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Merge branch 'beta_mavlink2' into mpc_local_pos_mavlink

This commit is contained in:
Anton Babushkin 2014-03-19 20:01:01 +04:00
parent 068b7526b7 295f87f22c
commit 9b71e660ad
49 changed files with 5122 additions and 4691 deletions
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33
ROMFS/px4fmu_common/init.d/rc.usb
View File

@ -5,38 +5,7 @@
echo "Starting MAVLink on this USB console"
# Stop tone alarm
tone_alarm stop
#
# Check for UORB
#
if uorb start
then
echo "uORB started"
fi
# Tell MAVLink that this link is "fast"
if mavlink stop
then
echo "stopped other MAVLink instance"
fi
mavlink start -b 230400 -d /dev/ttyACM0
# Stop commander
if commander stop
then
echo "Commander stopped"
fi
sleep 1
# Start the commander
if commander start
then
echo "Commander started"
fi
echo "MAVLink started, exiting shell.."
mavlink start -r 10000 -d /dev/ttyACM0
# Exit shell to make it available to MAVLink
exit

39
ROMFS/px4fmu_common/init.d/rcS
View File

@ -117,6 +117,8 @@ then
set PWM_MAX none
set MKBLCTRL_MODE none
set FMU_MODE pwm
set MAVLINK_FLAGS default
set EXIT_ON_END no
set MAV_TYPE none
set LOAD_DEFAULT_APPS yes
@ -385,28 +387,34 @@ then
#
# MAVLink
#
set EXIT_ON_END no
if [ $HIL == yes ]
if [ $MAVLINK_FLAGS == default ]
then
sleep 1
mavlink start -b 230400 -d /dev/ttyACM0
usleep 5000
else
if [ $TTYS1_BUSY == yes ]
if [ $HIL == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
mavlink start -d /dev/ttyS0
sleep 1
set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
mavlink start
usleep 5000
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
set MAVLINK_FLAGS "-r 1000"
usleep 5000
fi
fi
fi
mavlink start $MAVLINK_FLAGS
usleep 5000
#
# Start the datamanager
@ -551,6 +559,7 @@ then
if [ $EXIT_ON_END == yes ]
then
echo "[init] Exit from nsh"
exit
fi

1
makefiles/config_px4fmu-v2_default.mk
View File

@ -72,7 +72,6 @@ MODULES += systemcmds/dumpfile
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
MODULES += modules/gpio_led
#

2
nuttx-configs/px4fmu-v1/nsh/defconfig
View File

@ -405,7 +405,7 @@ CONFIG_SIG_SIGWORK=4
CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_DESCRIPTORS=36
CONFIG_NFILE_STREAMS=8
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4

6
nuttx-configs/px4fmu-v2/nsh/defconfig
View File

@ -439,7 +439,7 @@ CONFIG_SIG_SIGWORK=4
CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_DESCRIPTORS=36
CONFIG_NFILE_STREAMS=8
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4
@ -796,11 +796,11 @@ CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_WORKPRIORITY=192
CONFIG_SCHED_WORKPERIOD=5000
CONFIG_SCHED_WORKSTACKSIZE=4000
CONFIG_SCHED_WORKSTACKSIZE=2000
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKPERIOD=50000
CONFIG_SCHED_LPWORKSTACKSIZE=4000
CONFIG_SCHED_LPWORKSTACKSIZE=2000
# CONFIG_LIB_KBDCODEC is not set
# CONFIG_LIB_SLCDCODEC is not set

2
src/drivers/device/cdev.cpp
View File

@ -124,7 +124,7 @@ CDev::register_class_devname(const char *class_devname)
if (ret == OK) break;
} else {
char name[32];
snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
snprintf(name, sizeof(name), "%s%d", class_devname, class_instance);
ret = register_driver(name, &fops, 0666, (void *)this);
if (ret == OK) break;
}

5
src/drivers/gps/gps.cpp
View File

@ -232,6 +232,11 @@ GPS::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCRESET:
cmd_reset();
break;
default:
/* give it to parent if no one wants it */
ret = CDev::ioctl(filp, cmd, arg);
break;
}
unlock();

21
src/drivers/px4io/px4io.cpp
View File

@ -1332,12 +1332,15 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
battery_status.discharged_mah = _battery_mamphour_total;
_battery_last_timestamp = battery_status.timestamp;
/* lazily publish the battery voltage */
if (_to_battery > 0) {
orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
/* the announced battery status would conflict with the simulated battery status in HIL */
if (!(_pub_blocked)) {
/* lazily publish the battery voltage */
if (_to_battery > 0) {
orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
} else {
_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
} else {
_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
}
}
}
@ -1959,8 +1962,7 @@ PX4IO::print_status()
}
int
PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
/* Make it obvious that file * isn't used here */
PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
{
int ret = OK;
@ -2372,8 +2374,9 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
break;
default:
/* not a recognized value */
ret = -ENOTTY;
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filep, cmd, arg);
break;
}
return ret;

