mirror of https://github.com/ArduPilot/ardupilot
1417 lines
47 KiB
C++
1417 lines
47 KiB
C++
#include "Copter.h"
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#include "GCS_Mavlink.h"
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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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MAV_TYPE GCS_Copter::frame_type() const
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{
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if (copter.motors == nullptr) {
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return MAV_TYPE_GENERIC;
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}
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return copter.motors->get_frame_mav_type();
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}
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MAV_MODE GCS_MAVLINK_Copter::base_mode() const
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{
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uint8_t _base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
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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 (copter.control_mode) {
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case Mode::Number::AUTO:
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case Mode::Number::RTL:
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case Mode::Number::LOITER:
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case Mode::Number::AVOID_ADSB:
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case Mode::Number::FOLLOW:
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case Mode::Number::GUIDED:
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case Mode::Number::CIRCLE:
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case Mode::Number::POSHOLD:
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case Mode::Number::BRAKE:
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case Mode::Number::SMART_RTL:
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_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
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// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
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// APM does in any mode, as that is defined as "system finds its own goal
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// positions", which APM does not currently do
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break;
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default:
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break;
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}
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// all modes except INITIALISING have some form of manual
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// override if stick mixing is enabled
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_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
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#if HIL_MODE != HIL_MODE_DISABLED
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_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
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#endif
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// we are armed if we are not initialising
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if (copter.motors != nullptr && copter.motors->armed()) {
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_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
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}
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// indicate we have set a custom mode
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_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
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return (MAV_MODE)_base_mode;
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}
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uint32_t GCS_Copter::custom_mode() const
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{
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return (uint32_t)copter.control_mode;
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}
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MAV_STATE GCS_MAVLINK_Copter::vehicle_system_status() const
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{
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// set system as critical if any failsafe have triggered
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if (copter.any_failsafe_triggered()) {
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return MAV_STATE_CRITICAL;
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}
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if (copter.ap.land_complete) {
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return MAV_STATE_STANDBY;
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}
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return MAV_STATE_ACTIVE;
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}
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void GCS_MAVLINK_Copter::send_position_target_global_int()
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{
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Location target;
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if (!copter.flightmode->get_wp(target)) {
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return;
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}
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// convert altitude frame to AMSL (this may use the terrain database)
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if (!target.change_alt_frame(Location::AltFrame::ABSOLUTE)) {
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return;
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}
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mavlink_msg_position_target_global_int_send(
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chan,
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AP_HAL::millis(), // time_boot_ms
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MAV_FRAME_GLOBAL, // targets are always global altitude
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0xFFF8, // ignore everything except the x/y/z components
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target.lat, // latitude as 1e7
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target.lng, // longitude as 1e7
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target.alt * 0.01f, // altitude is sent as a float
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0.0f, // vx
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0.0f, // vy
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0.0f, // vz
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0.0f, // afx
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0.0f, // afy
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0.0f, // afz
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0.0f, // yaw
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0.0f); // yaw_rate
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}
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void GCS_MAVLINK_Copter::send_position_target_local_ned()
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{
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#if MODE_GUIDED_ENABLED == ENABLED
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if (!copter.flightmode->in_guided_mode()) {
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return;
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}
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const GuidedMode guided_mode = copter.mode_guided.mode();
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Vector3f target_pos;
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Vector3f target_vel;
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uint16_t type_mask;
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if (guided_mode == Guided_WP) {
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type_mask = 0x0FF8; // ignore everything except position
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target_pos = copter.wp_nav->get_wp_destination() * 0.01f; // convert to metres
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} else if (guided_mode == Guided_Velocity) {
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type_mask = 0x0FC7; // ignore everything except velocity
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target_vel = copter.flightmode->get_desired_velocity() * 0.01f; // convert to m/s
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} else {
