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ardupilot/APMrover2/GCS_Mavlink.cpp

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#include "Rover.h"
#include "version.h"
#include "GCS_Mavlink.h"
void Rover::send_heartbeat(mavlink_channel_t chan)
{
uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
uint8_t system_status = MAV_STATE_ACTIVE;
uint32_t custom_mode = control_mode;
if (failsafe.triggered != 0) {
system_status = MAV_STATE_CRITICAL;
}
// 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 (control_mode) {
case MANUAL:
case LEARNING:
case STEERING:
base_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case AUTO:
case RTL:
case GUIDED:
base_mode = MAV_MODE_FLAG_GUIDED_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 INITIALISING:
system_status = MAV_STATE_CALIBRATING;
break;
case HOLD:
system_status = 0;
break;
}
#if defined(ENABLE_STICK_MIXING) && (ENABLE_STICK_MIXING == ENABLED)
if (control_mode != INITIALISING) {
// all modes except INITIALISING have some form of manual
// override if stick mixing is enabled
base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
#endif
#if HIL_MODE != HIL_MODE_DISABLED
base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
#endif
// we are armed if we are not initialising
if (control_mode != INITIALISING && hal.util->get_soft_armed()) {
base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
// indicate we have set a custom mode
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
gcs[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_GROUND_ROVER,
base_mode,
custom_mode,
system_status);
}
void Rover::send_attitude(mavlink_channel_t chan)
{
Vector3f omega = ahrs.get_gyro();
mavlink_msg_attitude_send(
chan,
millis(),
ahrs.roll,
ahrs.pitch,
ahrs.yaw,
omega.x,
omega.y,
omega.z);
}
void Rover::send_extended_status1(mavlink_channel_t chan)
{
int16_t battery_current = -1;
int8_t battery_remaining = -1;
if (battery.has_current() && battery.healthy()) {
battery_remaining = battery.capacity_remaining_pct();
battery_current = battery.current_amps() * 100;
}
update_sensor_status_flags();
mavlink_msg_sys_status_send(
chan,
control_sensors_present,
control_sensors_enabled,
control_sensors_health,
(uint16_t)(scheduler.load_average(20000) * 1000),
battery.voltage() * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %
0, // comm drops %,
0, // comm drops in pkts,
0, 0, 0, 0);
}
void Rover::send_location(mavlink_channel_t chan)
{
uint32_t fix_time;
// if we have a GPS fix, take the time as the last fix time. That
// allows us to correctly calculate velocities and extrapolate
// positions.
// If we don't have a GPS fix then we are dead reckoning, and will
// use the current boot time as the fix time.
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
fix_time = gps.last_fix_time_ms();
} else {
fix_time = millis();
}
const Vector3f &vel = gps.velocity();
mavlink_msg_global_position_int_send(
chan,
fix_time,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
current_loc.alt * 10UL, // millimeters above sea level
(current_loc.alt - home.alt) * 10, // millimeters above ground
vel.x * 100, // X speed cm/s (+ve North)
vel.y * 100, // Y speed cm/s (+ve East)
vel.z * -100, // Z speed cm/s (+ve up)
ahrs.yaw_sensor);
}
void Rover::send_nav_controller_output(mavlink_channel_t chan)
{
mavlink_msg_nav_controller_output_send(
chan,
lateral_acceleration, // use nav_roll to hold demanded Y accel
ahrs.groundspeed() * ins.get_gyro().z, // use nav_pitch to hold actual Y accel
nav_controller->nav_bearing_cd() * 0.01f,
nav_controller->target_bearing_cd() * 0.01f,
wp_distance,
0,
groundspeed_error,
nav_controller->crosstrack_error());
}
void Rover::send_servo_out(mavlink_channel_t chan)
{
#if HIL_MODE != HIL_MODE_DISABLED
