mirror of https://github.com/ArduPilot/ardupilot
611 lines
19 KiB
Plaintext
611 lines
19 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
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#include "Mavlink_Common.h"
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GCS_MAVLINK::GCS_MAVLINK() :
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packet_drops(0)
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{
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}
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void
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GCS_MAVLINK::init(BetterStream * port)
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{
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GCS_Class::init(port);
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mavlink_comm_1_port = port;
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chan = MAVLINK_COMM_1;
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}
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void
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GCS_MAVLINK::update(void)
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{
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// recieve new packets
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mavlink_message_t msg;
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mavlink_status_t status;
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// process received bytes
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while(comm_get_available(chan))
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{
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uint8_t c = comm_receive_ch(chan);
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// Try to get a new message
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if(mavlink_parse_char(chan, c, &msg, &status)) handleMessage(&msg);
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}
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// Update packet drops counter
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packet_drops += status.packet_rx_drop_count;
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// send out queued params/ waypoints
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mavlink_queued_send(chan);
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// send parameters communication_queued_send(chan);
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// stop waypoint sending if timeout
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if (global_data.waypoint_sending &&
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millis() - global_data.waypoint_timelast_send >
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global_data.waypoint_send_timeout)
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{
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send_text(SEVERITY_LOW,"waypoint send timeout");
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global_data.waypoint_sending = false;
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}
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// stop waypoint receiving if timeout
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if (global_data.waypoint_receiving &&
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millis() - global_data.waypoint_timelast_receive >
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global_data.waypoint_receive_timeout)
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{
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send_text(SEVERITY_LOW,"waypoint receive timeout");
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global_data.waypoint_receiving = false;
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}
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}
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void
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GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
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{
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if (freqLoopMatch(global_data.streamRateRawSensors,freqMin,freqMax))
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send_message(MSG_RAW_IMU);
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if (freqLoopMatch(global_data.streamRateExtendedStatus,freqMin,freqMax))
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send_message(MSG_EXTENDED_STATUS);
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if (freqLoopMatch(global_data.streamRateRCChannels,freqMin,freqMax))
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send_message(MSG_RADIO_OUT);
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if (freqLoopMatch(global_data.streamRateRawController,freqMin,freqMax))
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send_message(MSG_SERVO_OUT);
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//if (freqLoopMatch(global_data.streamRateRawSensorFusion,freqMin,freqMax))
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if (freqLoopMatch(global_data.streamRatePosition,freqMin,freqMax))
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send_message(MSG_LOCATION);
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if (freqLoopMatch(global_data.streamRateExtra1,freqMin,freqMax))
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send_message(MSG_GPS_STATUS);
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if (freqLoopMatch(global_data.streamRateExtra2,freqMin,freqMax))
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send_message(MSG_CURRENT_WAYPOINT);
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if (freqLoopMatch(global_data.streamRateExtra3,freqMin,freqMax))
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{
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send_message(MSG_LOCAL_LOCATION);
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send_message(MSG_ATTITUDE);
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}
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}
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void
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GCS_MAVLINK::send_message(uint8_t id, uint32_t param)
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{
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mavlink_send_message(chan,id,param,packet_drops);
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}
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void
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GCS_MAVLINK::send_text(uint8_t severity, const char *str)
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{
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mavlink_send_text(chan,severity,str);
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}
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void
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GCS_MAVLINK::acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2)
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{
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mavlink_acknowledge(chan,id,sum1,sum2);
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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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case MAVLINK_MSG_ID_GLOBAL_POSITION:
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{
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// decode
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mavlink_global_position_t packet;
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mavlink_msg_global_position_decode(msg, &packet);
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//if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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trackVehicle_loc.id = 0;
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trackVehicle_loc.p1 = 0;
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trackVehicle_loc.alt = packet.alt;
