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ardupilot/ArduPlane/GCS_Mavlink.cpp
Andrew Tridgell e94cf561d0 Plane: use rull euler control for fwd transition of tilt vectored planes 
this gives strong yaw control and wind handling for tilt vectored
planes in forward transitions. It relaxes the yaw if the user either
demands yaw with stick input or plane navigation is demanding a roll
angle for a turn

When navigation is demanded we setup yaw rate for a coordinated turn
2020-12-21 12:05:50 +11:00

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51 KiB
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#include "GCS_Mavlink.h"
#include "Plane.h"
MAV_TYPE GCS_Plane::frame_type() const
{
return plane.quadplane.get_mav_type();
}
MAV_MODE GCS_MAVLINK_Plane::base_mode() const
{
uint8_t _base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
// work out the base_mode. This value is not very useful
// for APM, but we calculate it as best we can so a generic
// MAVLink enabled ground station can work out something about
// what the MAV is up to. The actual bit values are highly
// ambiguous for most of the APM flight modes. In practice, you
// only get useful information from the custom_mode, which maps to
// the APM flight mode and has a well defined meaning in the
// ArduPlane documentation
switch (plane.control_mode->mode_number()) {
case Mode::Number::MANUAL:
case Mode::Number::TRAINING:
case Mode::Number::ACRO:
case Mode::Number::QACRO:
_base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case Mode::Number::STABILIZE:
case Mode::Number::FLY_BY_WIRE_A:
case Mode::Number::AUTOTUNE:
case Mode::Number::FLY_BY_WIRE_B:
case Mode::Number::QSTABILIZE:
case Mode::Number::QHOVER:
case Mode::Number::QLOITER:
case Mode::Number::QLAND:
case Mode::Number::CRUISE:
case Mode::Number::QAUTOTUNE:
_base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
break;
case Mode::Number::AUTO:
case Mode::Number::RTL:
case Mode::Number::LOITER:
case Mode::Number::THERMAL:
case Mode::Number::AVOID_ADSB:
case Mode::Number::GUIDED:
case Mode::Number::CIRCLE:
case Mode::Number::TAKEOFF:
case Mode::Number::QRTL:
_base_mode = MAV_MODE_FLAG_GUIDED_ENABLED |
MAV_MODE_FLAG_STABILIZE_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do
break;
case Mode::Number::INITIALISING:
break;
}
if (!plane.training_manual_pitch || !plane.training_manual_roll) {
_base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
}
if (plane.control_mode != &plane.mode_manual && plane.control_mode != &plane.mode_initializing) {
// stabiliser of some form is enabled
_base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
}
if (plane.g.stick_mixing != STICK_MIXING_DISABLED && plane.control_mode != &plane.mode_initializing) {
if ((plane.g.stick_mixing != STICK_MIXING_VTOL_YAW) || (plane.control_mode == &plane.mode_auto)) {
// all modes except INITIALISING have some form of manual
// override if stick mixing is enabled
_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
}
#if HIL_SUPPORT
if (plane.g.hil_mode == 1) {
_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
#endif
// we are armed if we are not initialising
if (plane.control_mode != &plane.mode_initializing && plane.arming.is_armed()) {
_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
// indicate we have set a custom mode
_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
return (MAV_MODE)_base_mode;
}
uint32_t GCS_Plane::custom_mode() const
{
return plane.control_mode->mode_number();
}
MAV_STATE GCS_MAVLINK_Plane::vehicle_system_status() const
{
if (plane.control_mode == &plane.mode_initializing) {
return MAV_STATE_CALIBRATING;
}
if (plane.any_failsafe_triggered()) {
return MAV_STATE_CRITICAL;
}
if (plane.crash_state.is_crashed) {
return MAV_STATE_EMERGENCY;
}
if (plane.is_flying()) {
return MAV_STATE_ACTIVE;
}
return MAV_STATE_STANDBY;
}
void GCS_MAVLINK_Plane::send_attitude() const
{
const AP_AHRS &ahrs = AP::ahrs();
float r = ahrs.roll;
float p = ahrs.pitch - radians(plane.g.pitch_trim_cd*0.01f);
float y = ahrs.yaw;
if (plane.quadplane.show_vtol_view()) {
r = plane.quadplane.ahrs_view->roll;
p = plane.quadplane.ahrs_view->pitch;
y = plane.quadplane.ahrs_view->yaw;
}
const Vector3f &omega = ahrs.get_gyro();
mavlink_msg_attitude_send(
chan,
millis(),
r,
p,
y,
omega.x,
omega.y,
omega.z);
}
void GCS_MAVLINK_Plane::send_aoa_ssa()
{
AP_AHRS &ahrs = AP::ahrs();
mavlink_msg_aoa_ssa_send(
chan,
micros(),
ahrs.getAOA(),
ahrs.getSSA());
}
#if GEOFENCE_ENABLED == ENABLED
void Plane::send_fence_status(mavlink_channel_t chan)
{
geofence_send_status(chan);
}
#endif
void GCS_MAVLINK_Plane::send_nav_controller_output() const
{
if (plane.control_mode == &plane.mode_manual) {
return;
}
const QuadPlane &quadplane = plane.quadplane;
