dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merged

This commit is contained in:
Lorenz Meier 2012-10-16 11:13:05 +02:00
parent 87b00c96e8 3ccc6849ac
commit 0b26ca84d4
21 changed files with 2363 additions and 1585 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

410
apps/commander/commander.c
View File

@ -114,8 +114,8 @@ static bool commander_initialized = false;
static struct vehicle_status_s current_status; /**< Main state machine */
static orb_advert_t stat_pub;
static uint16_t nofix_counter = 0;
static uint16_t gotfix_counter = 0;
// static uint16_t nofix_counter = 0;
// static uint16_t gotfix_counter = 0;
static unsigned int failsafe_lowlevel_timeout_ms;
@ -124,7 +124,6 @@ static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/* pthread loops */
static void *command_handling_loop(void *arg);
static void *orb_receive_loop(void *arg);
__EXPORT int commander_main(int argc, char *argv[]);
@ -164,7 +163,7 @@ static void usage(const char *reason);
* @param a The array to sort
* @param n The number of entries in the array
*/
static void cal_bsort(float a[], int n);
// static void cal_bsort(float a[], int n);
static int buzzer_init()
{
@ -293,7 +292,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
struct sensor_combined_s raw;
/* 30 seconds */
int calibration_interval_ms = 30 * 1000;
uint64_t calibration_interval = 30 * 1000 * 1000;
unsigned int calibration_counter = 0;
float mag_max[3] = {FLT_MIN, FLT_MIN, FLT_MIN};
@ -308,42 +307,74 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
0.0f,
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null))
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set scale / offsets for mag");
mavlink_log_info(mavlink_fd, "[commander] failed to set scale / offsets for mag");
}
close(fd);
mavlink_log_info(mavlink_fd, "[commander] Please rotate around X");
uint64_t calibration_start = hrt_absolute_time();
while ((hrt_absolute_time() - calibration_start)/1000 < calibration_interval_ms) {
uint64_t axis_deadline = hrt_absolute_time();
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
const char axislabels[3] = { 'X', 'Y', 'Z'};
int axis_index = 0;
while (hrt_absolute_time() < calibration_deadline) {
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
/* user guidance */
if (hrt_absolute_time() > axis_deadline &&
axis_index < 3) {
char buf[50];
sprintf(buf, "[commander] Please rotate around %c", axislabels[axis_index]);
mavlink_log_info(mavlink_fd, buf);
axis_deadline += calibration_interval / 3;
axis_index++;
}
if (!(axis_index < 3)) {
continue;
}
// int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time();
// if ((axis_left / 1000) == 0 && axis_left > 0) {
// char buf[50];
// sprintf(buf, "[commander] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
// mavlink_log_info(mavlink_fd, buf);
// }
if (poll(fds, 1, 1000)) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
/* get min/max values */
if (raw.magnetometer_ga[0] < mag_min[0]) {
mag_min[0] = raw.magnetometer_ga[0];
/* ignore other axes */
if (raw.magnetometer_ga[axis_index] < mag_min[axis_index]) {
mag_min[axis_index] = raw.magnetometer_ga[axis_index];
}
else if (raw.magnetometer_ga[0] > mag_max[0]) {
mag_max[0] = raw.magnetometer_ga[0];
else if (raw.magnetometer_ga[axis_index] > mag_max[axis_index]) {
mag_max[axis_index] = raw.magnetometer_ga[axis_index];
}
if (raw.magnetometer_ga[1] < mag_min[1]) {
mag_min[1] = raw.magnetometer_ga[1];
}
else if (raw.magnetometer_ga[1] > mag_max[1]) {
mag_max[1] = raw.magnetometer_ga[1];
}
// if (raw.magnetometer_ga[1] < mag_min[1]) {
// mag_min[1] = raw.magnetometer_ga[1];
// }
// else if (raw.magnetometer_ga[1] > mag_max[1]) {
// mag_max[1] = raw.magnetometer_ga[1];
// }
if (raw.magnetometer_ga[2] < mag_min[2]) {
mag_min[2] = raw.magnetometer_ga[2];
}
else if (raw.magnetometer_ga[2] > mag_max[2]) {
mag_max[2] = raw.magnetometer_ga[2];
}
// if (raw.magnetometer_ga[2] < mag_min[2]) {
// mag_min[2] = raw.magnetometer_ga[2];
// }
// else if (raw.magnetometer_ga[2] > mag_max[2]) {
// mag_max[2] = raw.magnetometer_ga[2];
// }
calibration_counter++;
} else {
@ -353,10 +384,6 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
}
}
usleep(200000);
mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
/* disable calibration mode */
status->flag_preflight_mag_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
@ -379,51 +406,49 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
mag_offset[1] = (mag_max[1] + mag_min[1]) / 2.0f;
mag_offset[2] = (mag_max[2] + mag_min[2]) / 2.0f;
if (!isfinite(mag_offset[0]) || !isfinite(mag_offset[1]) || !isfinite(mag_offset[2]))
{
mavlink_log_info(mavlink_fd, "[commander] mag cal aborted: NaN");
if (isfinite(mag_offset[0]) && isfinite(mag_offset[1]) && isfinite(mag_offset[2])) {
/* announce and set new offset */
if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mag_offset[1]))) {
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mag_offset[2]))) {
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale = {
mag_offset[0],
1.0f,
mag_offset[1],
1.0f,
mag_offset[2],
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
// char buf[50];
// sprintf(buf, "[commander] mag cal: x:%d y:%d z:%d mGa", (int)(mag_offset[0]*1000), (int)(mag_offset[1]*1000), (int)(mag_offset[2]*1000));
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
} else {
mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)");
}
//char buf[52];
//sprintf(buf, "mag off x: %4.4f, y: %4.4f, z: %4.4f\n",(double)mag_offset[0],(double)mag_offset[0],(double)mag_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
/* announce and set new offset */
if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
fprintf(stderr, "[commander] Setting X mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mag_offset[1]))) {
fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mag_offset[2]))) {
fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
}
fd = open(MAG_DEVICE_PATH, 0);
struct mag_scale mscale = {
mag_offset[0],
1.0f,
mag_offset[1],
1.0f,
mag_offset[2],
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
warn("WARNING: failed to set scale / offsets for mag");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
mavlink_log_info(mavlink_fd, "[commander] mag cal finished");
close(sub_sensor_combined);
}
@ -477,45 +502,51 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
gyro_offset[1] = gyro_offset[1] / calibration_count;
gyro_offset[2] = gyro_offset[2] / calibration_count;
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
}
/* set offsets to actual value */
fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
gyro_offset[0],
1.0f,
gyro_offset[1],
1.0f,
gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
/* exit to gyro calibration mode */
/* exit gyro calibration mode */
status->flag_preflight_gyro_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
mavlink_log_info(mavlink_fd, "[commander] gyro calibration finished");
if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
printf("[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
}
if (param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
}
/* set offsets to actual value */
fd = open(GYRO_DEVICE_PATH, 0);
struct gyro_scale gscale = {
gyro_offset[0],
1.0f,
gyro_offset[1],
1.0f,
gyro_offset[2],
1.0f,
};
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
// char buf[50];
// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] gyro calibration done");
} else {
mavlink_log_info(mavlink_fd, "[commander] gyro calibration FAILED (NaN)");
}
close(sub_sensor_combined);
}
@ -570,61 +601,71 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
accel_offset[1] = accel_offset[1] / calibration_count;
accel_offset[2] = accel_offset[2] / calibration_count;
/* add the removed length from x / y to z, since we induce a scaling issue else */
float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
/* add the removed length from x / y to z, since we induce a scaling issue else */
float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
/* if length is correct, zero results here */
accel_offset[2] = accel_offset[2] + total_len;
/* if length is correct, zero results here */
accel_offset[2] = accel_offset[2] + total_len;
float scale = 9.80665f / total_len;
float scale = 9.80665f / total_len;
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
}
if (param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
}
if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
}
if (param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
}
fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
accel_offset[0],
scale,
accel_offset[1],
scale,
accel_offset[2],
scale,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
//char buf[50];
//sprintf(buf, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
//mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "[commander] accel calibration done");
} else {
mavlink_log_info(mavlink_fd, "[commander] accel calibration FAILED (NaN)");
}
if (param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
}
if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
}
if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
}
if (param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
}
fd = open(ACCEL_DEVICE_PATH, 0);
struct accel_scale ascale = {
accel_offset[0],
scale,
accel_offset[1],
scale,
accel_offset[2],
scale,
};
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
/* exit to gyro calibration mode */
/* exit accel calibration mode */
status->flag_preflight_accel_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
mavlink_log_info(mavlink_fd, "[commander] acceleration calibration finished");
printf("[commander] accel calibration: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0],(double)accel_offset[1], (double)accel_offset[2]);
close(sub_sensor_combined);
}
@ -742,8 +783,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration");
ioctl(buzzer, TONE_SET_ALARM, 2);
do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration");
ioctl(buzzer, TONE_SET_ALARM, 2);
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
@ -760,8 +803,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration");
ioctl(buzzer, TONE_SET_ALARM, 2);
do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration");
ioctl(buzzer, TONE_SET_ALARM, 2);
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
@ -823,37 +868,6 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
/**
* Handle commands sent by the ground control station via MAVLink.
*/
static void *command_handling_loop(void *arg)
{
/* Set thread name */
prctl(PR_SET_NAME, "commander cmd handler", getpid());
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
while (!thread_should_exit) {
struct pollfd fds[1] = { { .fd = cmd_sub, .events = POLLIN } };
if (poll(fds, 1, 5000) == 0) {
/* timeout, but this is no problem, silently ignore */
} else {
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
}
close(cmd_sub);
return NULL;
}
static void *orb_receive_loop(void *arg) //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
{
/* Set thread name */
@ -1002,7 +1016,7 @@ int commander_thread_main(int argc, char *argv[])
printf("[commander] I am in command now!\n");
/* pthreads for command and subsystem info handling */
pthread_t command_handling_thread;
// pthread_t command_handling_thread;
pthread_t subsystem_info_thread;
/* initialize */
@ -1044,11 +1058,6 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[commander] system is running");
/* create pthreads */
pthread_attr_t command_handling_attr;
pthread_attr_init(&command_handling_attr);
pthread_attr_setstacksize(&command_handling_attr, 6000);
pthread_create(&command_handling_thread, &command_handling_attr, command_handling_loop, NULL);
pthread_attr_t subsystem_info_attr;
pthread_attr_init(&subsystem_info_attr);
pthread_attr_setstacksize(&subsystem_info_attr, 2048);
@ -1093,6 +1102,11 @@ int commander_thread_main(int argc, char *argv[])
struct sensor_combined_s sensors;
memset(&sensors, 0, sizeof(sensors));
/* Subscribe to command topic */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
struct vehicle_command_s cmd;
memset(&cmd, 0, sizeof(cmd));
// uint8_t vehicle_state_previous = current_status.state_machine;
float voltage_previous = 0.0f;
@ -1122,6 +1136,15 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
orb_check(cmd_sub, &new_data);
if (new_data) {
/* got command */
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
/* handle it */
handle_command(stat_pub, &current_status, &cmd);
}
battery_voltage = sensors.battery_voltage_v;
battery_voltage_valid = sensors.battery_voltage_valid;
@ -1480,7 +1503,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* wait for threads to complete */
pthread_join(command_handling_thread, NULL);
// pthread_join(command_handling_thread, NULL);
pthread_join(subsystem_info_thread, NULL);
/* close fds */
@ -1490,6 +1513,7 @@ int commander_thread_main(int argc, char *argv[])
close(sp_offboard_sub);
close(gps_sub);
close(sensor_sub);
close(cmd_sub);
printf("[commander] exiting..\n");
fflush(stdout);