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trackVehicle_loc.lat = packet.lat;
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trackVehicle_loc.lng = packet.lon;
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Serial.println("received global position packet");
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}
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case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
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{
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// decode
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mavlink_request_data_stream_t packet;
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mavlink_msg_request_data_stream_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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int freq = 0; // packet frequency
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if (packet.start_stop == 0) freq = 0; // stop sending
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else if (packet.start_stop == 1) freq = packet.req_message_rate; // start sending
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else break;
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switch(packet.req_stream_id)
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{
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case MAV_DATA_STREAM_ALL:
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global_data.streamRateRawSensors = freq;
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global_data.streamRateExtendedStatus = freq;
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global_data.streamRateRCChannels = freq;
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global_data.streamRateRawController = freq;
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global_data.streamRateRawSensorFusion = freq;
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global_data.streamRatePosition = freq;
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global_data.streamRateExtra1 = freq;
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global_data.streamRateExtra2 = freq;
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global_data.streamRateExtra3 = freq;
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break;
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case MAV_DATA_STREAM_RAW_SENSORS:
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global_data.streamRateRawSensors = freq;
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break;
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case MAV_DATA_STREAM_EXTENDED_STATUS:
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global_data.streamRateExtendedStatus = freq;
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break;
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case MAV_DATA_STREAM_RC_CHANNELS:
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global_data.streamRateRCChannels = freq;
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break;
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case MAV_DATA_STREAM_RAW_CONTROLLER:
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global_data.streamRateRawController = freq;
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break;
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case MAV_DATA_STREAM_RAW_SENSOR_FUSION:
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global_data.streamRateRawSensorFusion = freq;
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break;
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case MAV_DATA_STREAM_POSITION:
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global_data.streamRatePosition = freq;
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break;
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case MAV_DATA_STREAM_EXTRA1:
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global_data.streamRateExtra1 = freq;
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break;
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case MAV_DATA_STREAM_EXTRA2:
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global_data.streamRateExtra2 = freq;
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break;
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case MAV_DATA_STREAM_EXTRA3:
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global_data.streamRateExtra3 = freq;
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break;
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default:
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break;
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}
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}
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case MAVLINK_MSG_ID_ACTION:
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{
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// decode
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mavlink_action_t packet;
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mavlink_msg_action_decode(msg, &packet);
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if (mavlink_check_target(packet.target,packet.target_component)) break;
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// do action
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gcs.send_text(SEVERITY_LOW,"action received");
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switch(packet.action)
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{
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case MAV_ACTION_LAUNCH:
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set_mode(TAKEOFF);
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break;
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case MAV_ACTION_RETURN:
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set_mode(RTL);
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break;
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case MAV_ACTION_EMCY_LAND:
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set_mode(LAND);
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break;
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case MAV_ACTION_HALT:
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loiter_at_location();
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break;
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// can't implement due to APM configuration
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// just setting to manual to be safe
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case MAV_ACTION_MOTORS_START:
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case MAV_ACTION_CONFIRM_KILL:
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case MAV_ACTION_EMCY_KILL:
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case MAV_ACTION_MOTORS_STOP:
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case MAV_ACTION_SHUTDOWN:
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set_mode(MANUAL);
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break;
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case MAV_ACTION_CONTINUE:
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process_next_command();
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break;
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case MAV_ACTION_SET_MANUAL:
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set_mode(MANUAL);
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break;
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case MAV_ACTION_SET_AUTO:
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set_mode(AUTO);
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break;
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case MAV_ACTION_STORAGE_READ:
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//read_EEPROM_startup();
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//read_EEPROM_airstart_critical();
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//read_command_index();