// 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 * channel_steer->norm_output(),
0,
10000 * channel_throttle->norm_output(),
0,
0,
0,
0,
0,
receiver_rssi);
#endif
}
void Rover::send_vfr_hud(mavlink_channel_t chan)
{
mavlink_msg_vfr_hud_send(
chan,
gps.ground_speed(),
ahrs.groundspeed(),
(ahrs.yaw_sensor / 100) % 360,
(uint16_t)(100 * fabsf(channel_throttle->norm_output())),
current_loc.alt / 100.0,
0);
}
// report simulator state
void Rover::send_simstate(mavlink_channel_t chan)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.simstate_send(chan);
#endif
}
void Rover::send_hwstatus(mavlink_channel_t chan)
{
mavlink_msg_hwstatus_send(
chan,
hal.analogin->board_voltage()*1000,
0);
}
void Rover::send_rangefinder(mavlink_channel_t chan)
{
if (!sonar.has_data(0) && !sonar.has_data(1)) {
// no sonar to report
return;
}
float distance_cm = 0.0f;
float voltage = 0.0f;
/*
report smaller distance of two sonars
*/
if (sonar.has_data(0) && sonar.has_data(1)) {
if (sonar.distance_cm(0) <= sonar.distance_cm(1)) {
distance_cm = sonar.distance_cm(0);
voltage = sonar.voltage_mv(0);
} else {
distance_cm = sonar.distance_cm(1);
voltage = sonar.voltage_mv(1);
}
} else {
// only sonar 0 or sonar 1 has data
if (sonar.has_data(0)) {
distance_cm = sonar.distance_cm(0);
voltage = sonar.voltage_mv(0) * 0.001f;
}
if (sonar.has_data(1)) {
distance_cm = sonar.distance_cm(1);
voltage = sonar.voltage_mv(1) * 0.001f;
}
}
mavlink_msg_rangefinder_send(
chan,
distance_cm * 0.01f,
voltage);
}
/*
send PID tuning message
*/
void Rover::send_pid_tuning(mavlink_channel_t chan)
{
const Vector3f &gyro = ahrs.get_gyro();
const DataFlash_Class::PID_Info *pid_info;
if (g.gcs_pid_mask & 1) {
pid_info = &steerController.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER,
pid_info->desired,
degrees(gyro.z),
pid_info->FF,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
if (g.gcs_pid_mask & 2) {
pid_info = &g.pidSpeedThrottle.get_pid_info();
mavlink_msg_pid_tuning_send(chan, PID_TUNING_ACCZ,
pid_info->desired,
0,
0,
pid_info->P,
pid_info->I,
pid_info->D);
if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
return;
}
}
}
void Rover::send_current_waypoint(mavlink_channel_t chan)
{
mavlink_msg_mission_current_send(chan, mission.get_current_nav_index());
}
uint32_t GCS_MAVLINK_Rover::telem_delay() const
{
return (uint32_t)(rover.g.telem_delay);
}
// try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
{
if (telemetry_delayed(chan)) {
return false;
}
// if we don't have at least 1ms remaining before the main loop
// wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications
if (!rover.in_mavlink_delay && rover.scheduler.time_available_usec() < 1200) {
rover.gcs_out_of_time = true;
return false;
}
switch (id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
last_heartbeat_time = AP_HAL::millis();
rover.send_heartbeat(chan);
return true;
case MSG_EXTENDED_STATUS1:
CHECK_PAYLOAD_SIZE(SYS_STATUS);
rover.send_extended_status1(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS);
send_power_status();
break;
case MSG_EXTENDED_STATUS2:
CHECK_PAYLOAD_SIZE(MEMINFO);
send_meminfo();
break;
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
rover.send_attitude(chan);
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
rover.send_location(chan);
break;
case MSG_LOCAL_POSITION:
CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
send_local_position(rover.ahrs);
break;
case MSG_NAV_CONTROLLER_OUTPUT:
if (rover.control_mode != MANUAL) {
CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
rover.send_nav_controller_output(chan);
}
break;
case MSG_GPS_RAW:
CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
send_gps_raw(rover.gps);
break;
case MSG_SYSTEM_TIME:
CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
send_system_time(rover.gps);
break;
