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Copter: use Mission mav to cmd conversion methods

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This commit is contained in:
Randy Mackay 2014-02-28 15:57:20 +09:00
parent 26b82cf0a3
commit 070cbc9250
1 changed files with 3 additions and 309 deletions
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312
ArduCopter/GCS_Mavlink.pde
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@ -4,8 +4,6 @@
#define MAVLINK_SENSOR_PRESENT_DEFAULT (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | MAV_SYS_STATUS_SENSOR_YAW_POSITION | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS)
// forward declarations to make compiler happy
static bool mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd);
static bool mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet);
static bool do_guided(const AP_Mission::Mission_Command& cmd);
// use this to prevent recursion during sensor init
@ -1337,7 +1335,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
// convert mavlink packet to mission command
if (!mavlink_to_mission_cmd(packet, cmd)) {
if (!AP_Mission::mavlink_to_mission_cmd(packet, cmd)) {
result = MAV_MISSION_ERROR;
goto mission_item_receive_failed;
}
@ -1354,7 +1352,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else if(packet.current == 3) { //current = 3 is a flag to tell us this is a alt change only
// add home alt if needed
if (cmd.content.location.options & MASK_OPTIONS_RELATIVE_ALT) {
if (cmd.content.location.options & LOCATION_MASK_OPTIONS_RELATIVE_ALT) {
cmd.content.location.alt += home.alt;
}
@ -1428,7 +1426,7 @@ mission_item_receive_failed:
// convert mission command to mavlink mission item packet
mavlink_mission_item_t ret_packet;
memset(&ret_packet, 0, sizeof(ret_packet));
if (!mission_cmd_to_mavlink(cmd, ret_packet)) {
if (!AP_Mission::mission_cmd_to_mavlink(cmd, ret_packet)) {
result = MAV_MISSION_ERROR;
goto mission_item_send_failed;
}
@ -1894,310 +1892,6 @@ mission_item_send_failed:
} // end switch
} // end handle mavlink
// mavlink_to_mission_cmd - converts mavlink message to an AP_Mission::Mission_Command object which can be stored to eeprom
// return true on success, false on failure
static bool mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP_Mission::Mission_Command& cmd)
{
bool copy_location = false;
// command's position in mission list and mavlink id
cmd.index = packet.seq;
cmd.id = packet.command;
// command specific conversions from mavlink packet to mission command
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16
copy_location = true;
cmd.content.location.p1 = packet.param1; // delay at waypoint in seconds
break;
case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
copy_location = true;
break;
case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
copy_location = true;
cmd.content.location.p1 = packet.param1; // number of times to circle is held in location.p1
break;
case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
copy_location = true;
cmd.content.location.p1 = packet.param1; // loiter time in seconds
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20
copy_location = true;
break;
case MAV_CMD_NAV_LAND: // MAV ID: 21
copy_location = true;
break;
case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22
copy_location = true; // only altitude is used
break;
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
cmd.content.location.lat = packet.param1; // delay in seconds
break;
case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113
copy_location = true; // only altitude is used
cmd.content.location.p1 = packet.param1 * 100; // climb/descent rate converted from m/s to cm/s
break;
case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114
cmd.content.location.lat = packet.param1; // distance in meters from next waypoint
break;
case MAV_CMD_CONDITION_YAW: // MAV ID: 115
cmd.content.location.alt = packet.param1; // target angle in degrees
cmd.content.location.lat = packet.param2; // lat=0: use default turn rate otherwise specific turn rate in deg/sec
cmd.content.location.p1 = packet.param3; // -1 = ccw, +1 = cw