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type_mask = 0x0FC0; // ignore everything except position & velocity
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target_pos = copter.wp_nav->get_wp_destination() * 0.01f;
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target_vel = copter.flightmode->get_desired_velocity() * 0.01f;
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}
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mavlink_msg_position_target_local_ned_send(
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chan,
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AP_HAL::millis(), // time boot ms
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MAV_FRAME_LOCAL_NED,
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type_mask,
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target_pos.x, // x in metres
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target_pos.y, // y in metres
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-target_pos.z, // z in metres NED frame
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target_vel.x, // vx in m/s
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target_vel.y, // vy in m/s
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-target_vel.z, // vz in m/s NED frame
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0.0f, // afx
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0.0f, // afy
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0.0f, // afz
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0.0f, // yaw
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0.0f); // yaw_rate
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#endif
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}
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void GCS_MAVLINK_Copter::send_nav_controller_output() const
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{
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if (!copter.ap.initialised) {
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return;
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}
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const Vector3f &targets = copter.attitude_control->get_att_target_euler_cd();
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const Mode *flightmode = copter.flightmode;
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mavlink_msg_nav_controller_output_send(
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chan,
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targets.x * 1.0e-2f,
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targets.y * 1.0e-2f,
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targets.z * 1.0e-2f,
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flightmode->wp_bearing() * 1.0e-2f,
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MIN(flightmode->wp_distance() * 1.0e-2f, UINT16_MAX),
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copter.pos_control->get_alt_error() * 1.0e-2f,
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0,
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flightmode->crosstrack_error() * 1.0e-2f);
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}
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float GCS_MAVLINK_Copter::vfr_hud_airspeed() const
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{
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Vector3f airspeed_vec_bf;
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if (AP::ahrs().airspeed_vector_true(airspeed_vec_bf)) {
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// we are running the EKF3 wind estimation code which can give
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// us an airspeed estimate
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return airspeed_vec_bf.length();
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}
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return AP::gps().ground_speed();
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}
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int16_t GCS_MAVLINK_Copter::vfr_hud_throttle() const
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{
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if (copter.motors == nullptr) {
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return 0;
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}
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return (int16_t)(copter.motors->get_throttle() * 100);
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}
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/*
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send PID tuning message
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*/
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void GCS_MAVLINK_Copter::send_pid_tuning()
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{
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static const PID_TUNING_AXIS axes[] = {
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PID_TUNING_ROLL,
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PID_TUNING_PITCH,
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PID_TUNING_YAW,
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PID_TUNING_ACCZ
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};
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for (uint8_t i=0; i<ARRAY_SIZE(axes); i++) {
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if (!(copter.g.gcs_pid_mask & (1<<(axes[i]-1)))) {
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continue;
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}
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if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
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return;
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}
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const AP_Logger::PID_Info *pid_info = nullptr;
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switch (axes[i]) {
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case PID_TUNING_ROLL:
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pid_info = &copter.attitude_control->get_rate_roll_pid().get_pid_info();
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break;
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case PID_TUNING_PITCH:
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pid_info = &copter.attitude_control->get_rate_pitch_pid().get_pid_info();
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break;
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case PID_TUNING_YAW:
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pid_info = &copter.attitude_control->get_rate_yaw_pid().get_pid_info();
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break;
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case PID_TUNING_ACCZ:
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pid_info = &copter.pos_control->get_accel_z_pid().get_pid_info();
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break;
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default:
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continue;
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}
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if (pid_info != nullptr) {
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mavlink_msg_pid_tuning_send(chan,
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axes[i],
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pid_info->target,
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pid_info->actual,
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pid_info->FF,
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pid_info->P,
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pid_info->I,
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pid_info->D);
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}
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}
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}
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// send winch status message
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void GCS_MAVLINK_Copter::send_winch_status() const
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{
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#if WINCH_ENABLED == ENABLED
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AP_Winch *winch = AP::winch();
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if (winch == nullptr) {
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return;
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}
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winch->send_status(*this);