case MSG_SERVO_OUT:
CHECK_PAYLOAD_SIZE(RC_CHANNELS_SCALED);
rover.send_servo_out(chan);
break;
case MSG_RADIO_IN:
CHECK_PAYLOAD_SIZE(RC_CHANNELS);
send_radio_in(rover.receiver_rssi);
break;
case MSG_RADIO_OUT:
CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
send_servo_output_raw(false);
break;
case MSG_VFR_HUD:
CHECK_PAYLOAD_SIZE(VFR_HUD);
rover.send_vfr_hud(chan);
break;
case MSG_RAW_IMU1:
CHECK_PAYLOAD_SIZE(RAW_IMU);
send_raw_imu(rover.ins, rover.compass);
break;
case MSG_RAW_IMU3:
CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
send_sensor_offsets(rover.ins, rover.compass, rover.barometer);
break;
case MSG_CURRENT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
rover.send_current_waypoint(chan);
break;
case MSG_NEXT_PARAM:
CHECK_PAYLOAD_SIZE(PARAM_VALUE);
queued_param_send();
break;
case MSG_NEXT_WAYPOINT:
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
queued_waypoint_send();
break;
case MSG_STATUSTEXT:
// depreciated, use GCS_MAVLINK::send_statustext*
return false;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(rover.ahrs);
break;
case MSG_SIMSTATE:
CHECK_PAYLOAD_SIZE(SIMSTATE);
rover.send_simstate(chan);
break;
case MSG_HWSTATUS:
CHECK_PAYLOAD_SIZE(HWSTATUS);
rover.send_hwstatus(chan);
break;
case MSG_RANGEFINDER:
CHECK_PAYLOAD_SIZE(RANGEFINDER);
rover.send_rangefinder(chan);
break;
case MSG_MOUNT_STATUS:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
rover.camera_mount.status_msg(chan);
#endif // MOUNT == ENABLED
break;
case MSG_RAW_IMU2:
case MSG_LIMITS_STATUS:
case MSG_FENCE_STATUS:
case MSG_WIND:
// unused
break;
case MSG_VIBRATION:
CHECK_PAYLOAD_SIZE(VIBRATION);
send_vibration(rover.ins);
break;
case MSG_BATTERY2:
CHECK_PAYLOAD_SIZE(BATTERY2);
send_battery2(rover.battery);
break;
case MSG_CAMERA_FEEDBACK:
#if CAMERA == ENABLED
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
rover.camera.send_feedback(chan, rover.gps, rover.ahrs, rover.current_loc);
#endif
break;
case MSG_EKF_STATUS_REPORT:
#if AP_AHRS_NAVEKF_AVAILABLE
CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
rover.ahrs.send_ekf_status_report(chan);
#endif
break;
case MSG_PID_TUNING:
CHECK_PAYLOAD_SIZE(PID_TUNING);
rover.send_pid_tuning(chan);
break;
case MSG_MISSION_ITEM_REACHED:
CHECK_PAYLOAD_SIZE(MISSION_ITEM_REACHED);
mavlink_msg_mission_item_reached_send(chan, mission_item_reached_index);
break;
case MSG_MAG_CAL_PROGRESS:
rover.compass.send_mag_cal_progress(chan);
break;
case MSG_MAG_CAL_REPORT:
rover.compass.send_mag_cal_report(chan);
break;
case MSG_RETRY_DEFERRED:
case MSG_ADSB_VEHICLE:
case MSG_TERRAIN:
case MSG_OPTICAL_FLOW:
case MSG_GIMBAL_REPORT:
case MSG_RPM:
case MSG_POSITION_TARGET_GLOBAL_INT:
break; // just here to prevent a warning
}
return true;
}
/*
default stream rates to 1Hz
*/
const AP_Param::GroupInfo GCS_MAVLINK::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, 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, 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, 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, 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, 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, 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, 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, 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, streamRates[8], 10),
AP_GROUPEND
};
void
GCS_MAVLINK_Rover::data_stream_send(void)
{
rover.gcs_out_of_time = false;
if (!rover.in_mavlink_delay) {
handle_log_send(rover.DataFlash);
}
if (_queued_parameter != nullptr) {
if (streamRates[STREAM_PARAMS].get() <= 0) {
streamRates[STREAM_PARAMS].set(10);
}
if (stream_trigger(STREAM_PARAMS)) {
send_message(MSG_NEXT_PARAM);
}
}
if (rover.gcs_out_of_time) {
return;
}
if (rover.in_mavlink_delay) {
#if HIL_MODE != HIL_MODE_DISABLED