if (quadplane.show_vtol_view()) {
const Vector3f &targets = quadplane.attitude_control->get_att_target_euler_cd();
bool wp_nav_valid = quadplane.using_wp_nav();
mavlink_msg_nav_controller_output_send(
chan,
targets.x * 1.0e-2f,
targets.y * 1.0e-2f,
targets.z * 1.0e-2f,
wp_nav_valid ? quadplane.wp_nav->get_wp_bearing_to_destination() : 0,
wp_nav_valid ? MIN(quadplane.wp_nav->get_wp_distance_to_destination(), UINT16_MAX) : 0,
(plane.control_mode != &plane.mode_qstabilize) ? quadplane.pos_control->get_alt_error() * 1.0e-2f : 0,
plane.airspeed_error * 100,
wp_nav_valid ? quadplane.wp_nav->crosstrack_error() : 0);
} else {
const AP_Navigation *nav_controller = plane.nav_controller;
mavlink_msg_nav_controller_output_send(
chan,
plane.nav_roll_cd * 0.01f,
plane.nav_pitch_cd * 0.01f,
nav_controller->nav_bearing_cd() * 0.01f,
nav_controller->target_bearing_cd() * 0.01f,
MIN(plane.auto_state.wp_distance, UINT16_MAX),
plane.altitude_error_cm * 0.01f,
plane.airspeed_error * 100,
nav_controller->crosstrack_error());
}
}
void GCS_MAVLINK_Plane::send_position_target_global_int()
{
if (plane.control_mode == &plane.mode_manual) {
return;
}
Location &next_WP_loc = plane.next_WP_loc;
mavlink_msg_position_target_global_int_send(
chan,
AP_HAL::millis(), // time_boot_ms
MAV_FRAME_GLOBAL, // targets are always global altitude
0xFFF8, // ignore everything except the x/y/z components
next_WP_loc.lat, // latitude as 1e7
next_WP_loc.lng, // longitude as 1e7
next_WP_loc.alt * 0.01f, // altitude is sent as a float
0.0f, // vx
0.0f, // vy
0.0f, // vz
0.0f, // afx
0.0f, // afy
0.0f, // afz
0.0f, // yaw
0.0f); // yaw_rate
}
void Plane::send_servo_out(mavlink_channel_t chan)
{
// normalized values scaled to -10000 to 10000
// This is used for HIL. Do not change without discussing with
// HIL maintainers
mavlink_msg_rc_channels_scaled_send(
chan,
millis(),
0, // port 0
10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_aileron) / 4500.0f),
10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_elevator) / 4500.0f),
10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) / 100.0f),
10000 * (SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / 4500.0f),
0,
0,
0,
0,
rssi.read_receiver_rssi_uint8());
}
float GCS_MAVLINK_Plane::vfr_hud_airspeed() const
{
// airspeed sensors are best. While the AHRS airspeed_estimate
// will use an airspeed sensor, that value is constrained by the
// ground speed. When reporting we should send the true airspeed
// value if possible:
if (plane.airspeed.enabled() && plane.airspeed.healthy()) {
return plane.airspeed.get_airspeed();
}
// airspeed estimates are OK:
float aspeed;
if (AP::ahrs().airspeed_estimate(aspeed)) {
return aspeed;
}
// lying is worst:
return 0;
}
int16_t GCS_MAVLINK_Plane::vfr_hud_throttle() const
{
return plane.throttle_percentage();
}
float GCS_MAVLINK_Plane::vfr_hud_climbrate() const
{
#if HAL_SOARING_ENABLED
if (plane.g2.soaring_controller.is_active()) {
return plane.g2.soaring_controller.get_vario_reading();
}
#endif
return AP::baro().get_climb_rate();
}
/*
keep last HIL_STATE message to allow sending SIM_STATE
*/
#if HIL_SUPPORT
static mavlink_hil_state_t last_hil_state;
#endif
// report simulator state
void GCS_MAVLINK_Plane::send_simstate() const
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
GCS_MAVLINK::send_simstate();
#elif HIL_SUPPORT
if (plane.g.hil_mode == 1) {
mavlink_msg_simstate_send(chan,
last_hil_state.roll,
last_hil_state.pitch,
last_hil_state.yaw,
last_hil_state.xacc*0.001f*GRAVITY_MSS,
last_hil_state.yacc*0.001f*GRAVITY_MSS,
last_hil_state.zacc*0.001f*GRAVITY_MSS,
last_hil_state.rollspeed,
last_hil_state.pitchspeed,
last_hil_state.yawspeed,
last_hil_state.lat,
last_hil_state.lon);
}
#endif
}
void GCS_MAVLINK_Plane::send_wind() const
{
const Vector3f wind = AP::ahrs().wind_estimate();
mavlink_msg_wind_send(
chan,
degrees(atan2f(-wind.y, -wind.x)), // use negative, to give
// direction wind is coming from
wind.length(),
wind.z);
}
// sends a single pid info over the provided channel
void GCS_MAVLINK_Plane::send_pid_info(const AP_Logger::PID_Info *pid_info,
const uint8_t axis, const float achieved)
{
if (pid_info == nullptr) {
return;
}
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
mavlink_msg_pid_tuning_send(chan, axis,
pid_info->target,
achieved,
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
}
/*
send PID tuning message
*/
void GCS_MAVLINK_Plane::send_pid_tuning()
{
if (plane.control_mode == &plane.mode_manual) {
// no PIDs should be used in manual
return;
}
const Parameters &g = plane.g;
const AP_Logger::PID_Info *pid_info;
if (g.gcs_pid_mask & TUNING_BITS_ROLL) {
if (plane.quadplane.in_vtol_mode()) {
pid_info = &plane.quadplane.attitude_control->get_rate_roll_pid().get_pid_info();
} else {