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#endif
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}
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uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
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{
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return copter.g.sysid_my_gcs;
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}
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bool GCS_MAVLINK_Copter::sysid_enforce() const
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{
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return copter.g2.sysid_enforce;
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}
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uint32_t GCS_MAVLINK_Copter::telem_delay() const
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{
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return (uint32_t)(copter.g.telem_delay);
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}
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bool GCS_Copter::vehicle_initialised() const {
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return copter.ap.initialised;
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}
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// try to send a message, return false if it wasn't sent
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bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
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{
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switch(id) {
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case MSG_TERRAIN:
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
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copter.terrain.send_request(chan);
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#endif
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break;
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case MSG_WIND:
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CHECK_PAYLOAD_SIZE(WIND);
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send_wind();
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break;
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case MSG_SERVO_OUT:
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case MSG_AOA_SSA:
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case MSG_LANDING:
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// unused
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break;
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case MSG_ADSB_VEHICLE: {
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#if HAL_ADSB_ENABLED
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CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
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copter.adsb.send_adsb_vehicle(chan);
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#endif
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#if AC_OAPATHPLANNER_ENABLED == ENABLED
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AP_OADatabase *oadb = AP_OADatabase::get_singleton();
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if (oadb != nullptr) {
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CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
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uint16_t interval_ms = 0;
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if (get_ap_message_interval(id, interval_ms)) {
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oadb->send_adsb_vehicle(chan, interval_ms);
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}
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}
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#endif
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break;
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}
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default:
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return GCS_MAVLINK::try_send_message(id);
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}
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return true;
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}
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const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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// @Param: RAW_SENS
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// @DisplayName: Raw sensor stream rate
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// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS 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_Parameters, streamRates[0], 0),
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// @Param: EXT_STAT
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// @DisplayName: Extended status stream rate to ground station
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// @Description: Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS 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_Parameters, streamRates[1], 0),
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// @Param: RC_CHAN
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// @DisplayName: RC Channel stream rate to ground station
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// @Description: Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS 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_Parameters, streamRates[2], 0),
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// @Param: RAW_CTRL
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// @DisplayName: Raw Control stream rate to ground station
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// @Description: Stream rate of RC_CHANNELS_SCALED (HIL only) 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_Parameters, streamRates[3], 0),
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// @Param: POSITION
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// @DisplayName: Position stream rate to ground station
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// @Description: Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED 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_Parameters, streamRates[4], 0),
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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: Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING 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_Parameters, streamRates[5], 0),
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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: Stream rate of VFR_HUD 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_Parameters, streamRates[6], 0),
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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: Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM 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_Parameters, streamRates[7], 0),
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// @Param: PARAMS
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// @DisplayName: Parameter stream rate to ground station
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// @Description: Stream rate of PARAM_VALUE 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_Parameters, streamRates[8], 0),
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// @Param: ADSB
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// @DisplayName: ADSB stream rate to ground station
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// @Description: ADSB stream rate to ground station
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// @Units: Hz
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// @Range: 0 50
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("ADSB", 9, GCS_MAVLINK_Parameters, streamRates[9], 0),
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AP_GROUPEND
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};
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static const ap_message STREAM_RAW_SENSORS_msgs[] = {
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MSG_RAW_IMU,
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MSG_SCALED_IMU2,
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MSG_SCALED_IMU3,
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MSG_SCALED_PRESSURE,
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MSG_SCALED_PRESSURE2,
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MSG_SCALED_PRESSURE3,
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MSG_SENSOR_OFFSETS
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};
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static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