// in HIL we need to keep sending servo values to ensure
// the simulator doesn't pause, otherwise our sensor
// calibration could stall
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUT);
}
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_RADIO_OUT);
}
#endif
// don't send any other stream types while in the delay callback
return;
}
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1);
send_message(MSG_RAW_IMU3);
}
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
send_message(MSG_EXTENDED_STATUS1);
send_message(MSG_EXTENDED_STATUS2);
send_message(MSG_CURRENT_WAYPOINT);
send_message(MSG_GPS_RAW); // TODO - remove this message after location message is working
send_message(MSG_NAV_CONTROLLER_OUTPUT);
}
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_POSITION)) {
// sent with GPS read
send_message(MSG_LOCATION);
send_message(MSG_LOCAL_POSITION);
}
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_RAW_CONTROLLER)) {
send_message(MSG_SERVO_OUT);
}
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_RC_CHANNELS)) {
send_message(MSG_RADIO_OUT);
send_message(MSG_RADIO_IN);
}
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
send_message(MSG_SIMSTATE);
if (rover.control_mode != MANUAL) {
send_message(MSG_PID_TUNING);
}
}
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTRA2)) {
send_message(MSG_VFR_HUD);
}
if (rover.gcs_out_of_time) {
return;
}
if (stream_trigger(STREAM_EXTRA3)) {
send_message(MSG_AHRS);
send_message(MSG_HWSTATUS);
send_message(MSG_RANGEFINDER);
send_message(MSG_SYSTEM_TIME);
send_message(MSG_BATTERY2);
send_message(MSG_MAG_CAL_REPORT);
send_message(MSG_MAG_CAL_PROGRESS);
send_message(MSG_MOUNT_STATUS);
send_message(MSG_EKF_STATUS_REPORT);
send_message(MSG_VIBRATION);
}
}
bool GCS_MAVLINK_Rover::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
if (rover.control_mode != GUIDED) {
// only accept position updates when in GUIDED mode
return false;
}
rover.guided_WP = cmd.content.location;
// This method is only called when we are in Guided WP GUIDED mode
rover.guided_mode = Guided_WP;
// make any new wp uploaded instant (in case we are already in Guided mode)
rover.rtl_complete = false;
rover.set_guided_WP();
return true;
}
void GCS_MAVLINK_Rover::handle_change_alt_request(AP_Mission::Mission_Command &cmd)
{
// nothing to do
}
void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
{
handle_request_data_stream(msg, true);
break;
}
case MAVLINK_MSG_ID_STATUSTEXT:
{
// ignore any statustext messages not from our GCS:
if (msg->sysid != rover.g.sysid_my_gcs) {
break;
}
mavlink_statustext_t packet;
mavlink_msg_statustext_decode(msg, &packet);
char text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1+4] = { 'G', 'C', 'S', ':'};
memcpy(&text[4], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
rover.DataFlash.Log_Write_Message(text);
break;
}
case MAVLINK_MSG_ID_COMMAND_INT: {
// decode packet
mavlink_command_int_t packet;
mavlink_msg_command_int_decode(msg, &packet);
uint8_t result = MAV_RESULT_UNSUPPORTED;
switch (packet.command) {
#if MOUNT == ENABLED
case MAV_CMD_DO_SET_ROI: {
// param1 : /* Region of interest mode (not used)*/
// param2 : /* MISSION index/ target ID (not used)*/
// param3 : /* ROI index (not used)*/
// param4 : /* empty */
// x : lat
// y : lon
// z : alt
// sanity check location
if (!check_latlng(packet.x, packet.y)) {
break;
}
Location roi_loc;
roi_loc.lat = packet.x;
roi_loc.lng = packet.y;
roi_loc.alt = (int32_t)(packet.z * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
}
#endif
default:
result = MAV_RESULT_UNSUPPORTED;
break;
}
// send ACK or NAK
mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
break;
}
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
uint8_t result = MAV_RESULT_UNSUPPORTED;
// do command