2
src/drivers/rgbled/rgbled.cpp
View File

@ -242,6 +242,8 @@ RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
return OK;
default:
/* see if the parent class can make any use of it */
ret = CDev::ioctl(filp, cmd, arg);
break;
}

3
src/include/mavlink/mavlink_log.h
View File

@ -100,6 +100,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...);
*/
#define mavlink_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__);
struct mavlink_logmessage {
char text[MAVLINK_LOG_MAXLEN + 1];
unsigned char severity;
@ -112,6 +113,7 @@ struct mavlink_logbuffer {
struct mavlink_logmessage *elems;
};
__BEGIN_DECLS
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size);
void mavlink_logbuffer_destroy(struct mavlink_logbuffer *lb);
@ -125,6 +127,7 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem);
void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...);
__END_DECLS
#endif

24
src/lib/geo/geo.c
View File

@ -373,8 +373,7 @@ __EXPORT float _wrap_pi(float bearing)
}
int c = 0;
while (bearing > M_PI_F) {
while (bearing >= M_PI_F) {
bearing -= M_TWOPI_F;
if (c++ > 3) {
@ -383,8 +382,7 @@ __EXPORT float _wrap_pi(float bearing)
}
c = 0;
while (bearing <= -M_PI_F) {
while (bearing < -M_PI_F) {
bearing += M_TWOPI_F;
if (c++ > 3) {
@ -403,8 +401,7 @@ __EXPORT float _wrap_2pi(float bearing)
}
int c = 0;
while (bearing > M_TWOPI_F) {
while (bearing >= M_TWOPI_F) {
bearing -= M_TWOPI_F;
if (c++ > 3) {
@ -413,8 +410,7 @@ __EXPORT float _wrap_2pi(float bearing)
}
c = 0;
while (bearing <= 0.0f) {
while (bearing < 0.0f) {
bearing += M_TWOPI_F;
if (c++ > 3) {
@ -433,8 +429,7 @@ __EXPORT float _wrap_180(float bearing)
}
int c = 0;
while (bearing > 180.0f) {
while (bearing >= 180.0f) {
bearing -= 360.0f;
if (c++ > 3) {
@ -443,8 +438,7 @@ __EXPORT float _wrap_180(float bearing)
}
c = 0;
while (bearing <= -180.0f) {
while (bearing < -180.0f) {
bearing += 360.0f;
if (c++ > 3) {
@ -463,8 +457,7 @@ __EXPORT float _wrap_360(float bearing)
}
int c = 0;
while (bearing > 360.0f) {
while (bearing >= 360.0f) {
bearing -= 360.0f;
if (c++ > 3) {
@ -473,8 +466,7 @@ __EXPORT float _wrap_360(float bearing)
}
c = 0;
while (bearing <= 0.0f) {
while (bearing < 0.0f) {
bearing += 360.0f;
if (c++ > 3) {

14
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
View File

@ -277,7 +277,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
// XXX write this out to perf regs
/* keep track of sensor updates */
uint32_t sensor_last_count[3] = {0, 0, 0};
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
struct attitude_estimator_ekf_params ekf_params;
@ -380,9 +379,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
uint8_t update_vect[3] = {0, 0, 0};
/* Fill in gyro measurements */
if (sensor_last_count[0] != raw.gyro_counter) {
if (sensor_last_timestamp[0] != raw.timestamp) {
update_vect[0] = 1;
sensor_last_count[0] = raw.gyro_counter;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
@ -392,11 +390,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
/* update accelerometer measurements */
if (sensor_last_count[1] != raw.accelerometer_counter) {
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
update_vect[1] = 1;
sensor_last_count[1] = raw.accelerometer_counter;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.timestamp;
sensor_last_timestamp[1] = raw.accelerometer_timestamp;
}
hrt_abstime vel_t = 0;
@ -445,11 +442,10 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
z_k[5] = raw.accelerometer_m_s2[2] - acc(2);
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {
if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
update_vect[2] = 1;
sensor_last_count[2] = raw.magnetometer_counter;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.timestamp;
sensor_last_timestamp[2] = raw.magnetometer_timestamp;
}
z_k[6] = raw.magnetometer_ga[0];