5
apps/drivers/drv_mag.h
View File

@ -99,7 +99,10 @@ ORB_DECLARE(sensor_mag);
/** copy the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCGSCALE _MAGIOC(3)
/** set the measurement range to handle (at least) arg Gauss */
#define MAGIOCSRANGE _MAGIOC(4)
/** perform self-calibration, update scale factors to canonical units */
#define MAGIOCCALIBRATE _MAGIOC(4)
#define MAGIOCCALIBRATE _MAGIOC(5)
#endif /* _DRV_MAG_H */

2
apps/drivers/hmc5883/Makefile
View File

@ -37,6 +37,6 @@
APPNAME = hmc5883
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
STACKSIZE = 4096
include $(APPDIR)/mk/app.mk

394
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -175,6 +175,24 @@ private:
*/
void stop();
/**
* Perform the on-sensor scale calibration routine.
*
* @note The sensor will continue to provide measurements, these
* will however reflect the uncalibrated sensor state until
* the calibration routine has been completed.
*
* @param enable set to 1 to enable self-test strap, 0 to disable
*/
int calibrate(unsigned enable);
/**
* Set the sensor range.
*
* Sets the internal range to handle at least the argument in Gauss.
*/
int set_range(unsigned range);
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
@ -255,8 +273,8 @@ HMC5883::HMC5883(int bus) :
_oldest_report(0),
_reports(nullptr),
_mag_topic(-1),
_range_scale(1.0f / 1090.0f), /* default range scale from counts to gauss */
_range_ga(0.88f),
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows"))
@ -308,11 +326,71 @@ HMC5883::init()
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
/* set range */
set_range(_range_ga);
ret = OK;
out:
return ret;
}
int HMC5883::set_range(unsigned range)
{
uint8_t range_bits;
if (range < 1) {
range_bits = 0x00;
_range_scale = 1.0f / 1370.0f;
_range_ga = 0.88f;
} else if (range <= 1) {
range_bits = 0x01;
_range_scale = 1.0f / 1090.0f;
_range_ga = 1.3f;
} else if (range <= 2) {
range_bits = 0x02;
_range_scale = 1.0f / 820.0f;
_range_ga = 1.9f;
} else if (range <= 3) {
range_bits = 0x03;
_range_scale = 1.0f / 660.0f;
_range_ga = 2.5f;
} else if (range <= 4) {
range_bits = 0x04;
_range_scale = 1.0f / 440.0f;
_range_ga = 4.0f;
} else if (range <= 4.7f) {
range_bits = 0x05;
_range_scale = 1.0f / 390.0f;
_range_ga = 4.7f;
} else if (range <= 5.6f) {
range_bits = 0x06;
_range_scale = 1.0f / 330.0f;
_range_ga = 5.6f;
} else {
range_bits = 0x07;
_range_scale = 1.0f / 230.0f;
_range_ga = 8.1f;
}
int ret;
/*
* Send the command to set the range
*/
ret = write_reg(ADDR_CONF_B, (range_bits << 5));
if (OK != ret)
perf_count(_comms_errors);
uint8_t range_bits_in;
ret = read_reg(ADDR_CONF_B, range_bits_in);
if (OK != ret)
perf_count(_comms_errors);
return !(range_bits_in == (range_bits << 5));
}
int
HMC5883::probe()
{
@ -495,6 +573,9 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
/* not supported, always 1 sample per poll */
return -EINVAL;
case MAGIOCSRANGE:
return set_range(arg);
case MAGIOCSLOWPASS:
/* not supported, no internal filtering */
return -EINVAL;
@ -510,8 +591,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
return 0;
case MAGIOCCALIBRATE:
/* XXX perform auto-calibration */
return -EINVAL;
return calibrate(arg);
default:
/* give it to the superclass */
@ -718,6 +798,29 @@ out:
return ret;
}
int HMC5883::calibrate(unsigned enable)
{
int ret;
/* arm the excitement strap */
uint8_t conf_reg;
ret = read_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
if (enable) {
conf_reg |= 0x01;
} else {
conf_reg &= ~0x03;
}
ret = write_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
uint8_t conf_reg_ret;
read_reg(ADDR_CONF_A, conf_reg_ret);
return !(conf_reg == conf_reg_ret);
}
int
HMC5883::write_reg(uint8_t reg, uint8_t val)
{
@ -775,6 +878,7 @@ void start();
void test();
void reset();
void info();
int calibrate();
/**
* Start the driver.
@ -872,6 +976,273 @@ test()
errx(0, "PASS");
}
/**
* Automatic scale calibration.
*
* Basic idea:
*
* output = (ext field +- 1.1 Ga self-test) * scale factor
*
* and consequently:
*
* 1.1 Ga = (excited - normal) * scale factor
* scale factor = (excited - normal) / 1.1 Ga
*
* sxy = (excited - normal) / 766 | for conf reg. B set to 0x60 / Gain = 3
* sz = (excited - normal) / 713 | for conf reg. B set to 0x60 / Gain = 3
*
* By subtracting the non-excited measurement the pure 1.1 Ga reading
* can be extracted and the sensitivity of all axes can be matched.
*
* SELF TEST OPERATION
* To check the HMC5883L for proper operation, a self test feature in incorporated
* in which the sensor offset straps are excited to create a nominal field strength
* (bias field) to be measured. To implement self test, the least significant bits
* (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias)
* or 10 (negetive bias), e.g. 0x11 or 0x12.
* Then, by placing the mode register into single-measurement mode (0x01),
* two data acquisition cycles will be made on each magnetic vector.
* The first acquisition will be a set pulse followed shortly by measurement
* data of the external field. The second acquisition will have the offset strap
* excited (about 10 mA) in the positive bias mode for X, Y, and Z axes to create
* about a ±1.1 gauss self test field plus the external field. The first acquisition
* values will be subtracted from the second acquisition, and the net measurement
* will be placed into the data output registers.
* Since self test adds ~1.1 Gauss additional field to the existing field strength,
* using a reduced gain setting prevents sensor from being saturated and data registers
* overflowed. For example, if the configuration register B is set to 0x60 (Gain=3),
* values around +766 LSB (1.16 Ga * 660 LSB/Ga) will be placed in the X and Y data
* output registers and around +713 (1.08 Ga * 660 LSB/Ga) will be placed in Z data
* output register. To leave the self test mode, change MS1 and MS0 bit of the
* configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10.
* Using the self test method described above, the user can scale sensor
*/
int calibrate()
{
struct mag_report report;
ssize_t sz;
int ret;
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate read failed");
warnx("single read");
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
errx(1, "failed to set queue depth");
/* start the sensor polling at 10 Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10))
errx(1, "failed to set 2Hz poll rate");
/* Set to 2.5 Gauss */
if (OK != ioctl(fd, MAGIOCSRANGE, 2)) {
warnx("failed to set 2.5 Ga range");
}
if (OK != ioctl(fd, MAGIOCCALIBRATE, 1)) {
warnx("failed to enable sensor calibration mode");
}
struct mag_scale mscale_null = {
0.0f,
1.0f,
0.0f,
1.0f,
0.0f,
1.0f,
};
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
warn("WARNING: failed to set null scale / offsets for mag");
}
float avg_excited[3];
unsigned i;
/* read the sensor 10x and report each value */
for (i = 0; i < 10; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
errx(1, "timed out waiting for sensor data");
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
} else {
avg_excited[0] += report.x;
avg_excited[1] += report.y;
avg_excited[2] += report.z;
}
warnx("periodic read %u", i);
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
}
// warnx("starting calibration");
// struct mag_report report;
// ssize_t sz;
// int ret;
// int fd = open(MAG_DEVICE_PATH, O_RDONLY);
// if (fd < 0)
// err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
// /* do a simple demand read */
// sz = read(fd, &report, sizeof(report));
// if (sz != sizeof(report))
// err(1, "immediate read failed");
// warnx("single read");
// warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
// warnx("time: %lld", report.timestamp);
// /* get scaling, set to zero */
// struct mag_scale mscale_previous;
// if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
// warn("WARNING: failed to get scale / offsets for mag");
// }
// struct mag_scale mscale_null = {
// 0.0f,
// 1.0f,
// 0.0f,
// 1.0f,
// 0.0f,
// 1.0f,
// };
// if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
// warn("WARNING: failed to set null scale / offsets for mag");
// }
// warnx("sensor ready");
// float avg_excited[3] = {0.0f, 0.0f, 0.0f};
// if (OK != ioctl(fd, MAGIOCCALIBRATE, 1)) {
// warnx("failed to enable sensor calibration mode");
// }
// /* Set to 2.5 Gauss */
// if (OK != ioctl(fd, MAGIOCSRANGE, 2)) {
// warnx("failed to set 2.5 Ga range");
// }
// /* set the queue depth to 10 */
// if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
// warnx("failed to set queue depth");
// return 1;
// } else {
// warnx("set queue depth");
// }
// /* start the sensor polling at 100Hz */
// if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 100)) {
// warnx("failed to set 100 Hz poll rate");
// return 1;
// } else {
// warnx("set 100 Hz poll rate");
// }
// int i;
// for (i = 0; i < 10; i++) {
// struct pollfd fds;
// (void) ioctl(fd, MAGIOCCALIBRATE, 1);
// /* wait for data to be ready */
// fds.fd = fd;
// fds.events = POLLIN;
// ret = poll(&fds, 1, 2000);
// if (ret != 1) {
// warnx("timed out waiting for sensor data");
// return 1;
// }
// /* now go get it */
// sz = read(fd, &report, sizeof(report));
// if (sz != sizeof(report)) {
// warn("periodic read failed");
// return 1;
// } else {
// avg_excited[0] += report.x;
// avg_excited[1] += report.y;
// avg_excited[2] += report.z;
// }
// warnx("excited read %u", i);
// warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
// warnx("time: %lld", report.timestamp);
// }
avg_excited[0] /= i;
avg_excited[1] /= i;
avg_excited[2] /= i;
warnx("periodic excited reads %u", i);
warnx("measurement avg: %.6f %.6f %.6f", (double)avg_excited[0], (double)avg_excited[1], (double)avg_excited[2]);
/* Set to 1.1 Gauss and end calibration */
ret = ioctl(fd, MAGIOCCALIBRATE, 0);
ret = ioctl(fd, MAGIOCSRANGE, 1);
float scaling[3];
/* calculate axis scaling */
scaling[0] = 1.16f / avg_excited[0];
/* second axis inverted */
scaling[1] = 1.16f / -avg_excited[1];
scaling[2] = 1.08f / avg_excited[2];
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ioctl(fd, MAGIOCSRANGE, 1)) {
warnx("failed to set 1.1 Ga range");
}
if (OK != ioctl(fd, MAGIOCCALIBRATE, 0)) {
warnx("failed to disable sensor calibration mode");
}
/* set scaling in device */
// mscale_previous.x_scale = scaling[0];
// mscale_previous.y_scale = scaling[1];
// mscale_previous.z_scale = scaling[2];
// if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
// warn("WARNING: failed to set new scale / offsets for mag");
// }
errx(0, "PASS");
}
/**
* Reset the driver.
*/
@ -930,8 +1301,19 @@ hmc5883_main(int argc, char *argv[])
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
hmc5883::info();
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
/*
* Autocalibrate the scaling
*/
if (!strcmp(argv[1], "calibrate")) {
if (hmc5883::calibrate() == 0) {
errx(0, "calibration successful");
} else {
errx(1, "calibration failed");
}
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' 'calibrate' or 'info'");
}

