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ardupilot/AntennaTracker/GCS_Mavlink.cpp

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#include "GCS_Mavlink.h"
#include "Tracker.h"
MAV_TYPE GCS_Tracker::frame_type() const
{
return MAV_TYPE_ANTENNA_TRACKER;
}
MAV_MODE GCS_MAVLINK_Tracker::base_mode() const
{
uint8_t _base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
// work out the base_mode. This value is not very useful
// for APM, but we calculate it as best we can so a generic
// MAVLink enabled ground station can work out something about
// what the MAV is up to. The actual bit values are highly
// ambiguous for most of the APM flight modes. In practice, you
// only get useful information from the custom_mode, which maps to
// the APM flight mode and has a well defined meaning in the
// ArduPlane documentation
switch (tracker.mode->number()) {
case Mode::Number::MANUAL:
_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case Mode::Number::STOP:
break;
case Mode::Number::SCAN:
case Mode::Number::SERVOTEST:
case Mode::Number::AUTO:
case Mode::Number::GUIDED:
_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED |
MAV_MODE_FLAG_STABILIZE_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do
break;
case Mode::Number::INITIALISING:
break;
}
// we are armed if safety switch is not disarmed
if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED &&
tracker.mode != &tracker.mode_initialising &&
hal.util->get_soft_armed()) {
_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
return (MAV_MODE)_base_mode;
}
uint32_t GCS_Tracker::custom_mode() const
{
return (uint32_t)tracker.mode->number();
}
MAV_STATE GCS_MAVLINK_Tracker::vehicle_system_status() const
{
if (tracker.mode == &tracker.mode_initialising) {
return MAV_STATE_CALIBRATING;
}
return MAV_STATE_ACTIVE;
}
void GCS_MAVLINK_Tracker::send_nav_controller_output() const
{
float alt_diff = (tracker.g.alt_source == ALT_SOURCE_BARO) ? tracker.nav_status.alt_difference_baro : tracker.nav_status.alt_difference_gps;
mavlink_msg_nav_controller_output_send(
chan,
0,
tracker.nav_status.pitch,
tracker.nav_status.bearing,
tracker.nav_status.bearing,
MIN(tracker.nav_status.distance, UINT16_MAX),
alt_diff,
0,
0);
}
void GCS_MAVLINK_Tracker::handle_set_attitude_target(const mavlink_message_t &msg)
{
// decode packet
mavlink_set_attitude_target_t packet;
mavlink_msg_set_attitude_target_decode(&msg, &packet);
// exit if vehicle is not in Guided mode
if (tracker.mode != &tracker.mode_guided) {
return;
}
// sanity checks:
if (!is_zero(packet.body_roll_rate)) {
return;
}
if (!(packet.type_mask & (1<<0))) {
// not told to ignore body roll rate
return;
}
if (!(packet.type_mask & (1<<6))) {
// not told to ignore throttle
return;
}
if (packet.type_mask & (1<<7)) {
// told to ignore attitude (we don't allow continuous motion yet)
return;
}
if ((packet.type_mask & (1<<3)) && (packet.type_mask&(1<<4))) {
// told to ignore both pitch and yaw rates - nothing to do?!