14
src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
View File

@ -445,7 +445,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
// XXX write this out to perf regs
/* keep track of sensor updates */
uint32_t sensor_last_count[3] = {0, 0, 0};
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
struct attitude_estimator_so3_params so3_comp_params;
@ -526,9 +525,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
uint8_t update_vect[3] = {0, 0, 0};
/* Fill in gyro measurements */
if (sensor_last_count[0] != raw.gyro_counter) {
if (sensor_last_timestamp[0] != raw.timestamp) {
update_vect[0] = 1;
sensor_last_count[0] = raw.gyro_counter;
sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
}
@ -538,11 +536,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
/* update accelerometer measurements */
if (sensor_last_count[1] != raw.accelerometer_counter) {
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
update_vect[1] = 1;
sensor_last_count[1] = raw.accelerometer_counter;
sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.timestamp;
sensor_last_timestamp[1] = raw.accelerometer_timestamp;
}
acc[0] = raw.accelerometer_m_s2[0];
@ -550,11 +547,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
acc[2] = raw.accelerometer_m_s2[2];
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {
if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
update_vect[2] = 1;
sensor_last_count[2] = raw.magnetometer_counter;
sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.timestamp;
sensor_last_timestamp[2] = raw.magnetometer_timestamp;
}
mag[0] = raw.magnetometer_ga[0];

2
src/modules/commander/px4_custom_mode.h
View File

@ -8,6 +8,8 @@
#ifndef PX4_CUSTOM_MODE_H_
#define PX4_CUSTOM_MODE_H_
#include <stdint.h>
enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
PX4_CUSTOM_MAIN_MODE_SEATBELT,

53
src/modules/commander/state_machine_helper.cpp
View File

@ -44,6 +44,7 @@
#include <stdbool.h>
#include <dirent.h>
#include <fcntl.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@ -309,10 +310,7 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
bool valid_transition = false;
int ret = ERROR;
warnx("Current state: %d, requested state: %d", current_status->hil_state, new_state);
if (current_status->hil_state == new_state) {
warnx("Hil state not changed");
valid_transition = true;
} else {
@ -340,23 +338,60 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
/* list directory */
DIR *d;
struct dirent *direntry;
d = opendir("/dev");
if (d) {
struct dirent *direntry;
char devname[24];
while ((direntry = readdir(d)) != NULL) {
int sensfd = ::open(direntry->d_name, 0);
int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0);
/* skip serial ports */
if (!strncmp("tty", direntry->d_name, 3)) {
continue;
}
/* skip mtd devices */
if (!strncmp("mtd", direntry->d_name, 3)) {
continue;
}
/* skip ram devices */
if (!strncmp("ram", direntry->d_name, 3)) {
continue;
}
/* skip MMC devices */
if (!strncmp("mmc", direntry->d_name, 3)) {
continue;
}
/* skip mavlink */
if (!strcmp("mavlink", direntry->d_name)) {
continue;
}
/* skip console */
if (!strcmp("console", direntry->d_name)) {
continue;
}
/* skip null */
if (!strcmp("null", direntry->d_name)) {
continue;
}
snprintf(devname, sizeof(devname), "/dev/%s", direntry->d_name);
int sensfd = ::open(devname, 0);
if (sensfd < 0) {
warn("failed opening device %s", devname);
continue;
}
int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
close(sensfd);
printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL");
printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
}
closedir(d);
warnx("directory listing ok (FS mounted and readable)");
} else {
/* failed opening dir */
warnx("FAILED LISTING DEVICE ROOT DIRECTORY");