2
apps/drivers/l3gd20/l3gd20.cpp
View File

@ -864,5 +864,5 @@ l3gd20_main(int argc, char *argv[])
if (!strcmp(argv[1], "info"))
l3gd20::info();
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}

1497
apps/mavlink/mavlink.c
View File

File diff suppressed because it is too large Load Diff

18
apps/mavlink/mavlink_bridge_header.h
View File

@ -62,28 +62,12 @@
*/
extern mavlink_system_t mavlink_system;
mqd_t gps_queue;
int uart;
/**
* @brief Send multiple chars (uint8_t) over a comm channel
*
* @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
* @param ch Character to send
*/
static inline void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, uint16_t length)
{
ssize_t ret;
if (chan == MAVLINK_COMM_0) {
ret = write(uart, ch, (size_t)(sizeof(uint8_t) * length));
if (ret != length) {
printf("[mavlink] Error: Written %u instead of %u\n", ret, length);
}
}
}
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
#endif /* MAVLINK_BRIDGE_HEADER_H */

57
apps/mavlink/mavlink_hil.h Normal file
View File

@ -0,0 +1,57 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_hil.h
* Hardware-in-the-loop simulation support.
*/
#pragma once
extern bool mavlink_hil_enabled;
extern struct vehicle_global_position_s hil_global_pos;
extern struct vehicle_attitude_s hil_attitude;
extern orb_advert_t pub_hil_global_pos;
extern orb_advert_t pub_hil_attitude;
/**
* Enable / disable Hardware in the Loop simulation mode.
*
* @param hil_enabled The new HIL enable/disable state.
* @return OK if the HIL state changed, ERROR if the
* requested change could not be made or was
* redundant.
*/
extern int set_hil_on_off(bool hil_enabled);

6
apps/mavlink/mavlink_parameters.c
View File

@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +35,8 @@
/**
* @file mavlink_parameters.c
* MAVLink parameter protocol implementation (BSD-relicensed).
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "mavlink_parameters.h"

4
apps/mavlink/mavlink_parameters.h
View File

@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -35,6 +35,8 @@
/**
* @file mavlink_parameters.h
* MAVLink parameter protocol definitions (BSD-relicensed).
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/* This assumes you have the mavlink headers on your include path

