mirror of https://github.com/ArduPilot/ardupilot
220 lines
6.7 KiB
C
220 lines
6.7 KiB
C
#ifndef Mavlink_Common_H
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#define Mavlink_Common_H
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#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLIK || GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
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uint16_t system_type = MAV_FIXED_WING;
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static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
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{
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if (sysid != mavlink_system.sysid)
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{
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return 1;
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}
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else if (compid != mavlink_system.compid)
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{
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gcs.send_text(SEVERITY_LOW,"component id mismatch");
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return 0; // XXX currently not receiving correct compid from gcs
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}
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else return 0; // no error
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}
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/**
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* @brief Send low-priority messages at a maximum rate of xx Hertz
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*
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* This function sends messages at a lower rate to not exceed the wireless
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* bandwidth. It sends one message each time it is called until the buffer is empty.
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* Call this function with xx Hertz to increase/decrease the bandwidth.
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*/
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static void mavlink_queued_send(mavlink_channel_t chan)
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{
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//send parameters one by one
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if (global_data.parameter_i < global_data.param_count)
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{
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char param_name[ONBOARD_PARAM_NAME_LENGTH]; /// XXX HACK
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strcpy_P(param_name, getParamName(global_data.parameter_i)); /// XXX HACK
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mavlink_msg_param_value_send(chan,
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(int8_t*)param_name,
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getParamAsFloat(global_data.parameter_i),
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global_data.param_count,global_data.parameter_i);
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global_data.parameter_i++;
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}
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// request waypoints one by one
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if (global_data.waypoint_receiving &&
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global_data.waypoint_request_i < get(PARAM_WP_TOTAL))
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{
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mavlink_msg_waypoint_request_send(chan,
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global_data.waypoint_dest_sysid,
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global_data.waypoint_dest_compid ,global_data.waypoint_request_i);
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}
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}
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void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, uint16_t packet_drops)
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{
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uint64_t timeStamp = micros();
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switch(id) {
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case MSG_HEARTBEAT:
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mavlink_msg_heartbeat_send(chan,system_type,MAV_AUTOPILOT_ARDUPILOTMEGA);
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break;
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case MSG_EXTENDED_STATUS:
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{
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uint8_t mode = MAV_MODE_UNINIT;
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uint8_t nav_mode = MAV_NAV_VECTOR;
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switch(control_mode) {
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case MANUAL:
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mode = MAV_MODE_MANUAL;
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break;
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case CIRCLE:
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mode = MAV_MODE_TEST3;
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break;
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case STABILIZE:
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mode = MAV_MODE_GUIDED;
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break;
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case FLY_BY_WIRE_A:
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mode = MAV_MODE_TEST1;
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break;
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case FLY_BY_WIRE_B:
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mode = MAV_MODE_TEST2;
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break;
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case AUTO:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_WAYPOINT;
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break;
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case RTL:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_RETURNING;
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break;
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case LOITER:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_HOLD;
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break;
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case TAKEOFF:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_LIFTOFF;
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break;
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case LAND:
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mode = MAV_MODE_AUTO;
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nav_mode = MAV_NAV_LANDING;
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break;
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}
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uint8_t status = MAV_STATE_ACTIVE;
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uint8_t motor_block = false;
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mavlink_msg_sys_status_send(chan,mode,nav_mode,status,load*1000,
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battery_voltage1*1000,motor_block,packet_drops);
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break;
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}
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case MSG_ATTITUDE:
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{
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Vector3f omega = dcm.get_gyro();
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mavlink_msg_attitude_send(chan,timeStamp,dcm.roll,dcm.pitch,dcm.yaw,