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//read_EEPROM_flight_modes();
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break;
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case MAV_ACTION_STORAGE_WRITE:
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//save_EEPROM_trims();
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//save_EEPROM_waypoint_info();
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//save_EEPROM_gains();
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//save_command_index();
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//save_pressure_data();
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//save_EEPROM_radio_minmax();
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//save_user_configs();
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//save_EEPROM_flight_modes();
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break;
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case MAV_ACTION_CALIBRATE_RC: break;
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trim_radio();
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break;
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case MAV_ACTION_CALIBRATE_GYRO:
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case MAV_ACTION_CALIBRATE_MAG:
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case MAV_ACTION_CALIBRATE_ACC:
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case MAV_ACTION_CALIBRATE_PRESSURE:
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case MAV_ACTION_REBOOT: // this is a rough interpretation
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startup_IMU_ground();
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break;
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case MAV_ACTION_REC_START: break;
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case MAV_ACTION_REC_PAUSE: break;
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case MAV_ACTION_REC_STOP: break;
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case MAV_ACTION_TAKEOFF:
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set_mode(TAKEOFF);
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break;
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case MAV_ACTION_NAVIGATE:
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set_mode(AUTO);
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break;
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case MAV_ACTION_LAND:
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set_mode(LAND);
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break;
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case MAV_ACTION_LOITER:
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set_mode(LOITER);
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break;
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default: break;
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}
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}
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break;
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case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
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{
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//send_text(SEVERITY_LOW,"waypoint request list");
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// decode
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mavlink_waypoint_request_list_t packet;
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mavlink_msg_waypoint_request_list_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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// Start sending waypoints
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mavlink_msg_waypoint_count_send(chan,msg->sysid,
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msg->compid,get(PARAM_WP_TOTAL));
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global_data.waypoint_timelast_send = millis();
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global_data.waypoint_sending = true;
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global_data.waypoint_receiving = false;
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global_data.waypoint_dest_sysid = msg->sysid;
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global_data.waypoint_dest_compid = msg->compid;
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}
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break;
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case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
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{
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//send_text(SEVERITY_LOW,"waypoint request");
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// Check if sending waypiont
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if (!global_data.waypoint_sending) break;
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// decode
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mavlink_waypoint_request_t packet;
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mavlink_msg_waypoint_request_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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// send waypoint
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tell_command = get_wp_with_index(packet.seq);
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// set frame of waypoint
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uint8_t frame = MAV_FRAME_GLOBAL; // reference frame
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uint8_t action = MAV_ACTION_NAVIGATE; // action
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uint8_t orbit_direction = 0; // clockwise(0), counter-clockwise(1)
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float orbit = 0; // loiter radius
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float param1 = 0, param2 = 0;
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switch(tell_command.id)
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{
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case CMD_WAYPOINT: // navigate
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action = MAV_ACTION_NAVIGATE; // action
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break;
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case CMD_LOITER_TIME: // loiter
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orbit = get(PARAM_WP_RADIUS); // XXX setting loiter radius as waypoint acceptance radius
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action = MAV_ACTION_LOITER; // action
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param1 = get(PARAM_WP_RADIUS);
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param2 = tell_command.p1*100; // loiter time
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break;
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case CMD_TAKEOFF: // takeoff
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action = MAV_ACTION_TAKEOFF;
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break;
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case CMD_LAND: // land
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action = MAV_ACTION_LAND;
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break;
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defaut:
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gcs.send_text(SEVERITY_LOW,"command not handled");
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break;
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}
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// time that the mav should loiter in milliseconds
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uint8_t current = 0; // 1 (true), 0 (false)
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if (packet.seq == get(PARAM_WP_INDEX)) current = 1;
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float yaw_dir = 0; // yaw orientation in radians, 0 = north XXX: what does this do?