pid_info = &plane.rollController.get_pid_info();
}
send_pid_info(pid_info, PID_TUNING_ROLL, pid_info->actual);
}
if (g.gcs_pid_mask & TUNING_BITS_PITCH) {
if (plane.quadplane.in_vtol_mode()) {
pid_info = &plane.quadplane.attitude_control->get_rate_pitch_pid().get_pid_info();
} else {
pid_info = &plane.pitchController.get_pid_info();
}
send_pid_info(pid_info, PID_TUNING_PITCH, pid_info->actual);
}
if (g.gcs_pid_mask & TUNING_BITS_YAW) {
if (plane.quadplane.in_vtol_mode()) {
pid_info = &plane.quadplane.attitude_control->get_rate_yaw_pid().get_pid_info();
} else {
pid_info = &plane.yawController.get_pid_info();
}
send_pid_info(pid_info, PID_TUNING_YAW, pid_info->actual);
}
if (g.gcs_pid_mask & TUNING_BITS_STEER) {
pid_info = &plane.steerController.get_pid_info();
send_pid_info(pid_info, PID_TUNING_STEER, pid_info->actual);
}
if ((g.gcs_pid_mask & TUNING_BITS_LAND) && (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND)) {
AP_AHRS &ahrs = AP::ahrs();
const Vector3f &gyro = ahrs.get_gyro();
send_pid_info(plane.landing.get_pid_info(), PID_TUNING_LANDING, degrees(gyro.z));
}
if (g.gcs_pid_mask & TUNING_BITS_ACCZ && plane.quadplane.in_vtol_mode()) {
pid_info = &plane.quadplane.pos_control->get_accel_z_pid().get_pid_info();
send_pid_info(pid_info, PID_TUNING_ACCZ, pid_info->actual);
}
}
uint8_t GCS_MAVLINK_Plane::sysid_my_gcs() const
{
return plane.g.sysid_my_gcs;
}
bool GCS_MAVLINK_Plane::sysid_enforce() const
{
return plane.g2.sysid_enforce;
}
uint32_t GCS_MAVLINK_Plane::telem_delay() const
{
return (uint32_t)(plane.g.telem_delay);
}
// try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
{
switch (id) {
case MSG_SERVO_OUT:
#if HIL_SUPPORT
if (plane.g.hil_mode == 1) {
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
plane.send_servo_out(chan);
}
#endif
break;
case MSG_FENCE_STATUS:
#if GEOFENCE_ENABLED == ENABLED
CHECK_PAYLOAD_SIZE(FENCE_STATUS);
plane.send_fence_status(chan);
#endif
break;
case MSG_TERRAIN:
#if AP_TERRAIN_AVAILABLE
CHECK_PAYLOAD_SIZE(TERRAIN_REQUEST);
plane.terrain.send_request(chan);
#endif
break;
case MSG_WIND:
CHECK_PAYLOAD_SIZE(WIND);
send_wind();
break;
case MSG_ADSB_VEHICLE:
#if HAL_ADSB_ENABLED
CHECK_PAYLOAD_SIZE(ADSB_VEHICLE);
plane.adsb.send_adsb_vehicle(chan);
#endif
break;
case MSG_AOA_SSA:
CHECK_PAYLOAD_SIZE(AOA_SSA);
send_aoa_ssa();
break;
case MSG_LANDING:
plane.landing.send_landing_message(chan);
break;
default:
return GCS_MAVLINK::try_send_message(id);
}
return true;
}
/*
default stream rates to 1Hz
*/
const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Raw sensor stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_SENS", 0, GCS_MAVLINK_Parameters, streamRates[0], 1),
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Extended status stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXT_STAT", 1, GCS_MAVLINK_Parameters, streamRates[1], 1),
// @Param: RC_CHAN
// @DisplayName: RC Channel stream rate to ground station
// @Description: RC Channel stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RC_CHAN", 2, GCS_MAVLINK_Parameters, streamRates[2], 1),
// @Param: RAW_CTRL
// @DisplayName: Raw Control stream rate to ground station
// @Description: Raw Control stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("RAW_CTRL", 3, GCS_MAVLINK_Parameters, streamRates[3], 1),
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Position stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("POSITION", 4, GCS_MAVLINK_Parameters, streamRates[4], 1),
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Extra data type 1 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA1", 5, GCS_MAVLINK_Parameters, streamRates[5], 1),
// @Param: EXTRA2
// @DisplayName: Extra data type 2 stream rate to ground station
// @Description: Extra data type 2 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA2", 6, GCS_MAVLINK_Parameters, streamRates[6], 1),
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Extra data type 3 stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("EXTRA3", 7, GCS_MAVLINK_Parameters, streamRates[7], 1),
// @Param: PARAMS
// @DisplayName: Parameter stream rate to ground station
// @Description: Parameter stream rate to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("PARAMS", 8, GCS_MAVLINK_Parameters, streamRates[8], 10),
// @Param: ADSB
// @DisplayName: ADSB stream rate to ground station
// @Description: ADSB stream rate to ground station
// @Units: Hz
// @Range: 0 50
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("ADSB", 9, GCS_MAVLINK_Parameters, streamRates[9], 5),
AP_GROUPEND
};
static const ap_message STREAM_RAW_SENSORS_msgs[] = {
MSG_RAW_IMU,
MSG_SCALED_IMU2,
MSG_SCALED_IMU3,
MSG_SCALED_PRESSURE,
MSG_SCALED_PRESSURE2,
MSG_SCALED_PRESSURE3,
MSG_SENSOR_OFFSETS
};