switch (packet.command) {
case MAV_CMD_START_RX_PAIR:
result = handle_rc_bind(packet);
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
rover.set_mode(RTL);
result = MAV_RESULT_ACCEPTED;
break;
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (rover.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
rover.camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
rover.camera_mount.set_roi_target(roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
#endif
#if CAMERA == ENABLED
case MAV_CMD_DO_DIGICAM_CONFIGURE:
rover.camera.configure(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6,
packet.param7);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_DIGICAM_CONTROL:
if (rover.camera.control(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6)) {
rover.log_picture();
}
result = MAV_RESULT_ACCEPTED;
break;
#endif // CAMERA == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED
rover.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
result = MAV_RESULT_ACCEPTED;
#endif
break;
case MAV_CMD_MISSION_START:
rover.set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_PREFLIGHT_CALIBRATION:
if (hal.util->get_soft_armed()) {
result = MAV_RESULT_FAILED;
break;
}
if (is_equal(packet.param1, 1.0f)) {
rover.ins.init_gyro();
if (rover.ins.gyro_calibrated_ok_all()) {
rover.ahrs.reset_gyro_drift();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (is_equal(packet.param3, 1.0f)) {
rover.init_barometer(false);
result = MAV_RESULT_ACCEPTED;
} else if (is_equal(packet.param4, 1.0f)) {
rover.trim_radio();
result = MAV_RESULT_ACCEPTED;
} else if (is_equal(packet.param5, 1.0f)) {
result = MAV_RESULT_ACCEPTED;
// start with gyro calibration
rover.ins.init_gyro();
// reset ahrs gyro bias
if (rover.ins.gyro_calibrated_ok_all()) {
rover.ahrs.reset_gyro_drift();
} else {
result = MAV_RESULT_FAILED;
}
rover.ins.acal_init();
rover.ins.get_acal()->start(this);
} else if (is_equal(packet.param5, 2.0f)) {
// start with gyro calibration
rover.ins.init_gyro();
// accel trim
float trim_roll, trim_pitch;
if (rover.ins.calibrate_trim(trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
rover.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
}
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
{
uint8_t compassNumber = -1;
if (is_equal(packet.param1, 2.0f)) {
compassNumber = 0;
} else if (is_equal(packet.param1, 5.0f)) {
compassNumber = 1;
} else if (is_equal(packet.param1, 6.0f)) {
compassNumber = 2;
}
if (compassNumber != (uint8_t) -1) {
rover.compass.set_and_save_offsets(compassNumber, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_SET_MODE:
switch ((uint16_t)packet.param1) {
case MAV_MODE_MANUAL_ARMED:
case MAV_MODE_MANUAL_DISARMED:
rover.set_mode(MANUAL);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_AUTO_ARMED:
case MAV_MODE_AUTO_DISARMED:
rover.set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_STABILIZE_DISARMED:
case MAV_MODE_STABILIZE_ARMED:
rover.set_mode(LEARNING);
result = MAV_RESULT_ACCEPTED;
break;
default:
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_DO_SET_SERVO:
if (rover.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_SERVO:
if (rover.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_SET_RELAY:
if (rover.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_REPEAT_RELAY:
if (rover.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (is_equal(packet.param1, 1.0f) || is_equal(packet.param1, 3.0f)) {
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(is_equal(packet.param1, 3.0f));
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1, 1.0f)) {
// run pre_arm_checks and arm_checks and display failures
if (rover.arm_motors(AP_Arming::MAVLINK)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (is_zero(packet.param1)) {