785
src/modules/mavlink/mavlink.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -34,46 +33,43 @@
/**
* @file mavlink.c
* MAVLink 1.0 protocol implementation.
* Adapter functions expected by the protocol library
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#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 <drivers/drv_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 <systemlib/err.h>
#include <mavlink/mavlink_log.h>
#include <commander/px4_custom_mode.h>
// #include <drivers/drv_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 "waypoints.h"
#include "orb_topics.h"
#include "mavlink_hil.h"
#include "util.h"
#include "waypoints.h"
#include "mavlink_parameters.h"
//
// #include <systemlib/systemlib.h>
// #include <systemlib/err.h>
// #include <mavlink/mavlink_log.h>
// #include <commander/px4_custom_mode.h>
#include <uORB/topics/mission_result.h>
// #include "waypoints.h"
// #include "orb_topics.h"
// #include "mavlink_hil.h"
// #include "util.h"
// #include "waypoints.h"
// #include "mavlink_parameters.h"
// #include <uORB/topics/mission_result.h>
/* define MAVLink specific parameters */
/**
@ -92,22 +88,6 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
*/
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
__EXPORT int mavlink_main(int argc, char *argv[]);
static int mavlink_thread_main(int argc, char *argv[]);
/* thread state */
volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static int mavlink_task;
/* pthreads */
static pthread_t receive_thread;
static pthread_t uorb_receive_thread;
/* terminate MAVLink on user request - disabled by default */
static bool mavlink_link_termination_allowed = false;
mavlink_system_t mavlink_system = {
100,
50,
@ -117,362 +97,6 @@ mavlink_system_t mavlink_system = {
0
}; // System ID, 1-255, Component/Subsystem ID, 1-255
/* XXX not widely used */
uint8_t chan = MAVLINK_COMM_0;
/* XXX probably should be in a header... */
extern pthread_t receive_start(int uart);
/* Allocate storage space for waypoints */
static mavlink_wpm_storage wpm_s;
mavlink_wpm_storage *wpm = &wpm_s;
bool mavlink_hil_enabled = false;
/* protocol interface */
static int uart;
static int baudrate;
bool gcs_link = true;
/* interface mode */
static enum {
MAVLINK_INTERFACE_MODE_OFFBOARD,
MAVLINK_INTERFACE_MODE_ONBOARD
} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD;
static struct mavlink_logbuffer lb;
static void mavlink_update_system(void);
static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
static void usage(void);
int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval);
int
set_hil_on_off(bool hil_enabled)
{
int ret = OK;
/* Enable HIL */
if (hil_enabled && !mavlink_hil_enabled) {
mavlink_hil_enabled = true;
/* ramp up some HIL-related subscriptions */
unsigned hil_rate_interval;
if (baudrate < 19200) {
/* 10 Hz */
hil_rate_interval = 100;
} else if (baudrate < 38400) {
/* 10 Hz */
hil_rate_interval = 100;
} else if (baudrate < 115200) {
/* 20 Hz */
hil_rate_interval = 50;
} else {
/* 200 Hz */
hil_rate_interval = 5;
}
orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval);
}
if (!hil_enabled && mavlink_hil_enabled) {
mavlink_hil_enabled = false;
orb_set_interval(mavlink_subs.spa_sub, 200);
} else {
ret = ERROR;
}
return ret;
}
void
get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode)
{
/* reset MAVLink mode bitfield */
*mavlink_base_mode = 0;
*mavlink_custom_mode = 0;
/**
* Set mode flags
**/
/* HIL */
if (v_status.hil_state == HIL_STATE_ON) {
*mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
/* arming state */
if (armed.armed) {
*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
/* main state */
*mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
union px4_custom_mode custom_mode;
custom_mode.data = 0;
if (pos_sp_triplet.nav_state == NAV_STATE_NONE) {
/* use main state when navigator is not active */
if (v_status.main_state == MAIN_STATE_MANUAL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
} else if (v_status.main_state == MAIN_STATE_SEATBELT) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
} else if (v_status.main_state == MAIN_STATE_EASY) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
} else if (v_status.main_state == MAIN_STATE_AUTO) {
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
}
} else {
/* use navigation state when navigator is active */
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
if (pos_sp_triplet.nav_state == NAV_STATE_READY) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (pos_sp_triplet.nav_state == NAV_STATE_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (pos_sp_triplet.nav_state == NAV_STATE_MISSION) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
} else if (pos_sp_triplet.nav_state == NAV_STATE_RTL) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
} else if (pos_sp_triplet.nav_state == NAV_STATE_LAND) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
}
}
*mavlink_custom_mode = custom_mode.data;
/**
* Set mavlink state
**/
/* set calibration state */
if (v_status.arming_state == ARMING_STATE_INIT
|| v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE
|| v_status.arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review
*mavlink_state = MAV_STATE_UNINIT;
} else if (v_status.arming_state == ARMING_STATE_ARMED) {