static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
MSG_SYS_STATUS,
MSG_POWER_STATUS,
MSG_MEMINFO,
MSG_CURRENT_WAYPOINT,
MSG_GPS_RAW,
MSG_GPS_RTK,
MSG_GPS2_RAW,
MSG_GPS2_RTK,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_FENCE_STATUS,
MSG_POSITION_TARGET_GLOBAL_INT,
};
static const ap_message STREAM_POSITION_msgs[] = {
MSG_LOCATION,
MSG_LOCAL_POSITION
};
static const ap_message STREAM_RAW_CONTROLLER_msgs[] = {
MSG_SERVO_OUT,
};
static const ap_message STREAM_RC_CHANNELS_msgs[] = {
MSG_SERVO_OUTPUT_RAW,
MSG_RC_CHANNELS,
MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
};
static const ap_message STREAM_EXTRA1_msgs[] = {
MSG_ATTITUDE,
MSG_SIMSTATE,
MSG_AHRS2,
MSG_RPM,
MSG_AOA_SSA,
MSG_PID_TUNING,
MSG_LANDING,
MSG_ESC_TELEMETRY,
MSG_EFI_STATUS,
};
static const ap_message STREAM_EXTRA2_msgs[] = {
MSG_VFR_HUD
};
static const ap_message STREAM_EXTRA3_msgs[] = {
MSG_AHRS,
MSG_HWSTATUS,
MSG_WIND,
MSG_RANGEFINDER,
MSG_DISTANCE_SENSOR,
MSG_SYSTEM_TIME,
#if AP_TERRAIN_AVAILABLE
MSG_TERRAIN,
#endif
MSG_BATTERY2,
MSG_BATTERY_STATUS,
MSG_MOUNT_STATUS,
MSG_OPTICAL_FLOW,
MSG_GIMBAL_REPORT,
MSG_MAG_CAL_REPORT,
MSG_MAG_CAL_PROGRESS,
MSG_EKF_STATUS_REPORT,
MSG_VIBRATION,
};
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_RAW_CONTROLLER),
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_PARAMS),
MAV_STREAM_ENTRY(STREAM_ADSB),
MAV_STREAM_TERMINATOR // must have this at end of stream_entries
};
bool GCS_MAVLINK_Plane::in_hil_mode() const
{
#if HIL_SUPPORT
return plane.g.hil_mode == 1;
#endif
return false;
}
/*
handle a request to switch to guided mode. This happens via a
callback from handle_mission_item()
*/
bool GCS_MAVLINK_Plane::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
if (plane.control_mode != &plane.mode_guided) {
// only accept position updates when in GUIDED mode
return false;
}
plane.guided_WP_loc = cmd.content.location;
// add home alt if needed
if (plane.guided_WP_loc.relative_alt) {
plane.guided_WP_loc.alt += plane.home.alt;
plane.guided_WP_loc.relative_alt = 0;
}
plane.set_guided_WP();
return true;
}
/*
handle a request to change current WP altitude. This happens via a
callback from handle_mission_item()
*/
void GCS_MAVLINK_Plane::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
{
plane.next_WP_loc.alt = cmd.content.location.alt;
if (cmd.content.location.relative_alt) {
plane.next_WP_loc.alt += plane.home.alt;
}
plane.next_WP_loc.relative_alt = false;
plane.next_WP_loc.terrain_alt = cmd.content.location.terrain_alt;
plane.reset_offset_altitude();
}
MAV_RESULT GCS_MAVLINK_Plane::handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
plane.in_calibration = true;
MAV_RESULT ret = GCS_MAVLINK::handle_command_preflight_calibration(packet);
plane.in_calibration = false;
return ret;
}
MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param4,1.0f)) {
if (plane.trim_radio()) {
return MAV_RESULT_ACCEPTED;
} else {
return MAV_RESULT_FAILED;
}
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
}
void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
const mavlink_message_t &msg)
{
#if HAL_ADSB_ENABLED
plane.avoidance_adsb.handle_msg(msg);
#endif
GCS_MAVLINK::packetReceived(status, msg);
}
bool GCS_MAVLINK_Plane::set_home_to_current_location(bool _lock)
{
if (!plane.set_home_persistently(AP::gps().location())) {
return false;
}
if (_lock) {
AP::ahrs().lock_home();
}
return true;
}
bool GCS_MAVLINK_Plane::set_home(const Location& loc, bool _lock)
{
if (!AP::ahrs().set_home(loc)) {
return false;
}
if (_lock) {
AP::ahrs().lock_home();
}
return true;
}
MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
{
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
return MAV_RESULT_DENIED;
}
Location requested_position {};
requested_position.lat = packet.x;
requested_position.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
}
requested_position.set_alt_cm((int32_t)(packet.z * 100.0f), frame);
if (is_zero(packet.param4)) {
requested_position.loiter_ccw = 0;
} else {
requested_position.loiter_ccw = 1;
}
if (requested_position.sanitize(plane.current_loc)) {
// if the location wasn't already sane don't load it
return MAV_RESULT_DENIED;
}
// location is valid load and set
if (((int32_t)packet.param2 & MAV_DO_REPOSITION_FLAGS_CHANGE_MODE) ||
(plane.control_mode == &plane.mode_guided)) {
plane.set_mode(plane.mode_guided, ModeReason::GCS_COMMAND);
plane.guided_WP_loc = requested_position;
// add home alt if needed
if (plane.guided_WP_loc.relative_alt) {
plane.guided_WP_loc.alt += plane.home.alt;
plane.guided_WP_loc.relative_alt = 0;
}
plane.set_guided_WP();
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
// these are GUIDED mode commands that are RATE or slew enabled, so you can have more powerful control than default controls.
MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet)
{
switch(packet.command) {
#if OFFBOARD_GUIDED == ENABLED
case MAV_CMD_GUIDED_CHANGE_SPEED: {
// command is only valid in guided mode
if (plane.control_mode != &plane.mode_guided) {
return MAV_RESULT_FAILED;
}
// only airspeed commands are supported right now...
if (int(packet.param1) != SPEED_TYPE_AIRSPEED) { // since SPEED_TYPE is int in range 0-1 and packet.param1 is a *float* this works.
return MAV_RESULT_DENIED;
}
// reject airspeeds that are outside of the tuning envelope
if (packet.param2 > plane.aparm.airspeed_max || packet.param2 < plane.aparm.airspeed_min) {
return MAV_RESULT_DENIED;
}
// no need to process any new packet/s with the
// same airspeed any further, if we are already doing it.
float new_target_airspeed_cm = packet.param2 * 100;
if ( is_equal(new_target_airspeed_cm,plane.guided_state.target_airspeed_cm)) {
return MAV_RESULT_ACCEPTED;
}
plane.guided_state.target_airspeed_cm = new_target_airspeed_cm;
plane.guided_state.target_airspeed_time_ms = AP_HAL::millis();
if (is_zero(packet.param3)) {
// the user wanted /maximum acceleration, pick a large value as close enough
plane.guided_state.target_airspeed_accel = 1000.0f;
} else {
plane.guided_state.target_airspeed_accel = fabsf(packet.param3);
}
// assign an acceleration direction
if (plane.guided_state.target_airspeed_cm < plane.target_airspeed_cm) {
plane.guided_state.target_airspeed_accel *= -1.0f;
}
return MAV_RESULT_ACCEPTED;
}
case MAV_CMD_GUIDED_CHANGE_ALTITUDE: {
// command is only valid in guided
if (plane.control_mode != &plane.mode_guided) {
return MAV_RESULT_FAILED;
}
// disallow default value of -1 and dangerous value of zero
if (is_equal(packet.z, -1.0f) || is_equal(packet.z, 0.0f)){
return MAV_RESULT_DENIED;
}
// the requested alt data might be relative or absolute
float new_target_alt = packet.z * 100;
float new_target_alt_rel = packet.z * 100 + plane.home.alt;
// only global/relative/terrain frames are supported
switch(packet.frame) {
case MAV_FRAME_GLOBAL_RELATIVE_ALT: {
if (is_equal(plane.guided_state.target_alt,new_target_alt_rel) ) { // compare two floats as near-enough
// no need to process any new packet/s with the same ALT any further, if we are already doing it.
return MAV_RESULT_ACCEPTED;
}
plane.guided_state.target_alt = new_target_alt_rel;
break;
}
case MAV_FRAME_GLOBAL: {
if (is_equal(plane.guided_state.target_alt,new_target_alt) ) { // compare two floats as near-enough
// no need to process any new packet/s with the same ALT any further, if we are already doing it.
return MAV_RESULT_ACCEPTED;
}
plane.guided_state.target_alt = new_target_alt;
break;
}
default:
// MAV_RESULT_DENIED means Command is invalid (is supported but has invalid parameters).
return MAV_RESULT_DENIED;
}
plane.guided_state.target_alt_frame = packet.frame;
plane.guided_state.last_target_alt = plane.current_loc.alt; // FIXME: Reference frame is not corrected for here
plane.guided_state.target_alt_time_ms = AP_HAL::millis();
if (is_zero(packet.param3)) {
// the user wanted /maximum acceleration, pick a large value as close enough
plane.guided_state.target_alt_accel = 1000.0;
} else {
plane.guided_state.target_alt_accel = fabsf(packet.param3);
}
// assign an acceleration direction
if (plane.guided_state.target_alt < plane.current_loc.alt) {
plane.guided_state.target_alt_accel *= -1.0f;
}
return MAV_RESULT_ACCEPTED;
}
case MAV_CMD_GUIDED_CHANGE_HEADING: {
// command is only valid in guided mode
if (plane.control_mode != &plane.mode_guided) {
return MAV_RESULT_FAILED;
}
// don't accept packets outside of [0-360] degree range
if (packet.param2 < 0.0f || packet.param2 >= 360.0f) {
return MAV_RESULT_DENIED;
}
float new_target_heading = radians(wrap_180(packet.param2));
// if packet is requesting us to go to the heading we are already going to, we-re already on it.
if ( (is_equal(new_target_heading,plane.guided_state.target_heading))) { // compare two floats as near-enough
return MAV_RESULT_ACCEPTED;
}
// course over ground
if ( int(packet.param1) == HEADING_TYPE_COURSE_OVER_GROUND) { // compare as nearest int
plane.guided_state.target_heading_type = GUIDED_HEADING_COG;
plane.prev_WP_loc = plane.current_loc;
// normal vehicle heading
} else if (int(packet.param1) == HEADING_TYPE_HEADING) { // compare as nearest int
plane.guided_state.target_heading_type = GUIDED_HEADING_HEADING;
} else {
// MAV_RESULT_DENIED means Command is invalid (is supported but has invalid parameters).