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MSG_SYS_STATUS,
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MSG_POWER_STATUS,
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MSG_MEMINFO,
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MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
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MSG_GPS_RAW,
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MSG_GPS_RTK,
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MSG_GPS2_RAW,
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MSG_GPS2_RTK,
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MSG_NAV_CONTROLLER_OUTPUT,
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MSG_FENCE_STATUS,
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MSG_POSITION_TARGET_GLOBAL_INT,
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};
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static const ap_message STREAM_POSITION_msgs[] = {
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MSG_LOCATION,
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MSG_LOCAL_POSITION
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};
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static const ap_message STREAM_RC_CHANNELS_msgs[] = {
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MSG_SERVO_OUTPUT_RAW,
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MSG_RC_CHANNELS,
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MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
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};
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static const ap_message STREAM_EXTRA1_msgs[] = {
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MSG_ATTITUDE,
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MSG_SIMSTATE,
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MSG_AHRS2,
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MSG_PID_TUNING // Up to four PID_TUNING messages are sent, depending on GCS_PID_MASK parameter
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};
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static const ap_message STREAM_EXTRA2_msgs[] = {
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MSG_VFR_HUD
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};
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static const ap_message STREAM_EXTRA3_msgs[] = {
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MSG_AHRS,
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MSG_HWSTATUS,
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MSG_SYSTEM_TIME,
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MSG_WIND,
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MSG_RANGEFINDER,
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MSG_DISTANCE_SENSOR,
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#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
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MSG_TERRAIN,
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#endif
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MSG_BATTERY2,
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MSG_BATTERY_STATUS,
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MSG_MOUNT_STATUS,
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MSG_OPTICAL_FLOW,
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MSG_GIMBAL_REPORT,
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MSG_MAG_CAL_REPORT,
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MSG_MAG_CAL_PROGRESS,
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|
MSG_EKF_STATUS_REPORT,
|
|
MSG_VIBRATION,
|
|
MSG_RPM,
|
|
MSG_ESC_TELEMETRY,
|
|
MSG_GENERATOR_STATUS,
|
|
MSG_WINCH_STATUS,
|
|
};
|
|
static const ap_message STREAM_PARAMS_msgs[] = {
|
|
MSG_NEXT_PARAM
|
|
};
|
|
static const ap_message STREAM_ADSB_msgs[] = {
|
|
MSG_ADSB_VEHICLE
|
|
};
|
|
|
|
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_RC_CHANNELS),
|
|
MAV_STREAM_ENTRY(STREAM_EXTRA1),
|
|
MAV_STREAM_ENTRY(STREAM_EXTRA2),
|
|
MAV_STREAM_ENTRY(STREAM_EXTRA3),
|
|
MAV_STREAM_ENTRY(STREAM_ADSB),
|
|
MAV_STREAM_ENTRY(STREAM_PARAMS),
|
|
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
|
|
};
|
|
|
|
bool GCS_MAVLINK_Copter::handle_guided_request(AP_Mission::Mission_Command &cmd)
|
|
{
|
|
#if MODE_AUTO_ENABLED == ENABLED
|
|
return copter.mode_auto.do_guided(cmd);
|
|
#else
|
|
return false;
|
|
#endif
|
|
}
|
|
|
|
void GCS_MAVLINK_Copter::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
|
|
{
|
|
// add home alt if needed
|
|
if (cmd.content.location.relative_alt) {
|
|
cmd.content.location.alt += copter.ahrs.get_home().alt;
|
|
}
|
|
|
|
// To-Do: update target altitude for loiter or waypoint controller depending upon nav mode
|
|
}
|
|
|
|
void GCS_MAVLINK_Copter::packetReceived(const mavlink_status_t &status,
|
|
const mavlink_message_t &msg)
|
|
{
|
|
#if HAL_ADSB_ENABLED
|
|
if (copter.g2.dev_options.get() & DevOptionADSBMAVLink) {
|
|
// optional handling of GLOBAL_POSITION_INT as a MAVLink based avoidance source
|
|
copter.avoidance_adsb.handle_msg(msg);
|
|
}
|
|
#endif
|
|
#if MODE_FOLLOW_ENABLED == ENABLED
|
|
// pass message to follow library
|
|
copter.g2.follow.handle_msg(msg);
|
|
#endif
|
|
GCS_MAVLINK::packetReceived(status, msg);
|
|
}
|
|
|
|
bool GCS_MAVLINK_Copter::params_ready() const
|
|
{
|
|
if (AP_BoardConfig::in_config_error()) {
|
|
// we may never have parameters "initialised" in this case
|
|
return true;
|
|
}
|
|
// if we have not yet initialised (including allocating the motors
|
|
// object) we drop this request. That prevents the GCS from getting
|
|
// a confusing parameter count during bootup
|
|
return copter.ap.initialised_params;
|
|
}
|
|
|
|
void GCS_MAVLINK_Copter::send_banner()
|
|
{
|
|
GCS_MAVLINK::send_banner();
|
|
if (copter.motors == nullptr) {
|
|
send_text(MAV_SEVERITY_INFO, "motors not allocated");
|
|
return;
|
|
}
|
|
send_text(MAV_SEVERITY_INFO, "Frame: %s/%s", copter.motors->get_frame_string(),
|
|
copter.motors->get_type_string());
|
|
}
|
|
|
|
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
|
|
void GCS_MAVLINK_Copter::handle_rc_channels_override(const mavlink_message_t &msg)
|
|
{
|
|
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
|
|
GCS_MAVLINK::handle_rc_channels_override(msg);
|
|
}
|
|
|
|
void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t &msg)
|
|
{
|
|
copter.command_ack_counter++;
|
|
GCS_MAVLINK::handle_command_ack(msg);
|
|
}
|
|
|
|
MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
|
|
{
|
|
if (is_equal(packet.param6,1.0f)) {
|
|
// compassmot calibration
|
|
return copter.mavlink_compassmot(*this);
|
|
}
|
|
|
|
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
|
|
}
|
|
|
|
|
|
MAV_RESULT GCS_MAVLINK_Copter::handle_command_do_set_roi(const Location &roi_loc)
|
|
{
|
|
if (!roi_loc.check_latlng()) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
copter.flightmode->auto_yaw.set_roi(roi_loc);
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
MAV_RESULT GCS_MAVLINK_Copter::handle_preflight_reboot(const mavlink_command_long_t &packet)
|
|
{
|
|
// reject reboot if user has also specified they want the "Auto" ESC calibration on next reboot
|
|
if (copter.g.esc_calibrate == (uint8_t)Copter::ESCCalibrationModes::ESCCAL_AUTO) {
|
|
send_text(MAV_SEVERITY_CRITICAL, "Reboot rejected, ESC cal on reboot");
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
|
|
// call parent
|
|
return GCS_MAVLINK::handle_preflight_reboot(packet);
|
|
}
|
|
|
|
bool GCS_MAVLINK_Copter::set_home_to_current_location(bool _lock) {
|
|
return copter.set_home_to_current_location(_lock);
|
|
}
|
|
bool GCS_MAVLINK_Copter::set_home(const Location& loc, bool _lock) {
|
|
return copter.set_home(loc, _lock);
|
|
}
|
|
|
|
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
|
|
{
|
|
const bool change_modes = ((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) == MAV_DO_REPOSITION_FLAGS_CHANGE_MODE;
|
|
if (!copter.flightmode->in_guided_mode() && !change_modes) {
|
|
return MAV_RESULT_DENIED;
|
|
}
|
|
|
|
// sanity check location
|
|
if (!check_latlng(packet.x, packet.y)) {
|
|
return MAV_RESULT_DENIED;
|
|
}
|
|
|
|
Location request_location {};
|
|
request_location.lat = packet.x;
|
|
request_location.lng = packet.y;
|
|
|
|
if (fabsf(packet.z) > LOCATION_ALT_MAX_M) {
|
|
return MAV_RESULT_DENIED;
|
|
}
|
|
|
|
Location::AltFrame frame;
|
|
if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)packet.frame, frame)) {
|
|
return MAV_RESULT_DENIED; // failed as the location is not valid
|
|
}
|
|
request_location.set_alt_cm((int32_t)(packet.z * 100.0f), frame);
|
|
|
|
if (request_location.sanitize(copter.current_loc)) {
|
|
// if the location wasn't already sane don't load it