cmd.content.location.lng = packet.param4; // lng=0: absolute angle provided, lng=1: relative angle provided
break;
case MAV_CMD_DO_SET_MODE: // MAV ID: 176
cmd.content.location.p1 = packet.param1; // set flight mode. To-Do: make mapping function from MAVLINK defined flight modes to AC/AP/AR flight modes
break;
case MAV_CMD_DO_JUMP: // MAV ID: 177
cmd.content.jump.target = packet.param1; // jump-to command number
cmd.content.jump.num_times = packet.param2; // repeat count
break;
case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178
cmd.content.location.p1 = packet.param1; // 0 = airspeed, 1 = ground speed
cmd.content.location.alt = packet.param2; // speed in m/s
cmd.content.location.lat = packet.param3; // throttle as a percentage from 0 ~ 100%
break;
case MAV_CMD_DO_SET_HOME:
copy_location = true;
cmd.content.location.p1 = packet.param1; // p1=0 means use current location, p=1 means use provided location
break;
case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180
cmd.content.location.p1 = packet.param1; // parameter number
cmd.content.location.alt = packet.param2; // parameter value
break;
case MAV_CMD_DO_SET_RELAY: // MAV ID: 181
cmd.content.location.p1 = packet.param1; // relay number
cmd.content.location.alt = packet.param2; // 0:off, 1:on
break;
case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182
cmd.content.location.p1 = packet.param1; // relay number
cmd.content.location.alt = packet.param2; // count
cmd.content.location.lat = packet.param3*1000; // time
break;
case MAV_CMD_DO_SET_SERVO: // MAV ID: 183
cmd.content.location.p1 = packet.param1; // channel
cmd.content.location.alt = packet.param2; // PWM
break;
case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184
cmd.content.location.p1 = packet.param1; // channel
cmd.content.location.alt = packet.param2; // PWM
cmd.content.location.lat = packet.param3; // count
cmd.content.location.lng = packet.param4*1000; // time in seconds converted to milliseconds
break;
case MAV_CMD_DO_SET_ROI: // MAV ID: 201
copy_location = true;
cmd.content.location.p1 = packet.param1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported)
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
// these commands takes no parameters
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
cmd.content.location.alt = packet.param1; // use alt so we can support 32 bit values
break;
default:
// unrecognised command
return false;
break;
}
// copy location from mavlink to command
if (copy_location) {
cmd.content.location.lat = 1.0e7f * packet.x; // floating point latitude to int32_t
cmd.content.location.lng = 1.0e7f * packet.y; // floating point longitude to int32_t
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
if (packet.frame == MAV_FRAME_GLOBAL_RELATIVE_ALT) { // convert rel/abs alt to packet's frame
cmd.content.location.options = 1; // To-Do: check this never overwrites any other uses of 'options'
}else{
cmd.content.location.options = 0;
}
}
// if we got this far then it must have been succesful
return true;
}
// mission_cmd_to_mavlink - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
// return true on success, false on failure
static bool mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_t& packet)
{
bool copy_location = false;
// command's position in mission list and mavlink id
packet.seq = cmd.index;
packet.command = cmd.id;
// set defaults
packet.current = 0; // 1 if we are passing back the mission command that is currently being executed
packet.param1 = 0;
packet.param2 = 0;
packet.param3 = 0;
packet.param4 = 0;
packet.autocontinue = 1;
// command specific conversions from mission command to mavlink packet
switch (cmd.id) {
case MAV_CMD_NAV_WAYPOINT: // MAV ID: 16
copy_location = true;
packet.param1 = cmd.content.location.p1; // delay at waypoint in seconds
break;
case MAV_CMD_NAV_LOITER_UNLIM: // MAV ID: 17
copy_location = true;
break;
case MAV_CMD_NAV_LOITER_TURNS: // MAV ID: 18
copy_location = true;
packet.param1 = cmd.content.location.p1; // number of times to circle is held in location.p1
break;
case MAV_CMD_NAV_LOITER_TIME: // MAV ID: 19