return MAV_RESULT_DENIED;
}
plane.g2.guidedHeading.reset_I();
plane.guided_state.target_heading = new_target_heading;
plane.guided_state.target_heading_accel_limit = MAX(packet.param3, 0.05f);
plane.guided_state.target_heading_time_ms = AP_HAL::millis();
return MAV_RESULT_ACCEPTED;
}
#endif // OFFBOARD_GUIDED == ENABLED
}
// anything else ...
return MAV_RESULT_UNSUPPORTED;
}
MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_int_t &packet)
{
plane.Log_Write_MavCmdI(packet);
switch(packet.command) {
case MAV_CMD_DO_REPOSITION:
return handle_command_int_do_reposition(packet);
// special 'slew-enabled' guided commands here... for speed,alt, and direction commands
case MAV_CMD_GUIDED_CHANGE_SPEED:
case MAV_CMD_GUIDED_CHANGE_ALTITUDE:
case MAV_CMD_GUIDED_CHANGE_HEADING:
return handle_command_int_guided_slew_commands(packet);
default:
return GCS_MAVLINK::handle_command_int_packet(packet);
}
}
MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_long_t &packet)
{
switch(packet.command) {
case MAV_CMD_DO_CHANGE_SPEED: {
// if we're in failsafe modes (e.g., RTL, LOITER) or in pilot
// controlled modes (e.g., MANUAL, TRAINING)
// this command should be ignored since it comes in from GCS
// or a companion computer:
if ((!plane.control_mode->is_guided_mode()) &&
(plane.control_mode != &plane.mode_auto)) {
// failed
return MAV_RESULT_FAILED;
}
AP_Mission::Mission_Command cmd;
if (AP_Mission::mavlink_cmd_long_to_mission_cmd(packet, cmd) != MAV_MISSION_ACCEPTED) {
return MAV_RESULT_DENIED;
}
if (plane.do_change_speed(cmd)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
case MAV_CMD_NAV_LOITER_UNLIM:
plane.set_mode(plane.mode_loiter, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
plane.set_mode(plane.mode_rtl, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_TAKEOFF: {
// user takeoff only works with quadplane code for now
// param7 : altitude [metres]
float takeoff_alt = packet.param7;
if (plane.quadplane.available() && plane.quadplane.do_user_takeoff(takeoff_alt)) {
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
case MAV_CMD_MISSION_START:
plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_LAND_START:
// attempt to switch to next DO_LAND_START command in the mission
if (plane.mission.jump_to_landing_sequence()) {
plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_GO_AROUND:
{
uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
bool is_in_landing = (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) ||
(mission_id == MAV_CMD_NAV_LAND) ||
(mission_id == MAV_CMD_NAV_VTOL_LAND);
if (is_in_landing) {
// fly a user planned abort pattern if available
if (plane.mission.jump_to_abort_landing_sequence()) {
return MAV_RESULT_ACCEPTED;
}
// only fly a fixed wing abort if we aren't doing quadplane stuff, or potentially
// shooting a quadplane approach
if ((!plane.quadplane.available()) ||
((!plane.quadplane.in_vtol_auto()) &&
(!(plane.quadplane.options & QuadPlane::OPTION_MISSION_LAND_FW_APPROACH)))) {
// Initiate an aborted landing. This will trigger a pitch-up and
// climb-out to a safe altitude holding heading then one of the
// following actions will occur, check for in this order:
// - If MAV_CMD_CONTINUE_AND_CHANGE_ALT is next command in mission,
// increment mission index to execute it
// - else if DO_LAND_START is available, jump to it
// - else decrement the mission index to repeat the landing approach
if (!is_zero(packet.param1)) {
plane.auto_state.takeoff_altitude_rel_cm = packet.param1 * 100;
}
if (plane.landing.request_go_around()) {
plane.auto_state.next_wp_crosstrack = false;
return MAV_RESULT_ACCEPTED;
}
}
}
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_FENCE_ENABLE:
if (!plane.geofence_present()) {
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence not configured");
return MAV_RESULT_FAILED;
}
switch((uint16_t)packet.param1) {
case 0:
if (! plane.geofence_set_enabled(false)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case 1:
if (! plane.geofence_set_enabled(true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case 2: //disable fence floor only
if (! plane.geofence_set_floor_enabled(false)) {
return MAV_RESULT_FAILED;
}
gcs().send_text(MAV_SEVERITY_NOTICE,"Fence floor disabled");
return MAV_RESULT_ACCEPTED;
default:
break;
}
return MAV_RESULT_FAILED;
case MAV_CMD_DO_SET_HOME: {
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude (absolute)
if (is_equal(packet.param1,1.0f)) {
if (!plane.set_home_persistently(AP::gps().location())) {
return MAV_RESULT_FAILED;
}
AP::ahrs().lock_home();
return MAV_RESULT_ACCEPTED;
} else {
// ensure param1 is zero
if (!is_zero(packet.param1)) {
return MAV_RESULT_FAILED;
}
Location new_home_loc {};
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
new_home_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (!set_home(new_home_loc, true)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_AUTOTUNE_ENABLE:
// param1 : enable/disable
plane.autotune_enable(!is_zero(packet.param1));
return MAV_RESULT_ACCEPTED;
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// configure or release parachute
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
plane.parachute.enabled(false);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_ENABLE:
plane.parachute.enabled(true);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