if (rover.disarm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_GET_HOME_POSITION:
if (rover.home_is_set != HOME_UNSET) {
send_home(rover.ahrs.get_home());
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
break;
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (is_equal(packet.param1, 1.0f)) {
send_autopilot_version(FIRMWARE_VERSION);
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_SET_HOME:
{
// param1 : use current (1=use current location, 0=use specified location)
// param5 : latitude
// param6 : longitude
// param7 : altitude
result = MAV_RESULT_FAILED; // assume failure
if (is_equal(packet.param1, 1.0f)) {
rover.init_home();
} else {
if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) {
// don't allow the 0,0 position
break;
}
// sanity check location
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
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);
rover.ahrs.set_home(new_home_loc);
rover.home_is_set = HOME_SET_NOT_LOCKED;
rover.Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(new_home_loc);
result = MAV_RESULT_ACCEPTED;
rover.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat * 1.0e-7f),
(double)(new_home_loc.lng * 1.0e-7f),
(uint32_t)(new_home_loc.alt * 0.01f));
}
break;
}
case MAV_CMD_DO_START_MAG_CAL:
case MAV_CMD_DO_ACCEPT_MAG_CAL:
case MAV_CMD_DO_CANCEL_MAG_CAL:
result = rover.compass.handle_mag_cal_command(packet);
break;
case MAV_CMD_NAV_SET_YAW_SPEED:
{
// param1 : yaw angle to adjust direction by in centidegress
// param2 : Speed - normalized to 0 .. 1
// exit if vehicle is not in Guided mode
if (rover.control_mode != GUIDED) {
break;
}
rover.guided_mode = Guided_Angle;
rover.guided_yaw_speed.msg_time_ms = AP_HAL::millis();
rover.guided_yaw_speed.turn_angle = packet.param1;
rover.guided_yaw_speed.target_speed = constrain_float(packet.param2, 0.0f, 1.0f);
rover.nav_set_yaw_speed();
result = MAV_RESULT_ACCEPTED;
break;
}
case MAV_CMD_ACCELCAL_VEHICLE_POS:
result = MAV_RESULT_FAILED;
if (rover.ins.get_acal()->gcs_vehicle_position(packet.param1)) {
result = MAV_RESULT_ACCEPTED;
}
break;
default:
break;
}
mavlink_msg_command_ack_send_buf(
msg,
chan,
packet.command,
result);
break;
}
case MAVLINK_MSG_ID_SET_MODE:
{
handle_set_mode(msg, FUNCTOR_BIND(&rover, &Rover::mavlink_set_mode, bool, uint8_t));
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
{
handle_mission_request_list(rover.mission, msg);
break;
}
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
handle_mission_request(rover.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_ACK:
{
// not used
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
{
// mark the firmware version in the tlog
send_text(MAV_SEVERITY_INFO, FIRMWARE_STRING);
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
handle_param_request_list(msg);
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
{
handle_mission_clear_all(rover.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
{
handle_mission_set_current(rover.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT:
{
handle_mission_count(rover.mission, msg);
break;
}
case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
{
handle_mission_write_partial_list(rover.mission, msg);
break;
}
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM:
{
if (handle_mission_item(msg, rover.mission)) {
rover.DataFlash.Log_Write_EntireMission(rover.mission);
}
break;
}
case MAVLINK_MSG_ID_MISSION_ITEM_INT:
{
if (handle_mission_item(msg, rover.mission)) {
rover.DataFlash.Log_Write_EntireMission(rover.mission);
}
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
{
handle_param_set(msg, &rover.DataFlash);
break;
}
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
{
// allow override of RC channel values for HIL
// or for complete GCS control of switch position
// and RC PWM values.