*mavlink_state = MAV_STATE_ACTIVE;
} else if (v_status.arming_state == ARMING_STATE_ARMED_ERROR) {
*mavlink_state = MAV_STATE_CRITICAL;
} else if (v_status.arming_state == ARMING_STATE_STANDBY) {
*mavlink_state = MAV_STATE_STANDBY;
} else if (v_status.arming_state == ARMING_STATE_REBOOT) {
*mavlink_state = MAV_STATE_POWEROFF;
} else {
warnx("Unknown mavlink state");
*mavlink_state = MAV_STATE_CRITICAL;
}
}
int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
{
int ret = OK;
switch (mavlink_msg_id) {
case MAVLINK_MSG_ID_SCALED_IMU:
/* sensor sub triggers scaled IMU */
orb_set_interval(subs->sensor_sub, min_interval);
break;
case MAVLINK_MSG_ID_HIGHRES_IMU:
/* sensor sub triggers highres IMU */
orb_set_interval(subs->sensor_sub, min_interval);
break;
case MAVLINK_MSG_ID_RAW_IMU:
/* sensor sub triggers RAW IMU */
orb_set_interval(subs->sensor_sub, min_interval);
break;
case MAVLINK_MSG_ID_ATTITUDE:
/* attitude sub triggers attitude */
orb_set_interval(subs->att_sub, min_interval);
break;
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
/* actuator_outputs triggers this message */
orb_set_interval(subs->act_0_sub, min_interval);
orb_set_interval(subs->act_1_sub, min_interval);
orb_set_interval(subs->act_2_sub, min_interval);
orb_set_interval(subs->act_3_sub, min_interval);
orb_set_interval(subs->actuators_sub, min_interval);
orb_set_interval(subs->actuators_effective_sub, min_interval);
orb_set_interval(subs->spa_sub, min_interval);
orb_set_interval(mavlink_subs.rates_setpoint_sub, min_interval);
break;
case MAVLINK_MSG_ID_MANUAL_CONTROL:
/* manual_control_setpoint triggers this message */
orb_set_interval(subs->man_control_sp_sub, min_interval);
break;
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
orb_set_interval(subs->debug_key_value, min_interval);
break;
default:
/* not found */
ret = ERROR;
break;
}
return ret;
}
/****************************************************************************
* MAVLink text message logger
****************************************************************************/
static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
static const struct file_operations mavlink_fops = {
.ioctl = mavlink_dev_ioctl
};
static int
mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
{
static unsigned int total_counter = 0;
switch (cmd) {
case (int)MAVLINK_IOC_SEND_TEXT_INFO:
case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL:
case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: {
const char *txt = (const char *)arg;
struct mavlink_logmessage msg;
strncpy(msg.text, txt, sizeof(msg.text));
mavlink_logbuffer_write(&lb, &msg);
total_counter++;
return OK;
}
default:
return ENOTTY;
}
}
#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10
/****************************************************************************
* Public Functions
****************************************************************************/
int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
{
/* process baud rate */
int speed;
switch (baud) {
case 0: speed = B0; break;
case 50: speed = B50; break;
case 75: speed = B75; break;
case 110: speed = B110; break;
case 134: speed = B134; break;
case 150: speed = B150; break;
case 200: speed = B200; break;
case 300: speed = B300; break;
case 600: speed = B600; break;
case 1200: speed = B1200; break;
case 1800: speed = B1800; break;
case 2400: speed = B2400; break;
case 4800: speed = B4800; break;
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
case 460800: speed = B460800; break;
case 921600: speed = B921600; break;
default:
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
return -EINVAL;
}
/* open uart */
warnx("UART is %s, baudrate is %d\n", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
*is_usb = false;
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
return uart;
}
void
mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length)
{
write(uart, ch, (size_t)(sizeof(uint8_t) * length));
}
/*
* Internal function to give access to the channel status for each channel
*/
@ -490,362 +114,3 @@ extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_buffer[channel];
}
void mavlink_update_system(void)
{
static bool initialized = false;
static param_t param_system_id;
static param_t param_component_id;
static param_t param_system_type;
if (!initialized) {
param_system_id = param_find("MAV_SYS_ID");
param_component_id = param_find("MAV_COMP_ID");
param_system_type = param_find("MAV_TYPE");
initialized = true;
}
/* update system and component id */
int32_t system_id;
param_get(param_system_id, &system_id);
if (system_id > 0 && system_id < 255) {
mavlink_system.sysid = system_id;
}
int32_t component_id;
param_get(param_component_id, &component_id);
if (component_id > 0 && component_id < 255) {
mavlink_system.compid = component_id;
}
int32_t system_type;
param_get(param_system_type, &system_type);
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
mavlink_system.type = system_type;
}
}
/**
* MAVLink Protocol main function.
*/
int mavlink_thread_main(int argc, char *argv[])
{
/* initialize mavlink text message buffering */
mavlink_logbuffer_init(&lb, 10);
int ch;
char *device_name = "/dev/ttyS1";
baudrate = 57600;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) {
switch (ch) {
case 'b':
baudrate = strtoul(optarg, NULL, 10);