copy_location = true;
packet.param1 = cmd.content.location.p1; // loiter time in seconds
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: // MAV ID: 20
copy_location = true;
break;
case MAV_CMD_NAV_LAND: // MAV ID: 21
copy_location = true;
break;
case MAV_CMD_NAV_TAKEOFF: // MAV ID: 22
copy_location = true; // only altitude is used
break;
case MAV_CMD_CONDITION_DELAY: // MAV ID: 112
packet.param1 = cmd.content.location.lat; // delay in seconds
break;
case MAV_CMD_CONDITION_CHANGE_ALT: // MAV ID: 113
copy_location = true; // only altitude is used
packet.param1 = cmd.content.location.p1/100; // climb/descent rate converted from m/s to cm/s
break;
case MAV_CMD_CONDITION_DISTANCE: // MAV ID: 114
packet.param1 = cmd.content.location.lat; // distance in meters from next waypoint
break;
case MAV_CMD_CONDITION_YAW: // MAV ID: 115
packet.param1 = cmd.content.location.alt; // target angle in degrees
packet.param2 = cmd.content.location.lat; // lat=0: use default turn rate otherwise specific turn rate in deg/sec
packet.param3 = cmd.content.location.p1; // -1 = ccw, +1 = cw
packet.param4 = cmd.content.location.lng; // lng=0: absolute angle provided, lng=1: relative angle provided
break;
case MAV_CMD_DO_SET_MODE: // MAV ID: 176
packet.param1 = cmd.content.location.p1; // set flight mode. To-Do: make mapping function from MAVLINK defined flight modes to AC/AP/AR flight modes
break;
case MAV_CMD_DO_JUMP: // MAV ID: 177
packet.param1 = cmd.content.jump.target; // jump-to command number
packet.param2 = cmd.content.jump.num_times; // repeat count
break;
case MAV_CMD_DO_CHANGE_SPEED: // MAV ID: 178
packet.param1 = cmd.content.location.p1; // 0 = airspeed, 1 = ground speed
packet.param2 = cmd.content.location.alt; // speed in m/s
packet.param3 = cmd.content.location.lat; // throttle as a percentage from 0 ~ 100%
break;
case MAV_CMD_DO_SET_HOME: // MAV ID: 179
copy_location = true;
packet.param1 = cmd.content.location.p1; // p1=0 means use current location, p=1 means use provided location
break;
case MAV_CMD_DO_SET_PARAMETER: // MAV ID: 180
packet.param1 = cmd.content.location.p1; // parameter number
packet.param2 = cmd.content.location.alt; // parameter value
break;
case MAV_CMD_DO_SET_RELAY: // MAV ID: 181
packet.param1 = cmd.content.location.p1; // relay number
packet.param2 = cmd.content.location.alt; // 0:off, 1:on
break;
case MAV_CMD_DO_REPEAT_RELAY: // MAV ID: 182
packet.param1 = cmd.content.location.p1; // relay number
packet.param2 = cmd.content.location.alt; // count
packet.param3 = cmd.content.location.lat/1000; // time
break;
case MAV_CMD_DO_SET_SERVO: // MAV ID: 183
packet.param1 = cmd.content.location.p1; // channel
packet.param2 = cmd.content.location.alt; // PWM
break;
case MAV_CMD_DO_REPEAT_SERVO: // MAV ID: 184
packet.param1 = cmd.content.location.p1; // channel
packet.param2 = cmd.content.location.alt; // PWM
packet.param3 = cmd.content.location.lat; // count
packet.param4 = cmd.content.location.lng/1000; // time in seconds converted to milliseconds
break;
case MAV_CMD_DO_SET_ROI: // MAV ID: 201
copy_location = true;
packet.param1 = cmd.content.location.p1; // 0 = no roi, 1 = next waypoint, 2 = waypoint number, 3 = fixed location, 4 = given target (not supported)
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
// these commands takes no parameters
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
packet.param1 = cmd.content.location.alt; // use alt so we can support 32 bit values
break;
default:
// unrecognised command
return false;
break;
}
// copy location from mavlink to command
if (copy_location) {
packet.x = cmd.content.location.lat / 1.0e7f; // int32_t latitude to float
packet.y = cmd.content.location.lng / 1.0e7f; // int32_t longitude to float
packet.z = cmd.content.location.alt / 100.0f; // cmd alt in cm to m
if (cmd.content.location.options & MASK_OPTIONS_RELATIVE_ALT) {
packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}else{
packet.frame = MAV_FRAME_GLOBAL;
}
}
// if we got this far then it must have been succesful
return true;
}
/*
* a delay() callback that processes MAVLink packets. We set this as the