREAMS) {
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return false;
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}
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float rate = (uint8_t)streamRates[stream_num].get();
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// send at a much lower rate during parameter sends
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if (_queued_parameter != NULL) {
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rate *= 0.25;
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}
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if (rate <= 0) {
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return false;
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}
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if (stream_ticks[stream_num] == 0) {
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// we're triggering now, setup the next trigger point
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if (rate > 50) {
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rate = 50;
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}
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stream_ticks[stream_num] = (50 / rate) + stream_slowdown;
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return true;
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}
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// count down at 50Hz
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stream_ticks[stream_num]--;
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return false;
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}
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void
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GCS_MAVLINK::data_stream_send(void)
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{
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if (_queued_parameter != NULL) {
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if (streamRates[STREAM_PARAMS].get() <= 0) {
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streamRates[STREAM_PARAMS].set(10);
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}
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if (stream_trigger(STREAM_PARAMS)) {
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send_message(MSG_NEXT_PARAM);
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}
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}
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if (in_mavlink_delay) {
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// don't send any other stream types while in the delay callback
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return;
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}
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if (stream_trigger(STREAM_RAW_SENSORS)) {
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send_message(MSG_RAW_IMU1);
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send_message(MSG_RAW_IMU2);
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send_message(MSG_RAW_IMU3);
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}
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if (stream_trigger(STREAM_EXTENDED_STATUS)) {
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send_message(MSG_EXTENDED_STATUS1);
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send_message(MSG_EXTENDED_STATUS2);
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send_message(MSG_NAV_CONTROLLER_OUTPUT);
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send_message(MSG_GPS_RAW);
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}
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if (stream_trigger(STREAM_POSITION)) {
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send_message(MSG_LOCATION);
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}
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if (stream_trigger(STREAM_RAW_CONTROLLER)) {
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send_message(MSG_SERVO_OUT);
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}
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if (stream_trigger(STREAM_RC_CHANNELS)) {
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send_message(MSG_RADIO_IN);
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send_message(MSG_RADIO_OUT);
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}
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if (stream_trigger(STREAM_EXTRA1)) {
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send_message(MSG_ATTITUDE);
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}
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if (stream_trigger(STREAM_EXTRA3)) {
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send_message(MSG_AHRS);
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send_message(MSG_HWSTATUS);
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send_message(MSG_SIMSTATE);
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}
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}
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/*
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We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and
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MAVLINK_MSG_ID_SCALED_PRESSUREs
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*/
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void mavlink_snoop(const mavlink_message_t* msg)
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{
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switch (msg->msgid) {
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case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
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{
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// decode
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mavlink_global_position_int_t packet;
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mavlink_msg_global_position_int_decode(msg, &packet);
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tracking_update_position(packet);
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break;
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}
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case MAVLINK_MSG_ID_SCALED_PRESSURE:
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{
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// decode
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mavlink_scaled_pressure_t packet;
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mavlink_msg_scaled_pressure_decode(msg, &packet);
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tracking_update_pressure(packet);
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break;
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}
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}
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}
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void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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{