|
|
return MAV_RESULT_DENIED; // failed as the location is not valid
|
|
}
|
|
|
|
// we need to do this first, as we don't want to change the flight mode unless we can also set the target
|
|
if (!copter.mode_guided.set_destination(request_location, false, 0, false, 0)) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
|
|
if (!copter.flightmode->in_guided_mode()) {
|
|
if (!copter.set_mode(Mode::Number::GUIDED, ModeReason::GCS_COMMAND)) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
// the position won't have been loaded if we had to change the flight mode, so load it again
|
|
if (!copter.mode_guided.set_destination(request_location, false, 0, false, 0)) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
}
|
|
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet)
|
|
{
|
|
switch(packet.command) {
|
|
case MAV_CMD_DO_FOLLOW:
|
|
#if MODE_FOLLOW_ENABLED == ENABLED
|
|
// param1: sysid of target to follow
|
|
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
|
|
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
#endif
|
|
return MAV_RESULT_UNSUPPORTED;
|
|
|
|
case MAV_CMD_DO_REPOSITION:
|
|
return handle_command_int_do_reposition(packet);
|
|
default:
|
|
return GCS_MAVLINK::handle_command_int_packet(packet);
|
|
}
|
|
}
|
|
|
|
MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t &packet)
|
|
{
|
|
// if the mount doesn't do pan control then yaw the entire vehicle instead:
|
|
switch (packet.command) {
|
|
#if HAL_MOUNT_ENABLED
|
|
case MAV_CMD_DO_MOUNT_CONTROL:
|
|
if (!copter.camera_mount.has_pan_control()) {
|
|
copter.flightmode->auto_yaw.set_fixed_yaw(
|
|
(float)packet.param3 * 0.01f,
|
|
0.0f,
|
|
0,0);
|
|
}
|
|
break;
|
|
#endif
|
|
default:
|
|
break;
|
|
}
|
|
return GCS_MAVLINK::handle_command_mount(packet);
|
|
}
|
|
|
|
MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_long_t &packet)
|
|
{
|
|
switch(packet.command) {
|
|
|
|
case MAV_CMD_NAV_TAKEOFF: {
|
|
// param3 : horizontal navigation by pilot acceptable
|
|
// param4 : yaw angle (not supported)
|
|
// param5 : latitude (not supported)
|
|
// param6 : longitude (not supported)
|
|
// param7 : altitude [metres]
|
|
|
|
float takeoff_alt = packet.param7 * 100; // Convert m to cm
|
|
|
|
if (!copter.flightmode->do_user_takeoff(takeoff_alt, is_zero(packet.param3))) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
#if MODE_AUTO_ENABLED == ENABLED
|
|
case MAV_CMD_DO_LAND_START:
|
|
if (copter.mode_auto.mission.jump_to_landing_sequence() && copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
return MAV_RESULT_FAILED;
|
|
#endif
|
|
|
|
case MAV_CMD_NAV_LOITER_UNLIM:
|
|
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
|
|
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
|
if (!copter.set_mode(Mode::Number::RTL, ModeReason::GCS_COMMAND)) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
|
|
case MAV_CMD_NAV_LAND:
|
|
if (!copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND)) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
|
|
#if MODE_FOLLOW_ENABLED == ENABLED
|
|
case MAV_CMD_DO_FOLLOW:
|
|
// param1: sysid of target to follow
|
|
if ((packet.param1 > 0) && (packet.param1 <= 255)) {
|
|
copter.g2.follow.set_target_sysid((uint8_t)packet.param1);
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
return MAV_RESULT_FAILED;
|
|
#endif
|
|
|
|
case MAV_CMD_CONDITION_YAW:
|
|
// param1 : target angle [0-360]
|
|
// param2 : speed during change [deg per second]
|
|
// param3 : direction (-1:ccw, +1:cw)
|
|
// param4 : relative offset (1) or absolute angle (0)
|
|
if ((packet.param1 >= 0.0f) &&
|
|
(packet.param1 <= 360.0f) &&
|
|
(is_zero(packet.param4) || is_equal(packet.param4,1.0f))) {
|
|
copter.flightmode->auto_yaw.set_fixed_yaw(
|
|
packet.param1,
|
|
packet.param2,
|
|
(int8_t)packet.param3,
|
|
is_positive(packet.param4));
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
return MAV_RESULT_FAILED;
|
|
|
|
case MAV_CMD_DO_CHANGE_SPEED:
|
|
// param1 : Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)
|
|
// param2 : new speed in m/s
|
|
// param3 : unused
|
|
// param4 : unused
|
|
if (packet.param2 > 0.0f) {
|
|
if (packet.param1 > 2.9f) { // 3 = speed down
|
|
copter.wp_nav->set_speed_down(packet.param2 * 100.0f);
|
|
} else if (packet.param1 > 1.9f) { // 2 = speed up
|
|
copter.wp_nav->set_speed_up(packet.param2 * 100.0f);
|
|
} else {
|
|
copter.wp_nav->set_speed_xy(packet.param2 * 100.0f);
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
return MAV_RESULT_FAILED;
|
|
|
|
#if MODE_AUTO_ENABLED == ENABLED
|
|
case MAV_CMD_MISSION_START:
|
|
if (copter.motors->armed() &&
|
|
copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
|
|
copter.set_auto_armed(true);
|
|
if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) {
|
|
copter.mode_auto.mission.start_or_resume();
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
return MAV_RESULT_FAILED;
|
|
#endif
|
|
|
|
#if PARACHUTE == ENABLED
|
|
case MAV_CMD_DO_PARACHUTE:
|
|
// configure or release parachute
|
|
switch ((uint16_t)packet.param1) {
|
|
case PARACHUTE_DISABLE:
|
|
copter.parachute.enabled(false);
|
|
AP::logger().Write_Event(LogEvent::PARACHUTE_DISABLED);
|
|
return MAV_RESULT_ACCEPTED;
|
|
case PARACHUTE_ENABLE:
|
|
copter.parachute.enabled(true);
|
|
AP::logger().Write_Event(LogEvent::PARACHUTE_ENABLED);
|
|
return MAV_RESULT_ACCEPTED;
|
|
case PARACHUTE_RELEASE:
|
|
// treat as a manual release which performs some additional check of altitude
|
|
copter.parachute_manual_release();
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
return MAV_RESULT_FAILED;
|
|
#endif
|
|
|
|
case MAV_CMD_DO_MOTOR_TEST:
|
|
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
|
|
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
|
|
// param3 : throttle (range depends upon param2)
|
|
// param4 : timeout (in seconds)
|
|
// param5 : num_motors (in sequence)
|
|
// param6 : motor test order
|
|
return copter.mavlink_motor_test_start(*this,
|
|
(uint8_t)packet.param1,
|
|
(uint8_t)packet.param2,
|
|
packet.param3,
|
|
packet.param4,
|
|
(uint8_t)packet.param5);
|
|
|
|
#if WINCH_ENABLED == ENABLED
|
|
case MAV_CMD_DO_WINCH:
|
|
// param1 : winch number (ignored)
|
|
// param2 : action (0=relax, 1=relative length control, 2=rate control). See WINCH_ACTIONS enum.
|
|
if (!copter.g2.winch.enabled()) {
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
switch ((uint8_t)packet.param2) {
|
|
case WINCH_RELAXED:
|
|
copter.g2.winch.relax();
|
|
return MAV_RESULT_ACCEPTED;
|
|
case WINCH_RELATIVE_LENGTH_CONTROL: {
|
|
copter.g2.winch.release_length(packet.param3);
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
case WINCH_RATE_CONTROL:
|
|
copter.g2.winch.set_desired_rate(packet.param4);
|
|
return MAV_RESULT_ACCEPTED;
|
|
default:
|
|
break;
|
|
}
|
|
return MAV_RESULT_FAILED;
|
|
#endif
|
|
|
|
case MAV_CMD_AIRFRAME_CONFIGURATION: {
|
|
// Param 1: Select which gear, not used in ArduPilot
|
|
// Param 2: 0 = Deploy, 1 = Retract
|
|
// For safety, anything other than 1 will deploy
|
|
switch ((uint8_t)packet.param2) {
|
|
case 1:
|
|
copter.landinggear.set_position(AP_LandingGear::LandingGear_Retract);
|
|
return MAV_RESULT_ACCEPTED;
|
|
default:
|
|
copter.landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
|
|
/* Solo user presses Fly button */
|
|
case MAV_CMD_SOLO_BTN_FLY_CLICK: {
|
|
if (copter.failsafe.radio) {
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
// set mode to Loiter or fall back to AltHold
|
|
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {
|
|
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::GCS_COMMAND);
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
/* Solo user holds down Fly button for a couple of seconds */
|
|
case MAV_CMD_SOLO_BTN_FLY_HOLD: {
|
|
if (copter.failsafe.radio) {
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
if (!copter.motors->armed()) {
|
|
// if disarmed, arm motors
|
|
copter.arming.arm(AP_Arming::Method::MAVLINK);
|
|
} else if (copter.ap.land_complete) {
|
|
// if armed and landed, takeoff
|
|
if (copter.set_mode(Mode::Number::LOITER, ModeReason::GCS_COMMAND)) {
|
|
copter.flightmode->do_user_takeoff(packet.param1*100, true);
|
|
}
|
|
} else {
|
|
// if flying, land
|
|
copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND);
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
/* Solo user presses pause button */
|
|
case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
|
|
if (copter.failsafe.radio) {
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
if (copter.motors->armed()) {
|
|
if (copter.ap.land_complete) {
|
|
// if landed, disarm motors
|
|
copter.arming.disarm(AP_Arming::Method::SOLOPAUSEWHENLANDED);
|
|
} else {
|
|
// assume that shots modes are all done in guided.