495
apps/mavlink/mavlink_receiver.c Normal file
View File

@ -0,0 +1,495 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_receiver.c
* MAVLink protocol message receive and dispatch
*/
/* XXX trim includes */
#include <nuttx/config.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include "waypoints.h"
#include "mavlink_log.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "mavlink_parameters.h"
#include "util.h"
/* XXX should be in a header somewhere */
pthread_t receive_start(int uart);
static void handle_message(mavlink_message_t *msg);
static void *receive_thread(void *arg);
static mavlink_status_t status;
static struct vehicle_vicon_position_s vicon_position;
static struct vehicle_command_s vcmd;
static struct offboard_control_setpoint_s offboard_control_sp;
struct vehicle_global_position_s hil_global_pos;
struct vehicle_attitude_s hil_attitude;
orb_advert_t pub_hil_global_pos = -1;
orb_advert_t pub_hil_attitude = -1;
static orb_advert_t cmd_pub = -1;
static orb_advert_t flow_pub = -1;
static orb_advert_t offboard_control_sp_pub = -1;
static orb_advert_t vicon_position_pub = -1;
static void
handle_message(mavlink_message_t *msg)
{
if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
/* This is the link shutdown command, terminate mavlink */
printf("[mavlink] Terminating .. \n");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
thread_should_exit = true;
} else {
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = cmd_mavlink.param1;
vcmd.param2 = cmd_mavlink.param2;
vcmd.param3 = cmd_mavlink.param3;
vcmd.param4 = cmd_mavlink.param4;
vcmd.param5 = cmd_mavlink.param5;
vcmd.param6 = cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
vcmd.command = cmd_mavlink.command;
vcmd.target_system = cmd_mavlink.target_system;
vcmd.target_component = cmd_mavlink.target_component;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = cmd_mavlink.confirmation;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
}
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
}
if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
mavlink_optical_flow_t flow;
mavlink_msg_optical_flow_decode(msg, &flow);
struct optical_flow_s f;
f.timestamp = flow.time_usec;
f.flow_raw_x = flow.flow_x;
f.flow_raw_y = flow.flow_y;
f.flow_comp_x_m = flow.flow_comp_m_x;
f.flow_comp_y_m = flow.flow_comp_m_y;
f.ground_distance_m = flow.ground_distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
/* check if topic is advertised */
if (flow_pub <= 0) {
flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
/* publish */
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
}
}
if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
/* Set mode on request */
mavlink_set_mode_t new_mode;
mavlink_msg_set_mode_decode(msg, &new_mode);
/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = new_mode.base_mode;
vcmd.param2 = new_mode.custom_mode;
vcmd.param3 = 0;
vcmd.param4 = 0;
vcmd.param5 = 0;
vcmd.param6 = 0;
vcmd.param7 = 0;
vcmd.command = MAV_CMD_DO_SET_MODE;
vcmd.target_system = new_mode.target_system;
vcmd.target_component = MAV_COMP_ID_ALL;
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
/* create command */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
}
/* Handle Vicon position estimates */
if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
vicon_position.x = pos.x;
vicon_position.y = pos.y;
vicon_position.z = pos.z;
if (vicon_position_pub <= 0) {
vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
}
}
/* Handle quadrotor motor setpoints */
if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
//printf("got message\n");
//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
if (mavlink_system.sysid < 4) {
/*
* rate control mode - defined by MAVLink
*/
uint8_t ml_mode = 0;
bool ml_armed = false;
// if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
// ml_armed = true;
// }
switch (quad_motors_setpoint.mode) {
case 0:
ml_armed = false;
break;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
}
offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
ml_armed = false;
}
offboard_control_sp.armed = ml_armed;
offboard_control_sp.mode = ml_mode;
offboard_control_sp.timestamp = hrt_absolute_time();
/* check if topic has to be advertised */
if (offboard_control_sp_pub <= 0) {
offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
} else {
/* Publish */
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
}
// /* change armed status if required */
// bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
// bool cmd_generated = false;
// if (v_status.flag_control_offboard_enabled != cmd_armed) {
// vcmd.param1 = cmd_armed;
// vcmd.param2 = 0;
// vcmd.param3 = 0;
// vcmd.param4 = 0;
// vcmd.param5 = 0;
// vcmd.param6 = 0;
// vcmd.param7 = 0;
// vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
// vcmd.target_system = mavlink_system.sysid;
// vcmd.target_component = MAV_COMP_ID_ALL;
// vcmd.source_system = msg->sysid;
// vcmd.source_component = msg->compid;
// vcmd.confirmation = 1;
// cmd_generated = true;
// }
// /* check if input has to be enabled */
// if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
// (v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
// (v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
// (v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
// vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
// vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
// vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
// vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
// vcmd.param5 = 0;
// vcmd.param6 = 0;
// vcmd.param7 = 0;
// vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
// vcmd.target_system = mavlink_system.sysid;
// vcmd.target_component = MAV_COMP_ID_ALL;
// vcmd.source_system = msg->sysid;
// vcmd.source_component = msg->compid;
// vcmd.confirmation = 1;
// cmd_generated = true;
// }
// if (cmd_generated) {
// /* check if topic is advertised */
// if (cmd_pub <= 0) {
// cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
// } else {
// /* create command */
// orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
// }
// }
}
}
/*
* Only decode hil messages in HIL mode.
*
* The HIL mode is enabled by the HIL bit flag
* in the system mode. Either send a set mode
* COMMAND_LONG message or a SET_MODE message
*/
// printf("\n HIL ENABLED?: %s \n",(mavlink_hil_enabled)?"true":"false");
if (mavlink_hil_enabled) {
if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
mavlink_hil_state_t hil_state;
mavlink_msg_hil_state_decode(msg, &hil_state);
// printf("\n HILSTATE : \n LAT: %i \n LON: %i \n ALT: %i \n "
// "ROLL %i \n PITCH %i \n YAW %i \n"
// "ROLLSPEED: %i \n PITCHSPEED: %i \n, YAWSPEED: %i \n",
// hil_state.lat/1000000, // 1e7
// hil_state.lon/1000000, // 1e7
// hil_state.alt/1000, // mm
// hil_state.roll, // float rad
// hil_state.pitch, // float rad
// hil_state.yaw, // float rad
// hil_state.rollspeed, // float rad/s
// hil_state.pitchspeed, // float rad/s
// hil_state.yawspeed); // float rad/s
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vx = hil_state.vx / 100.0f;
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
/* set timestamp and notify processes (broadcast) */
hil_global_pos.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
hil_attitude.roll = hil_state.roll;
hil_attitude.pitch = hil_state.pitch;
hil_attitude.yaw = hil_state.yaw;
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
/* set timestamp and notify processes (broadcast) */
hil_attitude.counter++;
hil_attitude.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
}
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
struct rc_channels_s rc_hil;
memset(&rc_hil, 0, sizeof(rc_hil));
static orb_advert_t rc_pub = 0;
rc_hil.timestamp = hrt_absolute_time();
rc_hil.chan_count = 4;
rc_hil.chan[0].raw = 1500 + man.x / 2;
rc_hil.chan[1].raw = 1500 + man.y / 2;
rc_hil.chan[2].raw = 1500 + man.r / 2;
rc_hil.chan[3].raw = 1500 + man.z / 2;
rc_hil.chan[0].scaled = man.x / 1000.0f;
rc_hil.chan[1].scaled = man.y / 1000.0f;
rc_hil.chan[2].scaled = man.r / 1000.0f;
rc_hil.chan[3].scaled = man.z / 1000.0f;
struct manual_control_setpoint_s mc;
static orb_advert_t mc_pub = 0;
mc.timestamp = rc_hil.timestamp;
mc.roll = man.x / 1000.0f;
mc.pitch = man.y / 1000.0f;
mc.yaw = man.r / 1000.0f;
mc.throttle = man.z / 1000.0f;
/* fake RC channels with manual control input from simulator */
if (rc_pub == 0) {
rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
} else {
orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
}
if (mc_pub == 0) {
mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
} else {
orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
}
}
}
}
/**
* Receive data from UART.
*/
static void *
receive_thread(void *arg)
{
int uart_fd = *((int*)arg);
const int timeout = 1000;
uint8_t ch;
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
while (!thread_should_exit) {
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
if (poll(fds, 1, timeout) > 0) {
/* non-blocking read until buffer is empty */
int nread = 0;
do {
nread = read(uart_fd, &ch, 1);
if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
/* handle generic messages and commands */
handle_message(&msg);
/* Handle packet with waypoint component */
mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
/* Handle packet with parameter component */
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
}
} while (nread > 0);
}
}
return NULL;
}
pthread_t
receive_start(int uart)
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
pthread_attr_setstacksize(&receiveloop_attr, 2048);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
return thread;
}