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switch (msg->msgid) {
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// If we are currently operating as a proxy for a remote,
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// alas we have to look inside each packet to see if its for us or for the remote
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case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
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{
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handle_request_data_stream(msg, true);
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break;
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}
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case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
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{
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handle_param_request_list(msg);
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break;
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}
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case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
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{
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handle_param_request_read(msg);
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break;
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}
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case MAVLINK_MSG_ID_PARAM_SET:
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{
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handle_param_set(msg, NULL);
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break;
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}
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case MAVLINK_MSG_ID_HEARTBEAT:
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break;
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case MAVLINK_MSG_ID_COMMAND_LONG:
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{
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// decode
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mavlink_command_long_t packet;
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mavlink_msg_command_long_decode(msg, &packet);
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uint8_t result = MAV_RESULT_UNSUPPORTED;
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// do command
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send_text_P(SEVERITY_LOW,PSTR("command received: "));
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|
|
|
switch(packet.command) {
|
|
|
|
case MAV_CMD_PREFLIGHT_CALIBRATION:
|
|
{
|
|
if (packet.param1 == 1 ||
|
|
packet.param2 == 1) {
|
|
calibrate_ins();
|
|
} else if (packet.param3 == 1) {
|
|
init_barometer();
|
|
// zero the altitude difference on next baro update
|
|
nav_status.need_altitude_calibration = true;
|
|
}
|
|
if (packet.param4 == 1) {
|
|
// Cant trim radio
|
|
}
|
|
#if !defined( __AVR_ATmega1280__ )
|
|
if (packet.param5 == 1) {
|
|
float trim_roll, trim_pitch;
|
|
AP_InertialSensor_UserInteract_MAVLink interact(chan);
|
|
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
|
|
// reset ahrs's trim to suggested values from calibration routine
|
|
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
|
|
}
|
|
}
|
|
#endif
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
}
|
|
|
|
case MAV_CMD_COMPONENT_ARM_DISARM:
|
|
if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
|
|
if (packet.param1 == 1.0f) {
|
|
arm_servos();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else if (packet.param1 == 0.0f) {
|
|
disarm_servos();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
} else {
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
}
|
|
} else {
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
}
|
|
break;
|
|
|
|
case MAV_CMD_DO_SET_MODE:
|
|
switch ((uint16_t)packet.param1) {
|
|
case MAV_MODE_MANUAL_ARMED:
|
|
case MAV_MODE_MANUAL_DISARMED:
|
|
set_mode(MANUAL);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_MODE_AUTO_ARMED:
|
|
case MAV_MODE_AUTO_DISARMED:
|
|
set_mode(AUTO);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
default:
|
|
result = MAV_RESULT_UNSUPPORTED;
|
|
}
|
|
break;
|
|
|
|
// mavproxy/mavutil sends this when auto command is entered
|
|
case MAV_CMD_MISSION_START:
|
|
set_mode(AUTO);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
break;
|
|
|
|
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
|
|
{
|
|
if (packet.param1 == 1 || packet.param1 == 3) {
|
|
// when packet.param1 == 3 we reboot to hold in bootloader
|
|
hal.scheduler->reboot(packet.param1 == 3);
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
|
|
if (packet.param1 == 1) {
|
|
gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
|
|
result = MAV_RESULT_ACCEPTED;
|
|
}
|
|
break;
|
|
}
|
|
|
|
default:
|
|
break;
|
|
}
|
|
mavlink_msg_command_ack_send(
|
|
chan,
|
|
packet.command,
|
|
result);
|
|
|
|
break;
|
|
}
|
|
|
|
// When mavproxy 'wp sethome'
|
|
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
|
|
{
|
|
// decode
|
|
mavlink_mission_write_partial_list_t packet;
|
|
mavlink_msg_mission_write_partial_list_decode(msg, &packet);
|
|
if (packet.start_index == 0)
|
|
{
|
|
// New home at wp index 0. Ask for it
|
|
waypoint_receiving = true;
|
|
waypoint_request_i = 0;
|
|
waypoint_request_last = 0;
|
|
send_message(MSG_NEXT_WAYPOINT);
|
|
waypoint_receiving = true;
|
|
}
|
|
break;
|
|
}
|
|
|
|
// XXX receive a WP from GCS and store in EEPROM if it is HOME
|
|
case MAVLINK_MSG_ID_MISSION_ITEM:
|
|
{
|
|
// decode
|
|
mavlink_mission_item_t packet;
|
|
uint8_t result = MAV_MISSION_ACCEPTED;
|
|
|
|
mavlink_msg_mission_item_decode(msg, &packet);
|
|
|
|
struct Location tell_command = {};
|
|
|
|
switch (packet.frame)
|
|
{
|
|
case MAV_FRAME_MISSION:
|
|
case MAV_FRAME_GLOBAL:
|
|
{
|
|
tell_command.lat = 1.0e7f*packet.x; // in as DD converted to * t7
|
|
tell_command.lng = 1.0e7f*packet.y; // in as DD converted to * t7
|
|
tell_command.alt = packet.z*1.0e2f; // in as m converted to cm
|
|
tell_command.options = 0; // absolute altitude
|
|
break;
|
|
}
|
|
|
|
#ifdef MAV_FRAME_LOCAL_NED
|
|
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
|
|
{
|
|
tell_command.lat = 1.0e7f*ToDeg(packet.x/
|
|
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
|
|
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
|
|
tell_command.alt = -packet.z*1.0e2f;
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
#ifdef MAV_FRAME_LOCAL
|
|
case MAV_FRAME_LOCAL: // local (relative to home position)
|
|
{
|
|
tell_command.lat = 1.0e7f*ToDeg(packet.x/
|
|
(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat;
|
|
tell_command.lng = 1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng;
|
|
tell_command.alt = packet.z*1.0e2f;
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
|
|
{
|
|
tell_command.lat = 1.0e7f * packet.x; // in as DD converted to * t7
|
|
tell_command.lng = 1.0e7f * packet.y; // in as DD converted to * t7
|
|
tell_command.alt = packet.z * 1.0e2f;
|
|
tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!!