|
|
// NOTE: this may need to change if we add a non-guided shot mode
|
|
bool shot_mode = (!is_zero(packet.param1) && (copter.control_mode == Mode::Number::GUIDED || copter.control_mode == Mode::Number::GUIDED_NOGPS));
|
|
|
|
if (!shot_mode) {
|
|
#if MODE_BRAKE_ENABLED == ENABLED
|
|
if (copter.set_mode(Mode::Number::BRAKE, ModeReason::GCS_COMMAND)) {
|
|
copter.mode_brake.timeout_to_loiter_ms(2500);
|
|
} else {
|
|
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::GCS_COMMAND);
|
|
}
|
|
#else
|
|
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::GCS_COMMAND);
|
|
#endif
|
|
} else {
|
|
// SoloLink is expected to handle pause in shots
|
|
}
|
|
}
|
|
}
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
default:
|
|
return GCS_MAVLINK::handle_command_long_packet(packet);
|
|
}
|
|
}
|
|
|
|
void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
|
|
{
|
|
switch (msg.msgid) {
|
|
#if HAL_MOUNT_ENABLED
|
|
case MAVLINK_MSG_ID_MOUNT_CONTROL:
|
|
if (!copter.camera_mount.has_pan_control()) {
|
|
// if the mount doesn't do pan control then yaw the entire vehicle instead:
|
|
copter.flightmode->auto_yaw.set_fixed_yaw(
|
|
mavlink_msg_mount_control_get_input_c(&msg) * 0.01f,
|
|
0.0f,
|
|
0,
|
|
0);
|
|
|
|
break;
|
|
}
|
|
#endif
|
|
}
|
|
GCS_MAVLINK::handle_mount_message(msg);
|
|
}
|
|
|
|
void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
|
|
{
|
|
// for mavlink SET_POSITION_TARGET messages
|
|
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE =
|
|
POSITION_TARGET_TYPEMASK_X_IGNORE |
|
|
POSITION_TARGET_TYPEMASK_Y_IGNORE |
|
|
POSITION_TARGET_TYPEMASK_Z_IGNORE;
|
|
|
|
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE =
|
|
POSITION_TARGET_TYPEMASK_VX_IGNORE |
|
|
POSITION_TARGET_TYPEMASK_VY_IGNORE |
|
|
POSITION_TARGET_TYPEMASK_VZ_IGNORE;
|
|
|
|
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE =
|
|
POSITION_TARGET_TYPEMASK_AX_IGNORE |
|
|
POSITION_TARGET_TYPEMASK_AY_IGNORE |
|
|
POSITION_TARGET_TYPEMASK_AZ_IGNORE;
|
|
|
|
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE =
|
|
POSITION_TARGET_TYPEMASK_YAW_IGNORE;
|
|
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE =
|
|
POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
|
|
|
|
switch (msg.msgid) {
|
|
|
|
case MAVLINK_MSG_ID_HEARTBEAT: // MAV ID: 0
|
|
{
|
|
// We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
|
|
if (msg.sysid != copter.g.sysid_my_gcs) break;
|
|
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_MANUAL_CONTROL:
|
|
{
|
|
if (msg.sysid != copter.g.sysid_my_gcs) {
|
|
break; // only accept control from our gcs
|
|
}
|
|
|
|
mavlink_manual_control_t packet;
|
|
mavlink_msg_manual_control_decode(&msg, &packet);
|
|
|
|
if (packet.target != copter.g.sysid_this_mav) {
|
|
break; // only accept control aimed at us
|
|
}
|
|
|
|
if (packet.z < 0) { // Copter doesn't do negative thrust
|
|
break;
|
|
}
|
|
|
|
uint32_t tnow = AP_HAL::millis();
|
|
|
|
manual_override(copter.channel_roll, packet.y, 1000, 2000, tnow);
|
|
manual_override(copter.channel_pitch, packet.x, 1000, 2000, tnow, true);
|
|
manual_override(copter.channel_throttle, packet.z, 0, 1000, tnow);
|
|
manual_override(copter.channel_yaw, packet.r, 1000, 2000, tnow);
|
|
|
|
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
|
|
copter.failsafe.last_heartbeat_ms = tnow;
|
|
break;
|
|
}
|
|
|
|
#if MODE_GUIDED_ENABLED == ENABLED
|
|
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82
|
|
{
|
|
// decode packet
|
|
mavlink_set_attitude_target_t packet;
|
|
mavlink_msg_set_attitude_target_decode(&msg, &packet);
|
|
|
|
// exit if vehicle is not in Guided mode or Auto-Guided mode
|
|
if (!copter.flightmode->in_guided_mode()) {
|
|
break;
|
|
}
|
|
|
|
// ensure type_mask specifies to use attitude and thrust
|
|
if ((packet.type_mask & ((1<<7)|(1<<6))) != 0) {
|
|
break;
|
|
}
|
|
|
|
// check if the message's thrust field should be interpreted as a climb rate or as thrust
|
|
const bool use_thrust = copter.g2.dev_options.get() & DevOptionSetAttitudeTarget_ThrustAsThrust;
|
|
|
|
float climb_rate_or_thrust;
|
|
if (use_thrust) {
|
|
// interpret thrust as thrust
|
|
climb_rate_or_thrust = constrain_float(packet.thrust, -1.0f, 1.0f);
|
|
} else {
|
|
// convert thrust to climb rate
|
|
packet.thrust = constrain_float(packet.thrust, 0.0f, 1.0f);
|
|
if (is_equal(packet.thrust, 0.5f)) {
|
|
climb_rate_or_thrust = 0.0f;
|
|
} else if (packet.thrust > 0.5f) {
|
|
// climb at up to WPNAV_SPEED_UP
|
|
climb_rate_or_thrust = (packet.thrust - 0.5f) * 2.0f * copter.wp_nav->get_default_speed_up();
|
|
} else {
|
|
// descend at up to WPNAV_SPEED_DN
|
|
climb_rate_or_thrust = (0.5f - packet.thrust) * 2.0f * -fabsf(copter.wp_nav->get_default_speed_down());
|
|
}
|
|
}
|
|
|
|
// if the body_yaw_rate field is ignored, use the commanded yaw position
|
|
// otherwise use the commanded yaw rate
|
|
bool use_yaw_rate = false;
|
|
if ((packet.type_mask & (1<<2)) == 0) {
|
|
use_yaw_rate = true;
|
|
}
|
|
|
|
copter.mode_guided.set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
|
|
climb_rate_or_thrust, use_yaw_rate, packet.body_yaw_rate, use_thrust);
|
|