return;
}
const bool use_yaw_rate = !(packet.type_mask & (1<<2));
tracker.mode_guided.set_angle(
Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
use_yaw_rate,
packet.body_yaw_rate);
}
/*
send PID tuning message
*/
void GCS_MAVLINK_Tracker::send_pid_tuning()
{
const Parameters &g = tracker.g;
// Pitch PID
if (g.gcs_pid_mask & 1) {
const AP_PIDInfo *pid_info = &g.pidPitch2Srv.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH,
pid_info->target,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D,
pid_info->slew_rate,
pid_info->Dmod);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
// Yaw PID
if (g.gcs_pid_mask & 2) {
const AP_PIDInfo *pid_info = &g.pidYaw2Srv.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_YAW,
pid_info->target,
pid_info->actual,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D,
pid_info->slew_rate,
pid_info->Dmod);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
bool GCS_MAVLINK_Tracker::handle_guided_request(AP_Mission::Mission_Command&)
{
// do nothing
return false;
}
/*
default stream rates to 1Hz
*/
const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Raw sensor stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[0], 1),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Extended status stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[1], 1),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
// @Description: RC Channel stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[2], 1),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Raw Control stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK_Parameters, streamRates[3], 1),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Position stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[4], 1),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Extra data type 1 stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[5], 1),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
// @Description: Extra data type 2 stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[6], 1),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Extra data type 3 stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[7], 1),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
// @Description: Parameter stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK_Parameters, streamRates[8], 10),
AP_GROUPEND
};
static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_RAW_IMU,
MSG_SCALED_IMU2,
MSG_SCALED_IMU3,
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MCU_STATUS,
MSG_MEMINFO,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_GPS_RAW,
MSG_GPS_RTK,
MSG_GPS2_RAW,
MSG_GPS2_RTK,
};
static const ap_message STREAM_POSITION_msgs[] = {
MSG_LOCATION,
MSG_LOCAL_POSITION
};
static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
MSG_SERVO_OUTPUT_RAW,
};
static const ap_message STREAM_RC_CHANNELS_msgs[] = {
MSG_RC_CHANNELS,
MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
};
static const ap_message STREAM_EXTRA1_msgs[] = {
MSG_ATTITUDE,
MSG_PID_TUNING,
};
static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_AHRS,
MSG_SIMSTATE,
MSG_SYSTEM_TIME,
MSG_AHRS2,
MSG_MAG_CAL_REPORT,
MSG_MAG_CAL_PROGRESS,
MSG_EKF_STATUS_REPORT,
};
static const ap_message STREAM_PARAMS_msgs[] = {
MSG_NEXT_PARAM
};
const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
MAV_STREAM_ENTRY(STREAM_RAW_SENSORS),
MAV_STREAM_ENTRY(STREAM_EXTENDED_STATUS),
MAV_STREAM_ENTRY(STREAM_POSITION),
MAV_STREAM_ENTRY(STREAM_RAW_CONTROLLER),
MAV_STREAM_ENTRY(STREAM_RC_CHANNELS),
MAV_STREAM_ENTRY(STREAM_EXTRA1),
MAV_STREAM_ENTRY(STREAM_EXTRA3),
MAV_STREAM_ENTRY(STREAM_PARAMS),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};
/*
We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and
MAVLINK_MSG_ID_SCALED_PRESSUREs
*/
void GCS_MAVLINK_Tracker::packetReceived(const mavlink_status_t &status,
const mavlink_message_t &msg)
{
// return immediately if sysid doesn't match our target sysid
if ((tracker.g.sysid_target != 0) && (tracker.g.sysid_target != msg.sysid)) {
GCS_MAVLINK::packetReceived(status, msg);
return;
}
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT:
{
mavlink_check_target(msg);
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
// decode
mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(&msg, &packet);
tracker.tracking_update_position(packet);
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
// decode
mavlink_scaled_pressure_t packet;
mavlink_msg_scaled_pressure_decode(&msg, &packet);
tracker.tracking_update_pressure(packet);
break;
}
}
GCS_MAVLINK::packetReceived(status, msg);
}
// locks onto a particular target sysid and sets it's position data stream to at least 1hz
void GCS_MAVLINK_Tracker::mavlink_check_target(const mavlink_message_t &msg)
{
// exit immediately if the target has already been set
if (tracker.target_set) {
return;
}
// decode
mavlink_heartbeat_t packet;
mavlink_msg_heartbeat_decode(&msg, &packet);
// exit immediately if this is not a vehicle we would track
if ((packet.type == MAV_TYPE_ANTENNA_TRACKER) ||
(packet.type == MAV_TYPE_GCS) ||
(packet.type == MAV_TYPE_ONBOARD_CONTROLLER) ||