if (baudrate < 9600 || baudrate > 921600)
errx(1, "invalid baud rate '%s'", optarg);
break;
case 'd':
device_name = optarg;
break;
case 'e':
mavlink_link_termination_allowed = true;
break;
case 'o':
mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD;
break;
default:
usage();
break;
}
}
struct termios uart_config_original;
bool usb_uart;
/* print welcome text */
warnx("MAVLink v1.0 serial interface starting...");
/* inform about mode */
warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE");
/* Flush stdout in case MAVLink is about to take it over */
fflush(stdout);
/* default values for arguments */
uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart);
if (uart < 0)
err(1, "could not open %s", device_name);
/* create the device node that's used for sending text log messages, etc. */
register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL);
/* Initialize system properties */
mavlink_update_system();
/* start the MAVLink receiver */
receive_thread = receive_start(uart);
/* start the ORB receiver */
uorb_receive_thread = uorb_receive_start();
/* initialize waypoint manager */
mavlink_wpm_init(wpm);
/* all subscriptions are now active, set up initial guess about rate limits */
if (baudrate >= 230400) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 10 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100);
/* 10 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
} else if (baudrate >= 115200) {
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
} else if (baudrate >= 57600) {
/* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300);
/* 10 Hz / 100 ms ATTITUDE */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500);
} else {
/* very low baud rate, limit to 1 Hz / 1000 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000);
/* 1 Hz / 1000 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000);
/* 0.5 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000);
/* 0.1 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000);
}
int mission_result_sub = orb_subscribe(ORB_ID(mission_result));
struct mission_result_s mission_result;
memset(&mission_result, 0, sizeof(mission_result));
thread_running = true;
/* arm counter to go off immediately */
unsigned lowspeed_counter = 10;
while (!thread_should_exit) {
/* 1 Hz */
if (lowspeed_counter == 10) {
mavlink_update_system();
/* translate the current system state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_base_mode, mavlink_custom_mode, mavlink_state);
/* switch HIL mode if required */
if (v_status.hil_state == HIL_STATE_ON)
set_hil_on_off(true);
else if (v_status.hil_state == HIL_STATE_OFF)
set_hil_on_off(false);
/* send status (values already copied in the section above) */
mavlink_msg_sys_status_send(chan,
v_status.onboard_control_sensors_present,
v_status.onboard_control_sensors_enabled,
v_status.onboard_control_sensors_health,
v_status.load * 1000.0f,
v_status.battery_voltage * 1000.0f,
v_status.battery_current * 100.0f,
v_status.battery_remaining * 100.0f,
v_status.drop_rate_comm,
v_status.errors_comm,
v_status.errors_count1,
v_status.errors_count2,
v_status.errors_count3,
v_status.errors_count4);
lowspeed_counter = 0;
}
lowspeed_counter++;
bool updated;
orb_check(mission_result_sub, &updated);
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
if (mission_result.mission_reached) {
mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index);
}
}
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
/* check if waypoint has been reached against the last positions */
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
/* send parameters at 20 Hz (if queued for sending) */
mavlink_pm_queued_send();
mavlink_waypoint_eventloop(hrt_absolute_time());
/* sleep quarter the time */
usleep(25000);
mavlink_waypoint_eventloop(hrt_absolute_time());
if (baudrate > 57600) {
mavlink_pm_queued_send();
}
/* sleep 10 ms */
usleep(10000);
/* send one string at 10 Hz */
if (!mavlink_logbuffer_is_empty(&lb)) {
struct mavlink_logmessage msg;
int lb_ret = mavlink_logbuffer_read(&lb, &msg);
if (lb_ret == OK) {
mavlink_missionlib_send_gcs_string(msg.text);
}
}
/* sleep 15 ms */
usleep(15000);
}
/* wait for threads to complete */
pthread_join(receive_thread, NULL);
pthread_join(uorb_receive_thread, NULL);
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
/* destroy log buffer */
//mavlink_logbuffer_destroy(&lb);
thread_running = false;
return 0;
}
static void
usage()
{
fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
" mavlink stop\n"
" mavlink status\n");
exit(1);
}
int mavlink_main(int argc, char *argv[])
{
if (argc < 2) {
warnx("missing command");
usage();
}
if (!strcmp(argv[1], "start")) {
/* this is not an error */
if (thread_running)
errx(0, "mavlink already running");
thread_should_exit = false;
mavlink_task = task_spawn_cmd("mavlink",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
mavlink_thread_main,
(const char **)argv);
while (!thread_running) {
usleep(200);
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
/* this is not an error */
if (!thread_running)
errx(0, "mavlink already stopped");
thread_should_exit = true;
while (thread_running) {
usleep(200000);
warnx(".");
}
warnx("terminated.");
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
usage();
/* not getting here */
return 0;
}