190
apps/mavlink/missionlib.c Normal file
View File

@ -0,0 +1,190 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file missionlib.h
* MAVLink missionlib components
*/
// XXX trim includes
#include <nuttx/config.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include "waypoints.h"
#include "mavlink_log.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "util.h"
#include "waypoints.h"
#include "mavlink_parameters.h"
static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
int
mavlink_missionlib_send_message(mavlink_message_t *msg)
{
uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
mavlink_send_uart_bytes(chan, missionlib_msg_buf, len);
return 0;
}
int
mavlink_missionlib_send_gcs_string(const char *string)
{
const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
mavlink_statustext_t statustext;
int i = 0;
while (i < len - 1) {
statustext.text[i] = string[i];
if (string[i] == '\0')
break;
i++;
}
if (i > 1) {
/* Enforce null termination */
statustext.text[i] = '\0';
mavlink_message_t msg;
mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
return mavlink_missionlib_send_message(&msg);
} else {
return 1;
}
}
/**
* Get system time since boot in microseconds
*
* @return the system time since boot in microseconds
*/
uint64_t mavlink_missionlib_get_system_timestamp()
{
return hrt_absolute_time();
}
/**
* This callback is executed each time a waypoint changes.
*
* It publishes the vehicle_global_position_setpoint_s or the
* vehicle_local_position_setpoint_s topic, depending on the type of waypoint
*/
void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command)
{
static orb_advert_t global_position_setpoint_pub = -1;
static orb_advert_t local_position_setpoint_pub = -1;
char buf[50] = {0};
/* Update controller setpoints */
if (frame == (int)MAV_FRAME_GLOBAL) {
/* global, absolute waypoint */
struct vehicle_global_position_setpoint_s sp;
sp.lat = param5_lat_x * 1e7f;
sp.lon = param6_lon_y * 1e7f;
sp.altitude = param7_alt_z;
sp.altitude_is_relative = false;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (global_position_setpoint_pub < 0) {
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
/* global, relative alt (in relation to HOME) waypoint */
struct vehicle_global_position_setpoint_s sp;
sp.lat = param5_lat_x * 1e7f;
sp.lon = param6_lon_y * 1e7f;
sp.altitude = param7_alt_z;
sp.altitude_is_relative = true;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (global_position_setpoint_pub < 0) {
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
/* local, absolute waypoint */
struct vehicle_local_position_setpoint_s sp;
sp.x = param5_lat_x;
sp.y = param6_lon_y;
sp.z = param7_alt_z;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (local_position_setpoint_pub < 0) {
local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
}
mavlink_missionlib_send_gcs_string(buf);
printf("%s\n", buf);
//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
}

52
apps/mavlink/missionlib.h Normal file
View File

@ -0,0 +1,52 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file missionlib.h
* MAVLink mission helper library
*/
#pragma once
#include <v1.0/common/mavlink.h>
//extern void mavlink_wpm_send_message(mavlink_message_t *msg);
//extern void mavlink_wpm_send_gcs_string(const char *string);
//extern uint64_t mavlink_wpm_get_system_timestamp(void);
extern int mavlink_missionlib_send_message(mavlink_message_t *msg);
extern int mavlink_missionlib_send_gcs_string(const char *string);
extern uint64_t mavlink_missionlib_get_system_timestamp(void);
extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);