(packet.type == MAV_TYPE_GIMBAL)) {
return;
}
// set our sysid to the target, this ensures we lock onto a single vehicle
if (tracker.g.sysid_target == 0) {
tracker.g.sysid_target.set(msg.sysid);
}
// send data stream request to target on all channels
// Note: this doesn't check success for all sends meaning it's not guaranteed the vehicle's positions will be sent at 1hz
tracker.gcs().request_datastream_position(msg.sysid, msg.compid);
tracker.gcs().request_datastream_airpressure(msg.sysid, msg.compid);
// flag target has been set
tracker.target_set = true;
}
uint8_t GCS_MAVLINK_Tracker::sysid_my_gcs() const
{
return tracker.g.sysid_my_gcs;
}
MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration_baro(const mavlink_message_t &msg)
{
MAV_RESULT ret = GCS_MAVLINK::_handle_command_preflight_calibration_baro(msg);
if (ret == MAV_RESULT_ACCEPTED) {
// zero the altitude difference on next baro update
tracker.nav_status.need_altitude_calibration = true;
}
return ret;
}
MAV_RESULT GCS_MAVLINK_Tracker::handle_command_component_arm_disarm(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param1,1.0f)) {
tracker.arm_servos();
return MAV_RESULT_ACCEPTED;
}
if (is_zero(packet.param1)) {
tracker.disarm_servos();
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_UNSUPPORTED;
}
MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch(packet.command) {
case MAV_CMD_DO_SET_SERVO:
// ensure we are in servo test mode
tracker.set_mode(tracker.mode_servotest, ModeReason::SERVOTEST);
if (!tracker.mode_servotest.set_servo(packet.param1, packet.param2)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
// mavproxy/mavutil sends this when auto command is entered
case MAV_CMD_MISSION_START:
tracker.set_mode(tracker.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet);
}
}
bool GCS_MAVLINK_Tracker::set_home_to_current_location(bool _lock) {
return tracker.set_home(AP::gps().location());
}
bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool _lock) {
return tracker.set_home(loc);
}
void GCS_MAVLINK_Tracker::handleMessage(const mavlink_message_t &msg)
{
switch (msg.msgid) {
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_set_attitude_target(msg);
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;
send_message(MSG_NEXT_MISSION_REQUEST_WAYPOINTS);
}
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;
MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
mavlink_msg_mission_item_decode(&msg, &packet);
Location tell_command;
switch (packet.frame)
{
case MAV_FRAME_MISSION:
case MAV_FRAME_GLOBAL:
{
tell_command = Location{
int32_t(1.0e7f*packet.x), // in as DD converted to * t7
int32_t(1.0e7f*packet.y), // in as DD converted to * t7
int32_t(packet.z*1.0e2f), // in as m converted to cm
Location::AltFrame::ABSOLUTE
};
break;
}
#ifdef MAV_FRAME_LOCAL_NED
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
{
tell_command = Location{
int32_t(1.0e7f*ToDeg(packet.x/(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat),
int32_t(1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng),
int32_t(-packet.z*1.0e2f),
Location::AltFrame::ABOVE_HOME
};
break;
}
#endif
#ifdef MAV_FRAME_LOCAL
case MAV_FRAME_LOCAL: // local (relative to home position)
{
tell_command = {
int32_t(1.0e7f*ToDeg(packet.x/(RADIUS_OF_EARTH*cosf(ToRad(home.lat/1.0e7f)))) + home.lat),
int32_t(1.0e7f*ToDeg(packet.y/RADIUS_OF_EARTH) + home.lng),
int32_t(packet.z*1.0e2f),
Location::AltFrame::ABOVE_HOME
};
break;
}
#endif
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
{
tell_command = {
int32_t(1.0e7f * packet.x), // in as DD converted to * t7
int32_t(1.0e7f * packet.y), // in as DD converted to * t7
int32_t(packet.z * 1.0e2f),
Location::AltFrame::ABOVE_HOME
};
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) {
if (!tracker.set_home(tell_command)) {
result = MAV_MISSION_ERROR;
goto mission_failed;
}
send_text(MAV_SEVERITY_INFO,"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,
MAV_MISSION_TYPE_MISSION);
break;
}
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
mavlink_manual_control_t packet;
mavlink_msg_manual_control_decode(&msg, &packet);
tracker.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);
tracker.tracking_update_position(packet);
break;
}
case MAVLINK_MSG_ID_SCALED_PRESSURE:
{
// decode
mavlink_scaled_pressure_t packet;
mavlink_msg_scaled_pressure_decode(&msg, &packet);
tracker.tracking_update_pressure(packet);
break;
}
default:
handle_common_message(msg);
break;
} // end switch
} // end handle mavlink
// send position tracker is using
void GCS_MAVLINK_Tracker::send_global_position_int()
{
if (!tracker.stationary) {
GCS_MAVLINK::send_global_position_int();
return;
}
mavlink_msg_global_position_int_send(
chan,
AP_HAL::millis(),
tracker.current_loc.lat, // in 1E7 degrees
tracker.current_loc.lng, // in 1E7 degrees
tracker.current_loc.alt, // millimeters above ground/sea level
0, // millimeters above home
0, // X speed cm/s (+ve North)
0, // Y speed cm/s (+ve East)
0, // Z speed cm/s (+ve Down)
tracker.ahrs.yaw_sensor); // compass heading in 1/100 degree
}
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