9
src/modules/mavlink/mavlink_bridge_header.h
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -43,6 +42,8 @@
#ifndef MAVLINK_BRIDGE_HEADER_H
#define MAVLINK_BRIDGE_HEADER_H
__BEGIN_DECLS
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
/* use efficient approach, see mavlink_helpers.h */
@ -73,11 +74,13 @@ extern mavlink_system_t mavlink_system;
* @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
* @param ch Character to send
*/
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length);
extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
#include <v1.0/common/mavlink.h>
__END_DECLS
#endif /* MAVLINK_BRIDGE_HEADER_H */

2036
src/modules/mavlink/mavlink_main.cpp Normal file
View File

File diff suppressed because it is too large Load Diff

324
src/modules/mavlink/mavlink_main.h Normal file
View File

@ -0,0 +1,324 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* 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_main.h
* MAVLink 1.0 protocol interface definition.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
#include <stdbool.h>
#include <nuttx/fs/fs.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <pthread.h>
#include <mavlink/mavlink_log.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include "mavlink_bridge_header.h"
#include "mavlink_orb_subscription.h"
#include "mavlink_stream.h"
#include "mavlink_messages.h"
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
struct mavlink_wpm_storage {
uint16_t size;
uint16_t max_size;
enum MAVLINK_WPM_STATES current_state;
int16_t current_wp_id; ///< Waypoint in current transmission
uint16_t current_count;
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint32_t timeout;
int current_dataman_id;
};
class Mavlink
{
public:
/**
* Constructor
*/
Mavlink();
/**
* Destructor, also kills the mavlinks task.
*/
~Mavlink();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
static int start(int argc, char *argv[]);
/**
* Display the mavlink status.
*/
void status();
static int stream(int argc, char *argv[]);
static int instance_count();
static Mavlink *new_instance();
static Mavlink *get_instance(unsigned instance);
static Mavlink *get_instance_for_device(const char *device_name);
static int destroy_all_instances();
static bool instance_exists(const char *device_name, Mavlink *self);
static int get_uart_fd(unsigned index);
int get_uart_fd();
const char *_device_name;
enum MAVLINK_MODE {
MAVLINK_MODE_NORMAL = 0,
MAVLINK_MODE_CUSTOM
};
void set_mode(enum MAVLINK_MODE);
enum MAVLINK_MODE get_mode() { return _mode; }
bool get_hil_enabled() { return _hil_enabled; };
bool get_flow_control_enabled() { return _flow_control_enabled; }
/**
* Handle waypoint related messages.
*/
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
static int start_helper(int argc, char *argv[]);
/**
* Handle parameter related messages.
*/
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
/**
* 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.
*/
int set_hil_enabled(bool hil_enabled);
MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
int get_instance_id();
/**
* Enable / disable hardware flow control.
*
* @param enabled True if hardware flow control should be enabled
*/
int enable_flow_control(bool enabled);
mavlink_channel_t get_channel();
bool _task_should_exit; /**< if true, mavlink task should exit */
protected:
Mavlink *next;
private:
int _instance_id;
int _mavlink_fd;
bool _task_running;
perf_counter_t _loop_perf; /**< loop performance counter */
/* states */
bool _hil_enabled; /**< Hardware In the Loop mode */
bool _is_usb_uart; /**< Port is USB */
unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */
MavlinkOrbSubscription *_subscriptions;
MavlinkStream *_streams;
orb_advert_t _mission_pub;
struct mission_s mission;
uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
MAVLINK_MODE _mode;
uint8_t _mavlink_wpm_comp_id;
mavlink_channel_t _channel;
struct mavlink_logbuffer _logbuffer;
unsigned int _total_counter;
pthread_t _receive_thread;
/* Allocate storage space for waypoints */
mavlink_wpm_storage _wpm_s;
mavlink_wpm_storage *_wpm;
bool _verbose;
int _uart_fd;
int _baudrate;
int _datarate;
/**
* If the queue index is not at 0, the queue sending
* logic will send parameters from the current index
* to len - 1, the end of the param list.
*/
unsigned int _mavlink_param_queue_index;
bool mavlink_link_termination_allowed;
char *_subscribe_to_stream;
float _subscribe_to_stream_rate;
bool _flow_control_enabled;
/**
* Send one parameter.
*
* @param param The parameter id to send.
* @return zero on success, nonzero on failure.
*/
int mavlink_pm_send_param(param_t param);
/**
* Send one parameter identified by index.
*
* @param index The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_index(uint16_t index);
/**
* Send one parameter identified by name.
*
* @param name The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_name(const char *name);
/**
* Send a queue of parameters, one parameter per function call.
*
* @return zero on success, nonzero on failure
*/
int mavlink_pm_queued_send(void);
/**
* Start sending the parameter queue.
*
* This function will not directly send parameters, but instead
* activate the sending of one parameter on each call of
* mavlink_pm_queued_send().
* @see mavlink_pm_queued_send()
*/
void mavlink_pm_start_queued_send();
void mavlink_update_system();
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_send_waypoint_reached(uint16_t seq);
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
void mavlink_wpm_send_waypoint_current(uint16_t seq);
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
void mavlink_wpm_init(mavlink_wpm_storage *state);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
void publish_mission();
void mavlink_missionlib_send_message(mavlink_message_t *msg);
int mavlink_missionlib_send_gcs_string(const char *string);
int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
int configure_stream(const char *stream_name, const float rate);
void configure_stream_threadsafe(const char *stream_name, const float rate);
static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
/**
* Main mavlink task.
*/
int task_main(int argc, char *argv[]);
};