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uint8_t autocontinue = 1; // 1 (true), 0 (false)
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float x = tell_command.lng/1.0e7; // local (x), global (longitude)
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float y = tell_command.lat/1.0e7; // local (y), global (latitude)
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float z = tell_command.alt/1.0e2; // local (z), global (altitude)
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// note XXX: documented x,y,z order does not match with gps raw
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mavlink_msg_waypoint_send(chan,msg->sysid,
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msg->compid,packet.seq,frame,action,
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orbit,orbit_direction,param1,param2,current,x,y,z,yaw_dir,autocontinue);
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// update last waypoint comm stamp
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global_data.waypoint_timelast_send = millis();
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}
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break;
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case MAVLINK_MSG_ID_WAYPOINT_ACK:
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{
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//send_text(SEVERITY_LOW,"waypoint ack");
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// decode
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mavlink_waypoint_ack_t packet;
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mavlink_msg_waypoint_ack_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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// check for error
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uint8_t type = packet.type; // ok (0), error(1)
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// turn off waypoint send
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global_data.waypoint_sending = false;
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}
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break;
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case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
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{
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//send_text(SEVERITY_LOW,"param request list");
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// decode
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mavlink_param_request_list_t packet;
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mavlink_msg_param_request_list_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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// Start sending parameters
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global_data.parameter_i = 0;
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}
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break;
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case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
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{
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//send_text(SEVERITY_LOW,"waypoint clear all");
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// decode
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mavlink_waypoint_clear_all_t packet;
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mavlink_msg_waypoint_clear_all_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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// clear all waypoints
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uint8_t type = 0; // ok (0), error(1)
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set(PARAM_WP_TOTAL,0);
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// send acknowledgement 3 times to makes sure it is received
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for (int i=0;i<3;i++) mavlink_msg_waypoint_ack_send(chan,msg->sysid,msg->compid,type);
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break;
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}
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case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
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{
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//send_text(SEVERITY_LOW,"waypoint set current");
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// decode
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mavlink_waypoint_set_current_t packet;
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mavlink_msg_waypoint_set_current_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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// set current waypoint
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set(PARAM_WP_INDEX,packet.seq);
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{
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Location temp; // XXX this is gross
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temp = get_wp_with_index(packet.seq);
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set_next_WP(&temp);
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}
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mavlink_msg_waypoint_current_send(chan,get(PARAM_WP_INDEX));
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break;
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}
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case MAVLINK_MSG_ID_WAYPOINT_COUNT:
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{
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//send_text(SEVERITY_LOW,"waypoint count");
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// decode
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mavlink_waypoint_count_t packet;
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mavlink_msg_waypoint_count_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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// start waypoint receiving
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set(PARAM_WP_TOTAL,packet.count);