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: // MAV ID: 84
|
|
{
|
|
// decode packet
|
|
mavlink_set_position_target_local_ned_t packet;
|
|
mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
|
|
|
|
// exit if vehicle is not in Guided mode or Auto-Guided mode
|
|
if (!copter.flightmode->in_guided_mode()) {
|
|
break;
|
|
}
|
|
|
|
// check for supported coordinate frames
|
|
if (packet.coordinate_frame != MAV_FRAME_LOCAL_NED &&
|
|
packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED &&
|
|
packet.coordinate_frame != MAV_FRAME_BODY_NED &&
|
|
packet.coordinate_frame != MAV_FRAME_BODY_OFFSET_NED) {
|
|
break;
|
|
}
|
|
|
|
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
|
|
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
|
|
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
|
|
bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
|
|
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
|
|
|
|
// exit immediately if acceleration provided
|
|
if (!acc_ignore) {
|
|
break;
|
|
}
|
|
|
|
// prepare position
|
|
Vector3f pos_vector;
|
|
if (!pos_ignore) {
|
|
// convert to cm
|
|
pos_vector = Vector3f(packet.x * 100.0f, packet.y * 100.0f, -packet.z * 100.0f);
|
|
// rotate to body-frame if necessary
|
|
if (packet.coordinate_frame == MAV_FRAME_BODY_NED ||
|
|
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
|
|
copter.rotate_body_frame_to_NE(pos_vector.x, pos_vector.y);
|
|
}
|
|
// add body offset if necessary
|
|
if (packet.coordinate_frame == MAV_FRAME_LOCAL_OFFSET_NED ||
|
|
packet.coordinate_frame == MAV_FRAME_BODY_NED ||
|
|
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
|
|
pos_vector += copter.inertial_nav.get_position();
|
|
}
|
|
}
|
|
|
|
// prepare velocity
|
|
Vector3f vel_vector;
|
|
if (!vel_ignore) {
|
|
// convert to cm
|
|
vel_vector = Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f);
|
|
// rotate to body-frame if necessary
|
|
if (packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
|
|
copter.rotate_body_frame_to_NE(vel_vector.x, vel_vector.y);
|
|
}
|
|
}
|
|
|
|
// prepare yaw
|
|
float yaw_cd = 0.0f;
|
|
bool yaw_relative = false;
|
|
float yaw_rate_cds = 0.0f;
|
|
if (!yaw_ignore) {
|
|
yaw_cd = ToDeg(packet.yaw) * 100.0f;
|
|
yaw_relative = packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED;
|
|
}
|
|
if (!yaw_rate_ignore) {
|
|
yaw_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
|
|
}
|
|
|
|
// send request
|
|
if (!pos_ignore && !vel_ignore) {
|
|
copter.mode_guided.set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
|
|
} else if (pos_ignore && !vel_ignore) {
|
|
copter.mode_guided.set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
|
|
} else if (!pos_ignore && vel_ignore) {
|
|
copter.mode_guided.set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: // MAV ID: 86
|
|
{
|
|
// decode packet
|
|
mavlink_set_position_target_global_int_t packet;
|
|
mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
|
|
|
|
// exit if vehicle is not in Guided mode or Auto-Guided mode
|
|
if (!copter.flightmode->in_guided_mode()) {
|
|
break;
|
|
}
|
|
|
|
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
|
|
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
|
|
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
|
|
bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
|
|
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
|
|
|
|
// exit immediately if acceleration provided
|
|
if (!acc_ignore) {
|
|
break;
|
|
}
|
|
|
|
// extract location from message
|
|
Location loc;
|
|
if (!pos_ignore) {
|
|
// sanity check location
|
|
if (!check_latlng(packet.lat_int, packet.lon_int)) {
|
|
break;
|
|
}
|
|
Location::AltFrame frame;
|
|
if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)packet.coordinate_frame, frame)) {
|
|
// unknown coordinate frame
|
|
break;
|
|
}
|
|
loc = {packet.lat_int, packet.lon_int, int32_t(packet.alt*100), frame};
|
|
}
|
|
|
|
// prepare yaw
|
|
float yaw_cd = 0.0f;
|
|
bool yaw_relative = false;
|
|
float yaw_rate_cds = 0.0f;
|
|
if (!yaw_ignore) {
|
|
yaw_cd = ToDeg(packet.yaw) * 100.0f;
|
|
yaw_relative = packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED;
|
|
}
|
|
if (!yaw_rate_ignore) {
|
|
yaw_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
|
|
}
|
|
|
|
// send targets to the appropriate guided mode controller
|
|
if (!pos_ignore && !vel_ignore) {
|
|
// convert Location to vector from ekf origin for posvel controller
|
|
if (loc.get_alt_frame() == Location::AltFrame::ABOVE_TERRAIN) {
|
|
// posvel controller does not support alt-above-terrain
|
|
break;
|
|
}
|
|
Vector3f pos_neu_cm;
|
|
if (!loc.get_vector_from_origin_NEU(pos_neu_cm)) {
|
|
break;
|
|
}
|
|
copter.mode_guided.set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
|
|
} else if (pos_ignore && !vel_ignore) {
|
|
copter.mode_guided.set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
|
|
} else if (!pos_ignore && vel_ignore) {
|
|
copter.mode_guided.set_destination(loc, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
|
|
}
|
|
|
|
break;
|
|
}
|
|
#endif
|
|
|
|
#if HIL_MODE != HIL_MODE_DISABLED
|
|
