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MAVLink: MAVLink 1.0 support now builds

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not testing at all - so be careful!
This commit is contained in:
Andrew Tridgell 2011-10-24 12:21:26 +11:00
parent 690684d28b
commit 5a089f98d2
2 changed files with 182 additions and 190 deletions
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291
ArduPlane/GCS_Mavlink.pde
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@ -1,5 +1,7 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Mavlink_compat.h"
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
@ -526,15 +528,9 @@ static void NOINLINE send_gps_status(mavlink_channel_t chan)
static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
{
#ifdef MAVLINK10
mavlink_msg_mission_current_send(
chan,
g.waypoint_index);
#else // MAVLINK10
mavlink_msg_waypoint_current_send(
chan,
g.waypoint_index);
#endif // MAVLINK10
}
static void NOINLINE send_statustext(mavlink_channel_t chan)
@ -642,11 +638,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_CURRENT_WAYPOINT:
#ifdef MAVLINK10
CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
#else
CHECK_PAYLOAD_SIZE(WAYPOINT_CURRENT);
#endif
send_current_waypoint(chan);
break;
@ -660,11 +652,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_NEXT_WAYPOINT:
#ifdef MAVLINK10
CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
#else
CHECK_PAYLOAD_SIZE(WAYPOINT_REQUEST);
#endif
if (chan == MAVLINK_COMM_0) {
gcs0.queued_waypoint_send();
} else {
@ -1001,50 +989,28 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
#ifdef MAVLINK10
case MAVLINK_MSG_ID_COMMAND_SHORT:
case MAVLINK_MSG_ID_COMMAND_LONG:
{
// decode
mavlink_command_short_t packet;
mavlink_msg_command_short_decode(msg, &packet);
mavlink_command_long_t packet;
mavlink_msg_command_long_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
uint8_t result = 0;
uint8_t result;
// do command
send_text(SEVERITY_LOW,PSTR("command received: "));
switch(packet.command) {
#if 0
case MAV_CMD_NAV_MISSION:
// how would we tell what frame this is in??
set_mode(GUIDED);
guided_WP.id = 0;
guided_WP.options = ;
guided_WP.p1 = ;
guided_WP.alt = ;
guided_WP.lat = ;
guided_WP.lng = ;
set_guided_WP();
result = 0;
break;
#endif
case MAV_CMD_NAV_LOITER_UNLIM:
set_mode(LOITER);
result = 0;
result = MAV_RESULT_ACCEPTED;
break;
#if 0
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME:
// after N turns/seconds what should the MAV do? self-destruct?
break;
#endif
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
set_mode(RTL);
result = 0;
result = MAV_RESULT_ACCEPTED;
break;
#if 0
@ -1066,12 +1032,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.param4 == 1) {
trim_radio();
}
result = 0;
result = MAV_RESULT_ACCEPTED;
break;
default:
result = 3;
result = MAV_RESULT_UNSUPPORTED;
break;
}
@ -1280,29 +1246,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif // MAVLINK10
#ifdef MAVLINK10
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
{
// decode
mavlink_mission_request_list_t packet;
mavlink_msg_mission_request_list_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// Start sending waypoints
mavlink_msg_mission_count_send(
chan,msg->sysid,
msg->compid,
g.waypoint_total + 1); // + home
waypoint_timelast_send = millis();
waypoint_sending = true;
waypoint_receiving = false;
waypoint_dest_sysid = msg->sysid;
waypoint_dest_compid = msg->compid;
break;
}
#else // MAVLINK10
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
{
// decode
@ -1324,116 +1267,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_dest_compid = msg->compid;
break;
}
#endif // MAVLINK10
#ifdef MAVLINK10
// read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_MISSION_REQUEST:
{
// decode
mavlink_mission_request_t packet;
mavlink_msg_mission_request_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
// send waypoint
tell_command = get_wp_with_index(packet.seq);
// set frame of waypoint
uint8_t frame;
if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; // reference frame
} else {
frame = MAV_FRAME_GLOBAL; // reference frame
}