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omega.x,omega.y,omega.z);
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break;
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}
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case MSG_LOCATION:
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{
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float gamma = dcm.pitch; // neglecting angle of attack for now
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float yaw = dcm.yaw;
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mavlink_msg_global_position_send(chan,timeStamp,current_loc.lat/1.0e7f,
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current_loc.lng/1.0e7f,current_loc.alt/1.0e2f,gps.ground_speed/1.0e2f*cosf(gamma)*cosf(yaw),
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gps.ground_speed/1.0e2f*cosf(gamma)*sinf(yaw),gps.ground_speed/1.0e2f*sinf(gamma));
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break;
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}
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case MSG_LOCAL_LOCATION:
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{
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float gamma = dcm.pitch; // neglecting angle of attack for now
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float yaw = dcm.yaw;
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mavlink_msg_local_position_send(chan,timeStamp,ToRad((current_loc.lat-home.lat)/1.0e7f)*radius_of_earth,
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ToRad((current_loc.lng-home.lng)/1.0e7f)*radius_of_earth*cosf(ToRad(home.lat/1.0e7f)),
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(current_loc.alt-home.alt)/1.0e2f, gps.ground_speed/1.0e2f*cosf(gamma)*cosf(yaw),
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gps.ground_speed/1.0e2f*cosf(gamma)*sinf(yaw),gps.ground_speed/1.0e2f*sinf(gamma));
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break;
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}
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case MSG_GPS_RAW:
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{
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mavlink_msg_gps_raw_send(chan,timeStamp,gps.status(),
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gps.latitude/1.0e7f,gps.longitude/1.0e7f,gps.altitude/100.0f,
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2.0f,10.0f,gps.ground_speed/100.0f,gps.ground_course/100.0f);
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break;
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}
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case MSG_AIRSPEED:
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{
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mavlink_msg_airspeed_send(chan,float(airspeed)/100.0);
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break;
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}
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case MSG_SERVO_OUT:
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{
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uint8_t rssi = 1; // TODO: can we calculated this?
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// receive signal strength 0(0%)-255(100%)
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Serial.printf_P(PSTR("sending servo out: %d %d %d %d\n"),
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servo_out[0],servo_out[1], servo_out[2], servo_out[3]);
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mavlink_msg_rc_channels_scaled_send(chan,
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servo_out[0],servo_out[1],
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servo_out[2]*100, // account for throttle scaling 0-100
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servo_out[3],servo_out[4],servo_out[5],
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servo_out[6],servo_out[7],rssi);
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break;
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}
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case MSG_RADIO_OUT:
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{
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uint8_t rssi = 1; // TODO: can we calculated this?
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// receive signal strength 0(0%)-255(100%)
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mavlink_msg_rc_channels_raw_send(chan,
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radio_out[0],radio_out[1],radio_out[2],
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radio_out[3],radio_out[4],radio_out[5],
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radio_out[6],radio_out[7],rssi);
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break;
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE
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case MSG_RAW_IMU:
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{
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Vector3f accel = imu.get_accel();
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Vector3f gyro = imu.get_gyro();
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//Serial.printf_P(PSTR("sending accel: %f %f %f\n"), accel.x, accel.y, accel.z);
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//Serial.printf_P(PSTR("sending gyro: %f %f %f\n"), gyro.x, gyro.y, gyro.z);
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mavlink_msg_raw_imu_send(chan,timeStamp,
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accel.x*1000.0f/gravity,accel.y*1000.0f/gravity,accel.z*1000.0f/gravity,
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gyro.x*1000.0f,gyro.y*1000.0f,gyro.z*1000.0f,
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compass.mag_x,compass.mag_y,compass.mag_z);
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mavlink_msg_raw_pressure_send(chan,timeStamp,
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adc.Ch(AIRSPEED_CH),pitot.RawPress,0);
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break;
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}
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#endif // HIL_PROTOCOL != HIL_PROTOCOL_ATTITUDE
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case MSG_GPS_STATUS:
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{
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mavlink_msg_gps_status_send(chan,gps.num_sats,NULL,NULL,NULL,NULL,NULL);
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break;
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}
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case MSG_CURRENT_WAYPOINT:
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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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defualt:
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break;
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}
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}
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void mavlink_send_text(mavlink_channel_t chan, uint8_t severity, const char *str)
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{
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mavlink_msg_statustext_send(chan,severity,(const int8_t*)str);
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}
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void mavlink_acknowledge(mavlink_channel_t chan, uint8_t id, uint8_t sum1, uint8_t sum2)
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{
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}
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#endif // mavlink in use
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#endif // inclusion guard
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