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if (get(PARAM_WP_TOTAL) > MAX_WAYPOINTS)
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set(PARAM_WP_TOTAL,MAX_WAYPOINTS);
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global_data.waypoint_timelast_receive = millis();
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global_data.waypoint_receiving = true;
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global_data.waypoint_sending = false;
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global_data.waypoint_request_i = 0;
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break;
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}
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case MAVLINK_MSG_ID_WAYPOINT:
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{
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// Check if receiving waypiont
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if (!global_data.waypoint_receiving) break;
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// decode
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mavlink_waypoint_t packet;
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mavlink_msg_waypoint_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system,packet.target_component)) break;
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// check if this is the requested waypoint
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if (packet.seq != global_data.waypoint_request_i) break;
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// store waypoint
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uint8_t loadAction = 0; // 0 insert in list, 1 exec now
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switch (packet.frame)
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{
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case MAV_FRAME_GLOBAL:
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{
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tell_command.lng = 1.0e7f*packet.x;
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tell_command.lat = 1.0e7f*packet.y;
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tell_command.alt = packet.z*1.0e2f;
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break;
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}
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case MAV_FRAME_LOCAL: // local (relative to home position)
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{
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tell_command.lng = 1.0e7f*ToDeg(packet.x/
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(radius_of_earth*cosf(ToRad(home.lat/1.0e7f)))) + home.lng;
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tell_command.lat = 1.0e7f*ToDeg(packet.y/radius_of_earth) + home.lat;
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tell_command.alt = -packet.z*1.0e2f + home.alt;
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break;
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}
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}
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// defaults
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tell_command.id = CMD_BLANK;
|
|
|
|
switch (packet.action)
|
|
{
|
|
|
|
case MAV_ACTION_TAKEOFF:
|
|
{
|
|
tell_command.id = CMD_TAKEOFF;
|
|
break;
|
|
}
|
|
case MAV_ACTION_LAND:
|
|
{
|
|
tell_command.id = CMD_LAND;
|
|
break;
|
|
}
|
|
|
|
case MAV_ACTION_NAVIGATE:
|
|
{
|
|
tell_command.id = CMD_WAYPOINT;
|
|
break;
|
|
}
|
|
|
|
case MAV_ACTION_LOITER:
|
|
{
|
|
tell_command.id = CMD_LOITER_TIME;
|
|
tell_command.p1 = packet.param2/1.0e2;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// save waypoint
|
|
set_wp_with_index(tell_command, packet.seq);
|
|
|
|
// update waypoint receiving state machine
|
|
global_data.waypoint_timelast_receive = millis();
|
|
global_data.waypoint_request_i++;
|
|
|
|
if (global_data.waypoint_request_i == get(PARAM_WP_TOTAL))
|
|
{
|
|
gcs.send_text(SEVERITY_LOW,"flight plane received");
|
|
uint8_t type = 0; // ok (0), error(1)
|
|
mavlink_msg_waypoint_ack_send(chan,msg->sysid,msg->compid,type);
|
|
global_data.waypoint_receiving = false;
|
|
set(PARAM_WP_RADIUS,packet.param1); // XXX takes last waypoint radius for all
|
|
//save_EEPROM_waypoint_info();
|
|
}
|
|
break;
|
|
}
|
|
|
|
case MAVLINK_MSG_ID_PARAM_SET:
|
|
{
|
|
// decode
|
|
mavlink_param_set_t packet;
|
|
mavlink_msg_param_set_decode(msg, &packet);
|
|
if (mavlink_check_target(packet.target_system,packet.target_component))
|
|
break;
|
|
|
|
// set parameter
|
|
const char * key = (const char*) packet.param_id;
|
|
|
|
// iterate known parameters
|
|
// XXX linear search; would be better to sort params & use a binary search
|
|
for (uint16_t i = 0; i < global_data.param_count; i++) {
|
|
|
|
// compare key with parameter name
|
|
if (!strcmp_P(key, getParamName(i))) {
|
|
|
|
// sanity-check the new parameter
|
|
if (!isnan(packet.param_value) && // not nan
|
|
!isinf(packet.param_value)) { // not inf
|
|
|
|
setParamAsFloat(i,packet.param_value);
|
|
|
|
// Report back new value
|
|
char param_name[ONBOARD_PARAM_NAME_LENGTH]; /// XXX HACK
|
|
strcpy_P(param_name, getParamName(i)); /// XXX HACK
|
|
mavlink_msg_param_value_send(chan,
|
|
(int8_t*)param_name,
|
|
getParamAsFloat(i),
|
|
global_data.param_count,i);
|
|
// call load if required
|
|
if (i >= PARAM_RLL2SRV_P && i <= PARAM_RLL2SRV_IMAX) pidServoRoll.load_gains();
|
|
if (i >= PARAM_PTCH2SRV_P && i <= PARAM_PTCH2SRV_IMAX) pidServoPitch.load_gains();
|
|
if (i >= PARAM_YW2SRV_P && i <= PARAM_YW2SRV_IMAX) pidServoRudder.load_gains();
|
|
if (i >= PARAM_HDNG2RLL_P && i <= PARAM_HDNG2RLL_IMAX) pidNavRoll.load_gains();
|
|
if (i >= PARAM_ARSPD2PTCH_P && i <= PARAM_ARSPD2PTCH_IMAX) pidNavPitchAirspeed.load_gains();
|
|
if (i >= PARAM_ALT2PTCH_P && i <= PARAM_ALT2PTCH_IMAX) pidNavPitchAltitude.load_gains();
|
|
if (i >= PARAM_ENRGY2THR_P && i <= PARAM_ENRGY2THR_IMAX) pidTeThrottle.load_gains();
|
|
if (i >= PARAM_ALT2THR_P && i <= PARAM_ALT2THR_IMAX) pidAltitudeThrottle.load_gains();
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
} // end case
|
|
} // end switch
|
|
} // end handle mavlink
|
|
|
|
|
|
#endif
|
|
|