float param1 = 0, param2 = 0 , param3 = 0, param4 = 0;
// time that the mav should loiter in milliseconds
uint8_t current = 0; // 1 (true), 0 (false)
if (packet.seq == (uint16_t)g.waypoint_index)
current = 1;
uint8_t autocontinue = 1; // 1 (true), 0 (false)
float x = 0, y = 0, z = 0;
if (tell_command.id < MAV_CMD_NAV_LAST || tell_command.id == MAV_CMD_CONDITION_CHANGE_ALT) {
// command needs scaling
x = tell_command.lat/1.0e7; // local (x), global (latitude)
y = tell_command.lng/1.0e7; // local (y), global (longitude)
if (tell_command.options & MASK_OPTIONS_RELATIVE_ALT) {
z = (tell_command.alt - home.alt) / 1.0e2; // because tell_command.alt already includes a += home.alt
} else {
z = tell_command.alt/1.0e2; // local (z), global/relative (altitude)
}
}
switch (tell_command.id) { // Switch to map APM command fields inot MAVLink command fields
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_DO_SET_HOME:
param1 = tell_command.p1;
break;
case MAV_CMD_NAV_LOITER_TIME:
param1 = tell_command.p1*10; // APM loiter time is in ten second increments
break;
case MAV_CMD_CONDITION_CHANGE_ALT:
x=0; // Clear fields loaded above that we don't want sent for this command
y=0;
case MAV_CMD_CONDITION_DELAY:
case MAV_CMD_CONDITION_DISTANCE:
param1 = tell_command.lat;
break;
case MAV_CMD_DO_JUMP:
param2 = tell_command.lat;
param1 = tell_command.p1;
break;
case MAV_CMD_DO_REPEAT_SERVO:
param4 = tell_command.lng;
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CHANGE_SPEED:
param3 = tell_command.lat;
param2 = tell_command.alt;
param1 = tell_command.p1;
break;
case MAV_CMD_DO_SET_PARAMETER:
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_SET_SERVO:
param2 = tell_command.alt;
param1 = tell_command.p1;
break;
}
mavlink_msg_waypoint_send(chan,msg->sysid,
msg->compid,
packet.seq,
frame,
tell_command.id,
current,
autocontinue,
param1,
param2,
param3,
param4,
x,
y,
z);
// update last waypoint comm stamp
waypoint_timelast_send = millis();
break;
}
#else // MAVLINK10
// XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
{
@ -1544,7 +1379,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_timelast_send = millis();
break;
}
#endif
case MAVLINK_MSG_ID_WAYPOINT_ACK:
{
@ -1581,13 +1416,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (mavlink_check_target(packet.target_system, packet.target_component)) break;
// clear all waypoints
const uint8_t type = 0; // ok (0), error(1)
g.waypoint_total.set_and_save(0);
// send acknowledgement 3 times to makes sure it is received
for (uint8_t i=0;i<3;i++)
mavlink_msg_waypoint_ack_send(chan, msg->sysid, msg->compid, type);
// note that we don't send multiple acks, as otherwise a
// GCS that is doing a clear followed by a set may see
// the additional ACKs as ACKs of the set operations
mavlink_msg_waypoint_ack_send(chan, msg->sysid, msg->compid, MAV_MISSION_ACCEPTED);
break;
}
@ -1641,6 +1475,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
// decode
mavlink_waypoint_t packet;
uint8_t result = MAV_MISSION_ACCEPTED;
mavlink_msg_waypoint_decode(msg, &packet);
if (mavlink_check_target(packet.target_system,packet.target_component)) break;
@ -1659,6 +1495,19 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
#ifdef MAV_FRAME_LOCAL_NED
case MAV_FRAME_LOCAL_NED: // local (relative to home position)
{
tell_command.lat = 1.0e7*ToDeg(packet.x/
(radius_of_earth*cos(ToRad(home.lat/1.0e7)))) + home.lat;
tell_command.lng = 1.0e7*ToDeg(packet.y/radius_of_earth) + home.lng;
tell_command.alt = -packet.z*1.0e2;
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
break;
}
#endif
#ifdef MAV_FRAME_LOCAL
case MAV_FRAME_LOCAL: // local (relative to home position)
{
tell_command.lat = 1.0e7*ToDeg(packet.x/
@ -1668,6 +1517,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
tell_command.options = MASK_OPTIONS_RELATIVE_ALT;
break;
}
#endif
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // absolute lat/lng, relative altitude
{
tell_command.lat = 1.0e7 * packet.x; // in as DD converted to * t7
@ -1676,8 +1527,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
tell_command.options = MASK_OPTIONS_RELATIVE_ALT; // store altitude relative!! Always!!