if (msg->sysid != rover.g.sysid_my_gcs) { // Only accept control from our gcs
break;
}
mavlink_rc_channels_override_t packet;
int16_t v[8];
mavlink_msg_rc_channels_override_decode(msg, &packet);
v[0] = packet.chan1_raw;
v[1] = packet.chan2_raw;
v[2] = packet.chan3_raw;
v[3] = packet.chan4_raw;
v[4] = packet.chan5_raw;
v[5] = packet.chan6_raw;
v[6] = packet.chan7_raw;
v[7] = packet.chan8_raw;
hal.rcin->set_overrides(v, 8);
rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
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 != rover.g.sysid_my_gcs) {
break;
}
rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis();
rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: // MAV ID: 84
{
// decode packet
mavlink_set_position_target_local_ned_t packet;
mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
// exit if vehicle is not in Guided mode
if (rover.control_mode != GUIDED) {
break;
}
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_LOCAL_NED &&
packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED &&
packet.coordinate_frame != MAV_FRAME_BODY_NED &&
packet.coordinate_frame != MAV_FRAME_BODY_OFFSET_NED) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
// prepare and send target position
if (!pos_ignore) {
Location loc = rover.current_loc;
switch (packet.coordinate_frame) {
case MAV_FRAME_BODY_NED:
case MAV_FRAME_BODY_OFFSET_NED: {
// rotate from body-frame to NE frame
float ne_x = packet.x*rover.ahrs.cos_yaw() - packet.y*rover.ahrs.sin_yaw();
float ne_y = packet.x*rover.ahrs.sin_yaw() + packet.y*rover.ahrs.cos_yaw();
// add offset to current location
location_offset(loc, ne_x, ne_y);
}
break;
case MAV_FRAME_LOCAL_OFFSET_NED:
// add offset to current location
location_offset(loc, packet.x, packet.y);
break;
default:
// MAV_FRAME_LOCAL_NED interpret as an offset from home
loc = rover.ahrs.get_home();
location_offset(loc, packet.x, packet.y);
break;
}
rover.guided_WP = loc;
rover.rtl_complete = false;
rover.set_guided_WP();
}
break;
}
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: // MAV ID: 86
{
// decode packet
mavlink_set_position_target_global_int_t packet;
mavlink_msg_set_position_target_global_int_decode(msg, &packet);
// exit if vehicle is not in Guided mode
if (rover.control_mode != GUIDED) {
break;
}
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
// prepare and send target position
if (!pos_ignore) {
Location loc = rover.current_loc;
loc.lat = packet.lat_int;
loc.lng = packet.lon_int;
rover.guided_WP = loc;
rover.rtl_complete = false;
rover.set_guided_WP();
}
break;
}
case MAVLINK_MSG_ID_GPS_RTCM_DATA:
case MAVLINK_MSG_ID_GPS_INPUT:
case MAVLINK_MSG_ID_HIL_GPS:
{
rover.gps.handle_msg(msg);
break;
}
#if HIL_MODE != HIL_MODE_DISABLED
case MAVLINK_MSG_ID_HIL_STATE:
{
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
// set gps hil sensor
Location loc;
loc.lat = packet.lat;
loc.lng = packet.lon;
loc.alt = packet.alt/10;
Vector3f vel(packet.vx, packet.vy, packet.vz);
vel *= 0.01f;
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
packet.time_usec/1000,
loc, vel, 10, 0);
// rad/sec
Vector3f gyros;
gyros.x = packet.rollspeed;
gyros.y = packet.pitchspeed;
gyros.z = packet.yawspeed;
// m/s/s
Vector3f accels;
accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
ins.set_gyro(0, gyros);
ins.set_accel(0, accels);
compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
break;
}
#endif // HIL_MODE
#if CAMERA == ENABLED
// deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
{
break;
}
// deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
{
rover.camera.control_msg(msg);
rover.log_picture();
break;
}
#endif // CAMERA == ENABLED
#if MOUNT == ENABLED
// deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
{
rover.camera_mount.configure_msg(msg);
break;
}
// deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
case MAVLINK_MSG_ID_MOUNT_CONTROL:
{
rover.camera_mount.control_msg(msg);
break;
}
#endif // MOUNT == ENABLED
case MAVLINK_MSG_ID_RADIO:
case MAVLINK_MSG_ID_RADIO_STATUS:
{
handle_radio_status(msg, rover.DataFlash, rover.should_log(MASK_LOG_PM));
break;
}
case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
case MAVLINK_MSG_ID_LOG_ERASE:
rover.in_log_download = true;
/* no break */
case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
if (!rover.in_mavlink_delay) {
handle_log_message(msg, rover.DataFlash);
}
break;
case MAVLINK_MSG_ID_LOG_REQUEST_END:
rover.in_log_download = false;
if (!rover.in_mavlink_delay) {
handle_log_message(msg, rover.DataFlash);
}
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
handle_serial_control(msg, rover.gps);
break;
case MAVLINK_MSG_ID_GPS_INJECT_DATA:
handle_gps_inject(msg, rover.gps);
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
rover.sonar.handle_msg(msg);
break;
case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
rover.DataFlash.remote_log_block_status_msg(chan, msg);
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
send_autopilot_version(FIRMWARE_VERSION);
break;
case MAVLINK_MSG_ID_LED_CONTROL:
// send message to Notify
AP_Notify::handle_led_control(msg);
break;
case MAVLINK_MSG_ID_PLAY_TUNE:
// send message to Notify
AP_Notify::handle_play_tune(msg);
break;
default:
handle_common_message(msg);
break;
} // end switch
} // end handle mavlink
/*
* a delay() callback that processes MAVLink packets. We set this as the
* callback in long running library initialisation routines to allow
* MAVLink to process packets while waiting for the initialisation to
* complete
*/
void Rover::mavlink_delay_cb()
{
static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs[0].initialised || in_mavlink_delay) {
return;
}
in_mavlink_delay = true;
uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_message(MSG_HEARTBEAT);
gcs_send_message(MSG_EXTENDED_STATUS1);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
gcs_update();
gcs_data_stream_send();
notify.update();
}
if (tnow - last_5s > 5000) {
last_5s = tnow;
gcs_send_text(MAV_SEVERITY_INFO, "Initialising APM");
}
check_usb_mux();
in_mavlink_delay = false;
}
/*
* send a message on both GCS links
*/
void Rover::gcs_send_message(enum ap_message id)
{
for (uint8_t i=0; i < num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].send_message(id);
}
}
}
/*
* send a mission item reached message and load the index before the send attempt in case it may get delayed
*/
void Rover::gcs_send_mission_item_reached_message(uint16_t mission_index)
{
for (uint8_t i=0; i < num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].mission_item_reached_index = mission_index;
gcs[i].send_message(MSG_MISSION_ITEM_REACHED);
}
}
}
/*
* send data streams in the given rate range on both links
*/
void Rover::gcs_data_stream_send(void)
{
for (uint8_t i=0; i < num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].data_stream_send();
}
}
}
/*
* look for incoming commands on the GCS links
*/
void Rover::gcs_update(void)
{
for (uint8_t i=0; i < num_gcs; i++) {
if (gcs[i].initialised) {
#if CLI_ENABLED == ENABLED
gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Rover::run_cli, void, AP_HAL::UARTDriver *) : nullptr);
#else
gcs[i].update(nullptr);
#endif
}
}
}
void Rover::gcs_send_text(MAV_SEVERITY severity, const char *str)
{
GCS_MAVLINK::send_statustext(severity, 0xFF, str);
}
/*
* send a low priority formatted message to the GCS
* only one fits in the queue, so if you send more than one before the
* last one gets into the serial buffer then the old one will be lost
*/
void Rover::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
{
char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
va_list arg_list;
va_start(arg_list, fmt);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
va_end(arg_list);
GCS_MAVLINK::send_statustext(severity, 0xFF, str);
}
/**
retry any deferred messages
*/
void Rover::gcs_retry_deferred(void)
{
gcs_send_message(MSG_RETRY_DEFERRED);
GCS_MAVLINK::service_statustext();
}
/*
return true if we will accept this packet. Used to implement SYSID_ENFORCE
*/
bool GCS_MAVLINK_Rover::accept_packet(const mavlink_status_t &status, mavlink_message_t &msg)
{
if (!rover.g2.sysid_enforce) {
return true;
}
if (msg.msgid == MAVLINK_MSG_ID_RADIO || msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
return true;
}
return (msg.sysid == rover.g.sysid_my_gcs);
}
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