|
|
break;
|
|
}
|
|
|
|
default:
|
|
result = MAV_MISSION_UNSUPPORTED_FRAME;
|
|
break;
|
|
}
|
|
|
|
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
|
|
|
|
// Check if receiving waypoints (mission upload expected)
|
|
if (!waypoint_receiving) {
|
|
result = MAV_MISSION_ERROR;
|
|
goto mission_failed;
|
|
}
|
|
|
|
// check if this is the HOME wp
|
|
if (packet.seq == 0) {
|
|
set_home(tell_command); // New home in EEPROM
|
|
send_text_P(SEVERITY_LOW,PSTR("new HOME received"));
|
|
waypoint_receiving = false;
|
|
}
|
|
|
|
mission_failed:
|
|
// we are rejecting the mission/waypoint
|
|
mavlink_msg_mission_ack_send(
|
|
chan,
|
|
msg->sysid,
|
|
msg->compid,
|
|
result);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MANUAL_CONTROL:
|
|
{
|
|
mavlink_manual_control_t packet;
|
|
mavlink_msg_manual_control_decode(msg, &packet);
|
|
tracking_manual_control(packet);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
|
|
{
|
|
// decode
|
|
mavlink_global_position_int_t packet;
|
|
mavlink_msg_global_position_int_decode(msg, &packet);
|
|
tracking_update_position(packet);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_SCALED_PRESSURE:
|
|
{
|
|
// decode
|
|
mavlink_scaled_pressure_t packet;
|
|
mavlink_msg_scaled_pressure_decode(msg, &packet);
|
|
tracking_update_pressure(packet);
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_SET_MODE:
|
|
{
|
|
handle_set_mode(msg, mavlink_set_mode);
|
|
break;
|
|
}
|
|
|
|
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
|
|
case MAVLINK_MSG_ID_SERIAL_CONTROL:
|
|
handle_serial_control(msg, gps);
|
|
break;
|
|
#endif
|
|
|
|
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
|
|
gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
|
|
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
|
|
*/
|
|
static void mavlink_delay_cb()
|
|
{
|
|
static uint32_t last_1hz, last_50hz, last_5s;
|
|
if (!gcs[0].initialised) return;
|
|
|
|
in_mavlink_delay = true;
|
|
|
|
uint32_t tnow = hal.scheduler->millis();
|
|
if (tnow - last_1hz > 1000) {
|
|
last_1hz = tnow;
|
|
gcs_send_message(MSG_HEARTBEAT);
|
|
gcs_send_message(MSG_EXTENDED_STATUS1);
|
|
}
|
|
if (tnow - last_50hz > 20) {
|
|
last_50hz = tnow;
|
|
gcs_update();
|
|
gcs_data_stream_send();
|
|
notify.update();
|
|
}
|
|
if (tnow - last_5s > 5000) {
|
|
last_5s = tnow;
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("Initialising APM..."));
|
|
}
|
|
in_mavlink_delay = false;
|
|
}
|
|
|
|
/*
|
|
* send a message on both GCS links
|
|
*/
|
|
static void 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
|
|
*/
|
|
static void 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
|
|
*/
|
|
static void gcs_update(void)
|
|
{
|
|
for (uint8_t i=0; i<num_gcs; i++) {
|
|
if (gcs[i].initialised) {
|
|
gcs[i].update(NULL);
|
|
}
|
|
}
|
|
}
|
|
|
|
static void 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);
|
|
}
|
|
}
|
|
#if LOGGING_ENABLED == ENABLED
|
|
DataFlash.Log_Write_Message_P(str);
|
|
#endif
|
|
}
|
|
|
|
/*
|
|
* send a low priority formatted message to the GCS
|
|
* only one fits in the queue, so if you send more than one before the
|
|
* last one gets into the serial buffer then the old one will be lost
|
|
*/
|
|
void gcs_send_text_fmt(const prog_char_t *fmt, ...)
|
|
{
|
|
va_list arg_list;
|
|
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);
|
|
#if LOGGING_ENABLED == ENABLED
|
|
DataFlash.Log_Write_Message(gcs[0].pending_status.text);
|
|
#endif
|
|
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);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
retry any deferred messages
|
|
*/
|
|
static void gcs_retry_deferred(void)
|
|
{
|
|
gcs_send_message(MSG_RETRY_DEFERRED);
|
|
}
|
|
|