if (plane.parachute.released()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute already released");
return MAV_RESULT_FAILED;
}
if (!plane.parachute.enabled()) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Parachute not enabled");
return MAV_RESULT_FAILED;
}
if (!plane.parachute_manual_release()) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
default:
break;
}
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 : motor count (number of motors to test in sequence)
return plane.quadplane.mavlink_motor_test_start(chan,
(uint8_t)packet.param1,
(uint8_t)packet.param2,
(uint16_t)packet.param3,
packet.param4,
(uint8_t)packet.param5);
case MAV_CMD_DO_VTOL_TRANSITION:
if (!plane.quadplane.handle_do_vtol_transition((enum MAV_VTOL_STATE)packet.param1)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_ENGINE_CONTROL:
if (!plane.g2.ice_control.engine_control(packet.param1, packet.param2, packet.param3)) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
default:
return GCS_MAVLINK::handle_command_long_packet(packet);
}
}
void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
{
switch (msg.msgid) {
#if GEOFENCE_ENABLED == ENABLED
// receive a fence point from GCS and store in EEPROM
case MAVLINK_MSG_ID_FENCE_POINT: {
mavlink_fence_point_t packet;
mavlink_msg_fence_point_decode(&msg, &packet);
if (plane.g.fence_action != FENCE_ACTION_NONE) {
send_text(MAV_SEVERITY_WARNING,"Fencing must be disabled");
} else if (packet.count != plane.g.fence_total) {
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
} else if (!check_latlng(packet.lat,packet.lng)) {
send_text(MAV_SEVERITY_WARNING,"Invalid fence point, lat or lng too large");
} else {
plane.set_fence_point_with_index(Vector2l(packet.lat*1.0e7f, packet.lng*1.0e7f), packet.idx);
}
break;
}
// send a fence point to GCS
case MAVLINK_MSG_ID_FENCE_FETCH_POINT: {
mavlink_fence_fetch_point_t packet;
mavlink_msg_fence_fetch_point_decode(&msg, &packet);
if (packet.idx >= plane.g.fence_total) {
send_text(MAV_SEVERITY_WARNING,"Bad fence point");
} else {
Vector2l point = plane.get_fence_point_with_index(packet.idx);
mavlink_msg_fence_point_send(chan, msg.sysid, msg.compid, packet.idx, plane.g.fence_total,
point.x*1.0e-7f, point.y*1.0e-7f);
}
break;
}
#endif // GEOFENCE_ENABLED
case MAVLINK_MSG_ID_MANUAL_CONTROL:
{
if (msg.sysid != plane.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 != plane.g.sysid_this_mav) {
break; // only accept messages aimed at us
}
uint32_t tnow = AP_HAL::millis();
manual_override(plane.channel_roll, packet.y, 1000, 2000, tnow);
manual_override(plane.channel_pitch, packet.x, 1000, 2000, tnow, true);
manual_override(plane.channel_throttle, packet.z, 0, 1000, tnow);
manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
// a manual control message is considered to be a 'heartbeat' from the ground station for failsafe purposes
plane.failsafe.last_heartbeat_ms = tnow;
break;
}
case MAVLINK_MSG_ID_HEARTBEAT:
{
// We keep track of the last time we received a heartbeat from
// our GCS for failsafe purposes
if (msg.sysid != plane.g.sysid_my_gcs) break;
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
break;
}
case MAVLINK_MSG_ID_HIL_STATE:
{
#if HIL_SUPPORT
if (plane.g.hil_mode != 1) {
break;
}
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(&msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
last_hil_state = packet;
// set gps hil sensor
const Location loc{packet.lat, packet.lon, packet.alt/10, Location::AltFrame::ABSOLUTE};
Vector3f vel(packet.vx, packet.vy, packet.vz);
vel *= 0.01f;
// setup airspeed pressure based on 3D speed, no wind
plane.airspeed.setHIL(sq(vel.length()) / 2.0f + 2013);
plane.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*0.001f;
accels.y = packet.yacc * GRAVITY_MSS*0.001f;
accels.z = packet.zacc * GRAVITY_MSS*0.001f;
plane.ins.set_gyro(0, gyros);
plane.ins.set_accel(0, accels);
plane.barometer.setHIL(packet.alt*0.001f);
plane.compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
plane.compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
// cope with DCM getting badly off due to HIL lag
if (plane.g.hil_err_limit > 0 &&
(fabsf(packet.roll - plane.ahrs.roll) > ToRad(plane.g.hil_err_limit) ||
fabsf(packet.pitch - plane.ahrs.pitch) > ToRad(plane.g.hil_err_limit) ||
wrap_PI(fabsf(packet.yaw - plane.ahrs.yaw)) > ToRad(plane.g.hil_err_limit))) {
plane.ahrs.reset_attitude(packet.roll, packet.pitch, packet.yaw);
}
#endif
break;
}
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{
handle_radio_status(msg, plane.should_log(MASK_LOG_PM));
break;
}
case MAVLINK_MSG_ID_TERRAIN_DATA:
case MAVLINK_MSG_ID_TERRAIN_CHECK:
#if AP_TERRAIN_AVAILABLE
plane.terrain.handle_data(chan, msg);
#endif
break;
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
{
// Only allow companion computer (or other external controller) to
// control attitude in GUIDED mode. We DON'T want external control
// in e.g., RTL, CICLE. Specifying a single mode for companion
// computer control is more safe (even more so when using
// FENCE_ACTION = 4 for geofence failures).
if (plane.control_mode != &plane.mode_guided) { // don't screw up failsafes
break;
}
mavlink_set_attitude_target_t att_target;
mavlink_msg_set_attitude_target_decode(&msg, &att_target);
// Mappings: If any of these bits are set, the corresponding input should be ignored.