break;
}
default:
result = MAV_MISSION_UNSUPPORTED_FRAME;
break;
}
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
switch (tell_command.id) { // Switch to map APM command fields inot MAVLink command fields
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_TAKEOFF:
@ -1718,8 +1576,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
tell_command.alt = packet.param2;
tell_command.p1 = packet.param1;
break;
default:
result = MAV_MISSION_UNSUPPORTED;
break;
}
if (result != MAV_MISSION_ACCEPTED) goto mission_failed;
if(packet.current == 2){ //current = 2 is a flag to tell us this is a "guided mode" waypoint and not for the mission
guided_WP = tell_command;
@ -1742,24 +1606,29 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else {
// Check if receiving waypoints (mission upload expected)
if (!waypoint_receiving) break;
if (!waypoint_receiving) {
result = MAV_MISSION_ERROR;
goto mission_failed;
}
// check if this is the requested waypoint
if (packet.seq != waypoint_request_i) break;
set_wp_with_index(tell_command, packet.seq);
if (packet.seq != waypoint_request_i) {
result = MAV_MISSION_INVALID_SEQUENCE;
goto mission_failed;
}
set_wp_with_index(tell_command, packet.seq);
// update waypoint receiving state machine
waypoint_timelast_receive = millis();
waypoint_request_i++;
if (waypoint_request_i > (uint16_t)g.waypoint_total){
uint8_t type = 0; // ok (0), error(1)
mavlink_msg_waypoint_ack_send(
chan,
msg->sysid,
msg->compid,
type);
result);
send_text(SEVERITY_LOW,PSTR("flight plan received"));
waypoint_receiving = false;
@ -1768,6 +1637,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
}
break;
mission_failed:
// we are rejecting the mission/waypoint
mavlink_msg_waypoint_ack_send(
chan,
msg->sysid,
msg->compid,
result);
break;
}
case MAVLINK_MSG_ID_PARAM_SET:
@ -1805,10 +1683,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// handle variables with standard type IDs
if (var_type == AP_Var::k_typeid_float) {
((AP_Float *)vp)->set_and_save(packet.param_value);
} else if (var_type == AP_Var::k_typeid_float16) {
((AP_Float16 *)vp)->set_and_save(packet.param_value);
} else if (var_type == AP_Var::k_typeid_int32) {
if (packet.param_value < 0) rounding_addition = -rounding_addition;
((AP_Int32 *)vp)->set_and_save(packet.param_value+rounding_addition);
@ -1827,12 +1703,22 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// we send the value we actually set, which could be
// different from the value sent, in case someone sent
// a fractional value to an integer type
#ifdef MAVLINK10
mavlink_msg_param_value_send(
chan,
key,
vp->cast_to_float(),
mav_var_type(vp->meta_type_id()),
_count_parameters(),
-1); // XXX we don't actually know what its index is...
#else // MAVLINK10
mavlink_msg_param_value_send(
chan,
(int8_t *)key,
vp->cast_to_float(),
_count_parameters(),
-1); // XXX we don't actually know what its index is...
-1); // XXX we don't actually know what its index is...
#endif // MAVLINK10
}
break;
@ -1876,6 +1762,20 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#if HIL_MODE != HIL_MODE_DISABLED
// This is used both as a sensor and to pass the location
// in HIL_ATTITUDE mode.
#ifdef MAVLINK10
case MAVLINK_MSG_ID_GPS_RAW_INT:
{
// decode
mavlink_gps_raw_int_t packet;
mavlink_msg_gps_raw_int_decode(msg, &packet);
// set gps hil sensor
g_gps->setHIL(packet.time_usec/1000.0,
packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3,
packet.vel*1.0e-2, packet.cog*1.0e-2, 0, 0);
break;
}
#else // MAVLINK10
case MAVLINK_MSG_ID_GPS_RAW:
{
// decode
@ -1887,6 +1787,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
packet.v,packet.hdg,0,0);
break;
}
#endif // MAVLINK10
// Is this resolved? - MAVLink protocol change.....