640
apps/mavlink/orb_listener.c Normal file
View File

@ -0,0 +1,640 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file orb_listener.c
* Monitors ORB topics and sends update messages as appropriate.
*/
// XXX trim includes
#include <nuttx/config.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <sys/prctl.h>
#include <stdlib.h>
#include <poll.h>
#include "waypoints.h"
#include "mavlink_log.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "util.h"
struct vehicle_global_position_s global_pos;
struct vehicle_local_position_s local_pos;
struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct actuator_armed_s armed;
struct mavlink_subscriptions mavlink_subs;
static int status_sub;
static int rc_sub;
static unsigned int sensors_raw_counter;
static unsigned int attitude_counter;
static unsigned int gps_counter;
/*
* Last sensor loop time
* some outputs are better timestamped
* with this "global" reference.
*/
static uint64_t last_sensor_timestamp;
static void *uorb_receive_thread(void *arg);
struct listener
{
void (*callback)(struct listener *l);
int *subp;
uintptr_t arg;
};
static void l_sensor_combined(struct listener *l);
static void l_vehicle_attitude(struct listener *l);
static void l_vehicle_gps_position(struct listener *l);
static void l_vehicle_status(struct listener *l);
static void l_rc_channels(struct listener *l);
static void l_global_position(struct listener *l);
static void l_local_position(struct listener *l);
static void l_global_position_setpoint(struct listener *l);
static void l_local_position_setpoint(struct listener *l);
static void l_attitude_setpoint(struct listener *l);
static void l_actuator_outputs(struct listener *l);
static void l_actuator_armed(struct listener *l);
static void l_manual_control_setpoint(struct listener *l);
static void l_vehicle_attitude_controls(struct listener *l);
static void l_debug_key_value(struct listener *l);
struct listener listeners[] = {
{l_sensor_combined, &mavlink_subs.sensor_sub, 0},
{l_vehicle_attitude, &mavlink_subs.att_sub, 0},
{l_vehicle_gps_position, &mavlink_subs.gps_sub, 0},
{l_vehicle_status, &status_sub, 0},
{l_rc_channels, &rc_sub, 0},
{l_global_position, &mavlink_subs.global_pos_sub, 0},
{l_local_position, &mavlink_subs.local_pos_sub, 0},
{l_global_position_setpoint, &mavlink_subs.spg_sub, 0},
{l_local_position_setpoint, &mavlink_subs.spl_sub, 0},
{l_attitude_setpoint, &mavlink_subs.spa_sub, 0},
{l_actuator_outputs, &mavlink_subs.act_0_sub, 0},
{l_actuator_outputs, &mavlink_subs.act_1_sub, 1},
{l_actuator_outputs, &mavlink_subs.act_2_sub, 2},
{l_actuator_outputs, &mavlink_subs.act_3_sub, 3},
{l_actuator_armed, &mavlink_subs.armed_sub, 0},
{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
};
static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
void
l_sensor_combined(struct listener *l)
{
struct sensor_combined_s raw;
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), mavlink_subs.sensor_sub, &raw);
last_sensor_timestamp = raw.timestamp;
/* send raw imu data */
// mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, raw.accelerometer_raw[0],
// raw.accelerometer_raw[1], raw.accelerometer_raw[2], raw.gyro_raw[0],
// raw.gyro_raw[1], raw.gyro_raw[2], raw.magnetometer_raw[0],
// raw.magnetometer_raw[1], raw.magnetometer_raw[2]);
/* mark individual fields as changed */
uint16_t fields_updated = 0;
static unsigned accel_counter = 0;
static unsigned gyro_counter = 0;
static unsigned mag_counter = 0;
static unsigned baro_counter = 0;
if (accel_counter != raw.accelerometer_counter) {
/* mark first three dimensions as changed */
fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
accel_counter = raw.accelerometer_counter;
}
if (gyro_counter != raw.gyro_counter) {
/* mark first three dimensions as changed */
fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
gyro_counter = raw.gyro_counter;
}
if (mag_counter != raw.magnetometer_counter) {
/* mark first three dimensions as changed */
fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
mag_counter = raw.magnetometer_counter;
}
if (baro_counter != raw.baro_counter) {
/* mark first three dimensions as changed */
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
baro_counter = raw.baro_counter;
}
mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp,
raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
raw.gyro_rad_s[1], raw.gyro_rad_s[2],
raw.magnetometer_ga[0],
raw.magnetometer_ga[1],raw.magnetometer_ga[2],
raw.baro_pres_mbar, 0 /* no diff pressure yet */,
raw.baro_alt_meter, raw.baro_temp_celcius,
fields_updated);
/* send pressure */
//mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, raw.timestamp / 1000, raw.baro_pres_mbar, raw.baro_alt_meter, raw.baro_temp_celcius * 100);
sensors_raw_counter++;
}
void
l_vehicle_attitude(struct listener *l)
{
struct vehicle_attitude_s att;
/* copy attitude data into local buffer */
orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att);
/* send sensor values */
mavlink_msg_attitude_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
att.roll,
att.pitch,
att.yaw,
att.rollspeed,
att.pitchspeed,
att.yawspeed);
attitude_counter++;
}
void
l_vehicle_gps_position(struct listener *l)
{
struct vehicle_gps_position_s gps;
/* copy gps data into local buffer */
orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
gps.timestamp,
gps.fix_type,
gps.lat,
gps.lon,
gps.alt,
gps.eph,
gps.epv,
gps.vel,
gps.cog,
gps.satellites_visible);
if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
mavlink_msg_gps_status_send(MAVLINK_COMM_0,
gps.satellites_visible,
gps.satellite_prn,
gps.satellite_used,
gps.satellite_elevation,
gps.satellite_azimuth,
gps.satellite_snr);
}
gps_counter++;
}
void
l_vehicle_status(struct listener *l)
{
/* immediately communicate state changes back to user */
orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
/* enable or disable HIL */
set_hil_on_off(v_status.flag_hil_enabled);
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(chan,
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_mode,
v_status.state_machine,
mavlink_state);
}
void
l_rc_channels(struct listener *l)
{
/* copy rc channels into local buffer */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc.timestamp / 1000,
0,
rc.chan[0].raw,
rc.chan[1].raw,
rc.chan[2].raw,
rc.chan[3].raw,
rc.chan[4].raw,
rc.chan[5].raw,
rc.chan[6].raw,
rc.chan[7].raw,
rc.rssi);
}
void
l_global_position(struct listener *l)
{
/* copy global position data into local buffer */
orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
uint64_t timestamp = global_pos.timestamp;
int32_t lat = global_pos.lat;
int32_t lon = global_pos.lon;
int32_t alt = (int32_t)(global_pos.alt*1000);
int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
int16_t vx = (int16_t)(global_pos.vx * 100.0f);
int16_t vy = (int16_t)(global_pos.vy * 100.0f);
int16_t vz = (int16_t)(global_pos.vz * 100.0f);
/* heading in degrees * 10, from 0 to 36.000) */
uint16_t hdg = (global_pos.hdg / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f);
mavlink_msg_global_position_int_send(MAVLINK_COMM_0,
timestamp / 1000,
lat,
lon,
alt,
relative_alt,
vx,
vy,
vz,
hdg);
}
void
l_local_position(struct listener *l)
{
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
mavlink_msg_local_position_ned_send(MAVLINK_COMM_0,
local_pos.timestamp / 1000,