case MAVLINK_MSG_ID_HIL_STATE: // MAV ID: 90
|
|
{
|
|
mavlink_hil_state_t packet;
|
|
mavlink_msg_hil_state_decode(&msg, &packet);
|
|
|
|
// sanity check location
|
|
if (!check_latlng(packet.lat, packet.lon)) {
|
|
break;
|
|
}
|
|
|
|
// set gps hil sensor
|
|
Location loc;
|
|
loc.lat = packet.lat;
|
|
loc.lng = packet.lon;
|
|
loc.alt = packet.alt/10;
|
|
Vector3f vel(packet.vx, packet.vy, packet.vz);
|
|
vel *= 0.01f;
|
|
|
|
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
|
|
packet.time_usec/1000,
|
|
loc, vel, 10, 0);
|
|
|
|
// rad/sec
|
|
Vector3f gyros;
|
|
gyros.x = packet.rollspeed;
|
|
gyros.y = packet.pitchspeed;
|
|
gyros.z = packet.yawspeed;
|
|
|
|
// m/s/s
|
|
Vector3f accels;
|
|
accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
|
|
accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
|
|
accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
|
|
|
|
ins.set_gyro(0, gyros);
|
|
|
|
ins.set_accel(0, accels);
|
|
|
|
AP::baro().setHIL(packet.alt*0.001f);
|
|
copter.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
|
|
copter.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
|
|
|
|
break;
|
|
}
|
|
#endif // HIL_MODE != HIL_MODE_DISABLED
|
|
|
|
case MAVLINK_MSG_ID_RADIO:
|
|
case MAVLINK_MSG_ID_RADIO_STATUS: // MAV ID: 109
|
|
{
|
|
handle_radio_status(msg, copter.should_log(MASK_LOG_PM));
|
|
break;
|
|
}
|
|
|
|
#if PRECISION_LANDING == ENABLED
|
|
case MAVLINK_MSG_ID_LANDING_TARGET:
|
|
copter.precland.handle_msg(msg);
|
|
break;
|
|
#endif
|
|
|
|
case MAVLINK_MSG_ID_TERRAIN_DATA:
|
|
case MAVLINK_MSG_ID_TERRAIN_CHECK:
|
|
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
|
copter.terrain.handle_data(chan, msg);
|
|
#endif
|
|
break;
|
|
|
|
case MAVLINK_MSG_ID_SET_HOME_POSITION:
|
|
{
|
|
mavlink_set_home_position_t packet;
|
|
mavlink_msg_set_home_position_decode(&msg, &packet);
|
|
if ((packet.latitude == 0) && (packet.longitude == 0) && (packet.altitude == 0)) {
|
|
if (!copter.set_home_to_current_location(true)) {
|
|
// silently ignored
|
|
}
|
|
} else {
|
|
Location new_home_loc;
|
|
new_home_loc.lat = packet.latitude;
|
|
new_home_loc.lng = packet.longitude;
|
|
new_home_loc.alt = packet.altitude / 10;
|
|
if (!copter.set_home(new_home_loc, true)) {
|
|
// silently ignored
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_ADSB_VEHICLE:
|
|
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_CFG:
|
|
case MAVLINK_MSG_ID_UAVIONIX_ADSB_OUT_DYNAMIC:
|
|
case MAVLINK_MSG_ID_UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT:
|
|
#if HAL_ADSB_ENABLED
|
|
copter.adsb.handle_message(chan, msg);
|
|
#endif
|
|
break;
|
|
|
|
#if TOY_MODE_ENABLED == ENABLED
|
|
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
|
|
copter.g2.toy_mode.handle_message(msg);
|
|
break;
|
|
#endif
|
|
|
|
default:
|
|
handle_common_message(msg);
|
|
break;
|
|
} // end switch
|
|
} // end handle mavlink
|
|
|
|
|
|
MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_long_t &packet) {
|
|
#if ADVANCED_FAILSAFE == ENABLED
|
|
if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) {
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
#endif
|
|
if (packet.param1 > 0.5f) {
|
|
copter.arming.disarm(AP_Arming::Method::TERMINATION);
|
|
return MAV_RESULT_ACCEPTED;
|
|
}
|
|
|
|
return MAV_RESULT_FAILED;
|
|
}
|
|
|
|
float GCS_MAVLINK_Copter::vfr_hud_alt() const
|
|
{
|
|
if (copter.g2.dev_options.get() & DevOptionVFR_HUDRelativeAlt) {
|
|
// compatibility option for older mavlink-aware devices that
|
|
// assume Copter returns a relative altitude in VFR_HUD.alt
|
|
return copter.current_loc.alt * 0.01f;
|
|
}
|
|
return GCS_MAVLINK::vfr_hud_alt();
|
|
}
|
|
|
|
uint64_t GCS_MAVLINK_Copter::capabilities() const
|
|
{
|
|
return (MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
|
|
MAV_PROTOCOL_CAPABILITY_MISSION_INT |
|
|
MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
|
|
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED |
|
|
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
|
|
MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION |
|
|
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
|
|
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
|
|
(copter.terrain.enabled() ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0) |
|
|
#endif
|
|
GCS_MAVLINK::capabilities());
|
|
}
|
|
|
|
MAV_LANDED_STATE GCS_MAVLINK_Copter::landed_state() const
|
|
{
|
|
if (copter.ap.land_complete) {
|
|
return MAV_LANDED_STATE_ON_GROUND;
|
|
}
|
|
if (copter.flightmode->is_landing()) {
|
|
return MAV_LANDED_STATE_LANDING;
|
|
}
|
|
if (copter.flightmode->is_taking_off()) {
|
|
return MAV_LANDED_STATE_TAKEOFF;
|
|
}
|
|
return MAV_LANDED_STATE_IN_AIR;
|
|
}
|
|
|
|
void GCS_MAVLINK_Copter::send_wind() const
|
|
{
|
|
Vector3f airspeed_vec_bf;
|
|
if (!AP::ahrs().airspeed_vector_true(airspeed_vec_bf)) {
|
|
// if we don't have an airspeed estimate then we don't have a
|
|
// valid wind estimate on copters
|
|
return;
|
|
}
|
|
const Vector3f wind = AP::ahrs().wind_estimate();
|
|
mavlink_msg_wind_send(
|
|
chan,
|
|
degrees(atan2f(-wind.y, -wind.x)),
|
|
wind.length(),
|
|
wind.z);
|
|
}
|