// NOTE, when parsing the bits we invert them for easier interpretation but transport has them inverted
// bit 1: body roll rate
// bit 2: body pitch rate
// bit 3: body yaw rate
// bit 4: unknown
// bit 5: unknown
// bit 6: reserved
// bit 7: throttle
// bit 8: attitude
// if not setting all Quaternion values, use _rate flags to indicate which fields.
// Extract the Euler roll angle from the Quaternion.
Quaternion q(att_target.q[0], att_target.q[1],
att_target.q[2], att_target.q[3]);
// NOTE: att_target.type_mask is inverted for easier interpretation
att_target.type_mask = att_target.type_mask ^ 0xFF;
uint8_t attitude_mask = att_target.type_mask & 0b10000111; // q plus rpy
uint32_t now = AP_HAL::millis();
if ((attitude_mask & 0b10000001) || // partial, including roll
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.x = degrees(q.get_euler_roll()) * 100.0f;
// Update timer for external roll to the nav control
plane.guided_state.last_forced_rpy_ms.x = now;
}
if ((attitude_mask & 0b10000010) || // partial, including pitch
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.y = degrees(q.get_euler_pitch()) * 100.0f;
// Update timer for external pitch to the nav control
plane.guided_state.last_forced_rpy_ms.y = now;
}
if ((attitude_mask & 0b10000100) || // partial, including yaw
(attitude_mask == 0b10000000)) { // all angles
plane.guided_state.forced_rpy_cd.z = degrees(q.get_euler_yaw()) * 100.0f;
// Update timer for external yaw to the nav control
plane.guided_state.last_forced_rpy_ms.z = now;
}
if (att_target.type_mask & 0b01000000) { // throttle
plane.guided_state.forced_throttle = att_target.thrust * 100.0f;
// Update timer for external throttle
plane.guided_state.last_forced_throttle_ms = now;
}
break;
}
case MAVLINK_MSG_ID_SET_HOME_POSITION:
{
mavlink_set_home_position_t packet;
mavlink_msg_set_home_position_decode(&msg, &packet);
Location new_home_loc {};
new_home_loc.lat = packet.latitude;
new_home_loc.lng = packet.longitude;
new_home_loc.alt = packet.altitude / 10;
if (!set_home(new_home_loc, false)) {
// silently fails...
break;
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
{
// 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
if (plane.control_mode != &plane.mode_guided) {
break;
}
// only local moves for now
if (packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED) {
break;
}
// just do altitude for now
plane.next_WP_loc.alt += -packet.z*100.0;
gcs().send_text(MAV_SEVERITY_INFO, "Change alt to %.1f",
(double)((plane.next_WP_loc.alt - plane.home.alt)*0.01));
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
{
// Only want to allow companion computer position control when
// in a certain mode to avoid inadvertently sending these
// kinds of commands when the autopilot is responding to problems
// in modes such as RTL, CIRCLE, etc. Specifying ONLY one mode
// for companion computer control is more safe (provided
// one uses the FENCE_ACTION = 4 (RTL) for geofence failures).
if (plane.control_mode != &plane.mode_guided) {
//don't screw up failsafes
break;
}
mavlink_set_position_target_global_int_t pos_target;
mavlink_msg_set_position_target_global_int_decode(&msg, &pos_target);
// Unexpectedly, the mask is expecting "ones" for dimensions that should
// be IGNORNED rather than INCLUDED. See mavlink documentation of the
// SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3)
bool msg_valid = true;
AP_Mission::Mission_Command cmd = {0};
if (pos_target.type_mask & alt_mask)
{
cmd.content.location.alt = pos_target.alt * 100;
cmd.content.location.relative_alt = false;
cmd.content.location.terrain_alt = false;
switch (pos_target.coordinate_frame)
{
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
break; //default to MSL altitude
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
cmd.content.location.relative_alt = true;
break;
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT:
cmd.content.location.relative_alt = true;
cmd.content.location.terrain_alt = true;
break;
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Invalid coord frame in SET_POSTION_TARGET_GLOBAL_INT");
msg_valid = false;
break;
}
if (msg_valid) {
handle_change_alt_request(cmd);
}
} // end if alt_mask
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
plane.adsb.handle_message(chan, msg);
#endif
break;
default:
handle_common_message(msg);
break;
} // end switch
} // end handle mavlink
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
void GCS_MAVLINK_Plane::handle_rc_channels_override(const mavlink_message_t &msg)
{
plane.failsafe.last_heartbeat_ms = AP_HAL::millis();
GCS_MAVLINK::handle_rc_channels_override(msg);
}
void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg)
{
plane.auto_state.next_wp_crosstrack = false;
GCS_MAVLINK::handle_mission_set_current(mission, msg);
if (plane.control_mode == &plane.mode_auto && plane.mission.state() == AP_Mission::MISSION_STOPPED) {
plane.mission.resume();
}
}
uint64_t GCS_MAVLINK_Plane::capabilities() const
{
return (MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT |
MAV_PROTOCOL_CAPABILITY_COMMAND_INT |
MAV_PROTOCOL_CAPABILITY_MISSION_INT |
MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT |
MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET |
#if AP_TERRAIN_AVAILABLE
(plane.terrain.enabled() ? MAV_PROTOCOL_CAPABILITY_TERRAIN : 0) |
#endif
GCS_MAVLINK::capabilities());
}
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