local_pos.x,
local_pos.y,
local_pos.z,
local_pos.vx,
local_pos.vy,
local_pos.vz);
}
void
l_global_position_setpoint(struct listener *l)
{
struct vehicle_global_position_setpoint_s global_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp);
uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
if (global_sp.altitude_is_relative)
coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
coordinate_frame,
global_sp.lat,
global_sp.lon,
global_sp.altitude,
global_sp.yaw);
}
void
l_local_position_setpoint(struct listener *l)
{
struct vehicle_local_position_setpoint_s local_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_local_position_setpoint), mavlink_subs.spl_sub, &local_sp);
mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0,
MAV_FRAME_LOCAL_NED,
local_sp.x,
local_sp.y,
local_sp.z,
local_sp.yaw);
}
void
l_attitude_setpoint(struct listener *l)
{
struct vehicle_attitude_setpoint_s att_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_attitude_setpoint), mavlink_subs.spa_sub, &att_sp);
mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0,
att_sp.timestamp/1000,
att_sp.roll_body,
att_sp.pitch_body,
att_sp.yaw_body,
att_sp.thrust);
}
void
l_actuator_outputs(struct listener *l)
{
struct actuator_outputs_s act_outputs;
orb_id_t ids[] = {
ORB_ID(actuator_outputs_0),
ORB_ID(actuator_outputs_1),
ORB_ID(actuator_outputs_2),
ORB_ID(actuator_outputs_3)
};
/* copy actuator data into local buffer */
orb_copy(ids[l->arg], *l->subp, &act_outputs);
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
l->arg /* port number */,
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],
act_outputs.output[3],
act_outputs.output[4],
act_outputs.output[5],
act_outputs.output[6],
act_outputs.output[7]);
}
void
l_actuator_armed(struct listener *l)
{
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
}
void
l_manual_control_setpoint(struct listener *l)
{
struct manual_control_setpoint_s man_control;
/* copy manual control data into local buffer */
orb_copy(ORB_ID(manual_control_setpoint), mavlink_subs.man_control_sp_sub, &man_control);
mavlink_msg_manual_control_send(MAVLINK_COMM_0,
mavlink_system.sysid,
man_control.roll * 1000,
man_control.pitch * 1000,
man_control.yaw * 1000,
man_control.throttle * 1000,
0);
}
void
l_vehicle_attitude_controls(struct listener *l)
{
struct actuator_controls_s actuators;
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators);
/* send, add spaces so that string buffer is at least 10 chars long */
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl0 ",
actuators.control[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl1 ",
actuators.control[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl2 ",
actuators.control[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl3 ",
actuators.control[3]);
/* Only send in HIL mode */
if (mavlink_hil_enabled) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
/* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
actuators.control[0],
actuators.control[1],
actuators.control[2],
actuators.control[3],
0,
0,
0,
0,
mavlink_mode,
0);
}
}
void
l_debug_key_value(struct listener *l)
{
struct debug_key_value_s debug;
orb_copy(ORB_ID(debug_key_value), mavlink_subs.debug_key_value, &debug);
/* Enforce null termination */
debug.key[sizeof(debug.key) - 1] = '\0';
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
debug.key,
debug.value);
}
static void *
uorb_receive_thread(void *arg)
{
/* Set thread name */
prctl(PR_SET_NAME, "mavlink orb rcv", getpid());
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms (1 second)
*/
const int timeout = 1000;
/*
* Initialise listener array.
*
* Might want to invoke each listener once to set initial state.
*/
struct pollfd fds[n_listeners];
for (unsigned i = 0; i < n_listeners; i++) {
fds[i].fd = *listeners[i].subp;
/* Invoke callback to set initial state */
//listeners[i].callback(&listener[i]);
}
while (!thread_should_exit) {
int poll_ret = poll(fds, n_listeners, timeout);
/* handle the poll result */
if (poll_ret == 0) {
mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
} else if (poll_ret < 0) {
mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
} else {
for (unsigned i = 0; i < n_listeners; i++) {
if (fds[i].revents & POLLIN)
listeners[i].callback(&listeners[i]);
}
}
}
return NULL;
}
pthread_t
uorb_receive_start(void)
{
/* --- SENSORS RAW VALUE --- */
mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
/* rate limit set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.sensor_sub, 100); /* 10Hz updates */
/* --- ATTITUDE VALUE --- */
mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
/* rate limit set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.att_sub, 100); /* 10Hz updates */
/* --- GPS VALUE --- */
mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */
/* --- SYSTEM STATE --- */
status_sub = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */
/* --- RC CHANNELS VALUE --- */
rc_sub = orb_subscribe(ORB_ID(rc_channels));
orb_set_interval(rc_sub, 100); /* 10Hz updates */
/* --- GLOBAL POS VALUE --- */
mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
orb_set_interval(mavlink_subs.global_pos_sub, 1000); /* 1Hz active updates */
/* --- LOCAL POS VALUE --- */
mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
orb_set_interval(mavlink_subs.local_pos_sub, 1000); /* 1Hz active updates */
/* --- GLOBAL SETPOINT VALUE --- */
mavlink_subs.spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
orb_set_interval(mavlink_subs.spg_sub, 2000); /* 0.5 Hz updates */
/* --- LOCAL SETPOINT VALUE --- */
mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
orb_set_interval(mavlink_subs.spl_sub, 2000); /* 0.5 Hz updates */
/* --- ATTITUDE SETPOINT VALUE --- */
mavlink_subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
orb_set_interval(mavlink_subs.spa_sub, 2000); /* 0.5 Hz updates */
/* --- ACTUATOR OUTPUTS --- */
mavlink_subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
mavlink_subs.act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1));
mavlink_subs.act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2));
mavlink_subs.act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3));
/* rate limits set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.act_0_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink_subs.act_1_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink_subs.act_2_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */
/* --- ACTUATOR ARMED VALUE --- */
mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */
/* --- MAPPED MANUAL CONTROL INPUTS --- */
mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limits set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */
/* --- ACTUATOR CONTROL VALUE --- */
mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */
/* --- DEBUG VALUE OUTPUT --- */
mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
orb_set_interval(mavlink_subs.debug_key_value, 100); /* 10Hz updates */
/* start the listener loop */
pthread_attr_t uorb_attr;
pthread_attr_init(&uorb_attr);
/* Set stack size, needs more than 8000 bytes */
/* XXX verify, should not need anything like this much unless MAVLink really sucks */
pthread_attr_setstacksize(&uorb_attr, 8192);
pthread_t thread;
pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);
return thread;
}