case MAVLINK_MSG_ID_VFR_HUD:
@ -2030,12 +1931,22 @@ GCS_MAVLINK::queued_param_send()
char param_name[ONBOARD_PARAM_NAME_LENGTH]; /// XXX HACK
vp->copy_name(param_name, sizeof(param_name));
#ifdef MAVLINK10
mavlink_msg_param_value_send(
chan,
param_name,
value,
mav_var_type(vp->meta_type_id()),
_queued_parameter_count,
_queued_parameter_index);
#else // MAVLINK10
mavlink_msg_param_value_send(
chan,
(int8_t*)param_name,
value,
_queued_parameter_count,
_queued_parameter_index);
#endif // MAVLINK10
_queued_parameter_index++;
}

81
ArduPlane/Mavlink_compat.h Normal file
View File

@ -0,0 +1,81 @@
/*
compatibility header during transition to MAVLink 1.0
*/
#ifdef MAVLINK10
// in MAVLink 1.0 'waypoint' becomes 'mission'. We can remove these
// mappings once we are not trying to support both protocols
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT MAVLINK_MSG_ID_MISSION_CURRENT
#define MAVLINK_MSG_ID_WAYPOINT_CURRENT_LEN MAVLINK_MSG_ID_MISSION_CURRENT_LEN
#define mavlink_msg_waypoint_current_send mavlink_msg_mission_current_send
#define mavlink_msg_waypoint_current_decode mavlink_msg_mission_current_decode
#define MAVLINK_MSG_ID_WAYPOINT_COUNT MAVLINK_MSG_ID_MISSION_COUNT
#define MAVLINK_MSG_ID_WAYPOINT_COUNT_LEN MAVLINK_MSG_ID_MISSION_COUNT_LEN
#define mavlink_msg_waypoint_count_send mavlink_msg_mission_count_send
#define mavlink_msg_waypoint_count_decode mavlink_msg_mission_count_decode
#define mavlink_waypoint_count_t mavlink_mission_count_t
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST MAVLINK_MSG_ID_MISSION_REQUEST
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LEN
#define mavlink_msg_waypoint_request_send mavlink_msg_mission_request_send
#define mavlink_msg_waypoint_request_decode mavlink_msg_mission_request_decode
#define mavlink_waypoint_request_t mavlink_mission_request_t
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST MAVLINK_MSG_ID_MISSION_REQUEST_LIST
#define MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST_LEN MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN
#define mavlink_msg_waypoint_request_list_send mavlink_msg_mission_request_list_send
#define mavlink_msg_waypoint_request_list_decode mavlink_msg_mission_request_list_decode
#define mavlink_waypoint_request_list_t mavlink_mission_request_list_t
#define MAVLINK_MSG_ID_WAYPOINT MAVLINK_MSG_ID_MISSION_ITEM
#define MAVLINK_MSG_ID_WAYPOINT_LEN MAVLINK_MSG_ID_MISSION_ITEM_LEN
#define mavlink_msg_waypoint_send mavlink_msg_mission_item_send
#define mavlink_msg_waypoint_decode mavlink_msg_mission_item_decode
#define mavlink_waypoint_t mavlink_mission_item_t
#define MAVLINK_MSG_ID_WAYPOINT_ACK MAVLINK_MSG_ID_MISSION_ACK
#define MAVLINK_MSG_ID_WAYPOINT_ACK_LEN MAVLINK_MSG_ID_MISSION_ACK_LEN
#define mavlink_msg_waypoint_ack_send mavlink_msg_mission_ack_send
#define mavlink_msg_waypoint_ack_decode mavlink_msg_mission_ack_decode
#define mavlink_waypoint_ack_t mavlink_mission_ack_t
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL MAVLINK_MSG_ID_MISSION_CLEAR_ALL
#define MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL_LEN MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN
#define mavlink_msg_waypoint_clear_all_send mavlink_msg_mission_clear_all_send
#define mavlink_msg_waypoint_clear_all_decode mavlink_msg_mission_clear_all_decode
#define mavlink_waypoint_clear_all_t mavlink_mission_clear_all_t
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT MAVLINK_MSG_ID_MISSION_SET_CURRENT
#define MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT_LEN MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN
#define mavlink_msg_waypoint_set_current_send mavlink_msg_mission_set_current_send
#define mavlink_msg_waypoint_set_current_decode mavlink_msg_mission_set_current_decode
#define mavlink_waypoint_set_current_t mavlink_mission_set_current_t
static uint8_t mav_var_type(AP_Meta_class::Type_id t)
{
if (t == AP_Var::k_typeid_int8) {
return MAV_VAR_INT8;
}
if (t == AP_Var::k_typeid_int16) {
return MAV_VAR_INT16;
}
if (t == AP_Var::k_typeid_int32) {
return MAV_VAR_INT32;
}
// treat any others as float
return MAV_VAR_FLOAT;
}
#define MAV_FIXED_WING MAV_TYPE_FIXED_WING
#else
#define MAV_MISSION_ACCEPTED 0
#define MAV_MISSION_UNSUPPORTED 1
#define MAV_MISSION_UNSUPPORTED_FRAME 1
#define MAV_MISSION_ERROR 1
#define MAV_MISSION_INVALID_SEQUENCE 1
#endif