98
apps/mavlink/orb_topics.h Normal file
View File

@ -0,0 +1,98 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file orb_topics.h
* Common sets of topics subscribed to or published by the MAVLink driver,
* and structures maintained by those subscriptions.
*/
#pragma once
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
struct mavlink_subscriptions {
int sensor_sub;
int att_sub;
int global_pos_sub;
int act_0_sub;
int act_1_sub;
int act_2_sub;
int act_3_sub;
int gps_sub;
int man_control_sp_sub;
int armed_sub;
int actuators_sub;
int local_pos_sub;
int spa_sub;
int spl_sub;
int spg_sub;
int debug_key_value;
};
extern struct mavlink_subscriptions mavlink_subs;
/** Global position */
extern struct vehicle_global_position_s global_pos;
/** Local position */
extern struct vehicle_local_position_s local_pos;
/** Vehicle status */
extern struct vehicle_status_s v_status;
/** RC channels */
extern struct rc_channels_s rc;
/** Actuator armed state */
extern struct actuator_armed_s armed;
/** Worker thread starter */
extern pthread_t uorb_receive_start(void);

54
apps/mavlink/util.h Normal file
View File

@ -0,0 +1,54 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file util.h
* Utility and helper functions and data.
*/
#pragma once
/** MAVLink communications channel */
extern uint8_t chan;
/** Shutdown marker */
extern volatile bool thread_should_exit;
/** Waypoint storage */
extern mavlink_wpm_storage *wpm;
/**
* Translate the custom state into standard mavlink modes and state.
*/
extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode);

14
apps/mavlink/waypoints.c
View File

@ -40,12 +40,15 @@
* MAVLink waypoint protocol implementation (BSD-relicensed).
*/
#include "waypoints.h"
#include <math.h>
#include <sys/prctl.h>
#include <unistd.h>
#include <stdio.h>
#include "missionlib.h"
#include "waypoints.h"
#include "util.h"
#ifndef FM_PI
#define FM_PI 3.1415926535897932384626433832795f
#endif
@ -53,15 +56,6 @@
bool debug = false;
bool verbose = false;
extern mavlink_wpm_storage *wpm;
extern void mavlink_missionlib_send_message(mavlink_message_t *msg);
extern void mavlink_missionlib_send_gcs_string(const char *string);
extern uint64_t mavlink_missionlib_get_system_timestamp(void);
extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
#define MAVLINK_WPM_NO_PRINTF

1
apps/mavlink/waypoints.h
View File

@ -46,7 +46,6 @@
or in the same folder as this source file */
#include <v1.0/mavlink_types.h>
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *buffer, uint16_t len);
#ifndef MAVLINK_SEND_UART_BYTES
#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)

3
apps/sdlog/sdlog.c
View File

@ -144,7 +144,6 @@ int sdlog_main(int argc, char *argv[])
4096,
sdlog_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
@ -215,7 +214,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
char folder_path[64];
if (create_logfolder(folder_path))
errx(1, "unable to create logging folder, exiting");
errx(1, "unable to create logging folder, exiting.");
/* create sensorfile */
int sensorfile = -1;

4
apps/systemlib/getopt_long.h
View File

@ -124,9 +124,9 @@ extern "C"
#if 0
int getopt (int argc, char **argv, char *optstring);
#endif
int getopt_long (int argc, char **argv, const char *shortopts,
__EXPORT int getopt_long (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind);
int getopt_long_only (int argc, char **argv, const char *shortopts,
__EXPORT int getopt_long_only (int argc, char **argv, const char *shortopts,
const GETOPT_LONG_OPTION_T * longopts, int *longind);
#ifdef __cplusplus

2
apps/uORB/uORB.h
View File

@ -54,6 +54,8 @@ struct orb_metadata {
const size_t o_size; /**< object size */
};
typedef const struct orb_metadata *orb_id_t;
/**
* Generates a pointer to the uORB metadata structure for
* a given topic.