1222
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30
src/modules/mavlink/mavlink_hil.h → src/modules/mavlink/mavlink_messages.h
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@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,20 +32,17 @@
****************************************************************************/
/**
* @file mavlink_hil.h
* Hardware-in-the-loop simulation support.
*/
#pragma once
extern bool mavlink_hil_enabled;
/**
* Enable / disable Hardware in the Loop simulation mode.
* @file mavlink_messages.h
* MAVLink 1.0 message formatters definition.
*
* @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.
* @author Anton Babushkin <anton.babushkin@me.com>
*/
extern int set_hil_on_off(bool hil_enabled);
#ifndef MAVLINK_MESSAGES_H_
#define MAVLINK_MESSAGES_H_
#include "mavlink_stream.h"
extern MavlinkStream *streams_list[];
#endif /* MAVLINK_MESSAGES_H_ */

106
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@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,51 +32,82 @@
****************************************************************************/
/**
* @file mavlink_bridge_header
* MAVLink bridge header for UART access.
* @file mavlink_orb_subscription.cpp
* uORB subscription implementation.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
/* MAVLink adapter header */
#ifndef MAVLINK_BRIDGE_HEADER_H
#define MAVLINK_BRIDGE_HEADER_H
#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
/* use efficient approach, see mavlink_helpers.h */
#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
#include <v1.0/mavlink_types.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <uORB/uORB.h>
#include <stdio.h>
#include "mavlink_orb_subscription.h"
/* Struct that stores the communication settings of this system.
you can also define / alter these settings elsewhere, as long
as they're included BEFORE mavlink.h.
So you can set the
MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
_fd(orb_subscribe(_topic)),
_published(false),
_topic(topic),
_last_check(0),
next(nullptr)
{
_data = malloc(topic->o_size);
memset(_data, 0, topic->o_size);
}
mavlink_system.sysid = 100; // System ID, 1-255
mavlink_system.compid = 50; // Component/Subsystem ID, 1-255
MavlinkOrbSubscription::~MavlinkOrbSubscription()
{
close(_fd);
free(_data);
}
Lines also in your main.c, e.g. by reading these parameter from EEPROM.
*/
extern mavlink_system_t mavlink_system;
const orb_id_t
MavlinkOrbSubscription::get_topic()
{
return _topic;
}
/**
* @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
*/
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
void *
MavlinkOrbSubscription::get_data()
{
return _data;
}
mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
bool
MavlinkOrbSubscription::update(const hrt_abstime t)
{
if (_last_check == t) {
/* already checked right now, return result of the check */
return _updated;
#include <v1.0/common/mavlink.h>
} else {
_last_check = t;
orb_check(_fd, &_updated);
#endif /* MAVLINK_BRIDGE_HEADER_H */
if (_updated) {
orb_copy(_topic, _fd, _data);
return true;
}
}
return false;
}
bool
MavlinkOrbSubscription::is_published()
{
if (_published) {
return true;
}
bool updated;
orb_check(_fd, &updated);
if (updated) {
_published = true;
}
return _published;
}

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@ -0,0 +1,78 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* 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_orb_subscription.h
* uORB subscription definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
#define MAVLINK_ORB_SUBSCRIPTION_H_
#include <systemlib/uthash/utlist.h>
#include <drivers/drv_hrt.h>
class MavlinkOrbSubscription
{
public:
MavlinkOrbSubscription *next; /*< pointer to next subscription in list */
MavlinkOrbSubscription(const orb_id_t topic);
~MavlinkOrbSubscription();
bool update(const hrt_abstime t);
/**
* Check if the topic has been published.
*
* This call will return true if the topic was ever published.
* @return true if the topic has been published at least once.
*/
bool is_published();
void *get_data();
const orb_id_t get_topic();
private:
const orb_id_t _topic; /*< topic metadata */
int _fd; /*< subscription handle */
bool _published; /*< topic was ever published */
void *_data; /*< pointer to data buffer */
hrt_abstime _last_check; /*< time of last check */
bool _updated; /*< updated on last check */
};
#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */

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src/modules/mavlink/mavlink_parameters.c
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@ -1,230 +0,0 @@
/****************************************************************************
*
* 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
* 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_parameters.c
* MAVLink parameter protocol implementation (BSD-relicensed).
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include "mavlink_bridge_header.h"
#include "mavlink_parameters.h"
#include <uORB/uORB.h>
#include "math.h" /* isinf / isnan checks */
#include <assert.h>
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdbool.h>
#include <string.h>
#include <errno.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <sys/stat.h>
extern mavlink_system_t mavlink_system;
extern int mavlink_missionlib_send_message(mavlink_message_t *msg);
extern int mavlink_missionlib_send_gcs_string(const char *string);
/**
* If the queue index is not at 0, the queue sending
* logic will send parameters from the current index
* to len - 1, the end of the param list.
*/
static unsigned int mavlink_param_queue_index = 0;
/**
* Callback for param interface.
*/
void mavlink_pm_callback(void *arg, param_t param);
void mavlink_pm_callback(void *arg, param_t param)
{
mavlink_pm_send_param(param);
usleep(*(unsigned int *)arg);
}
void mavlink_pm_send_all_params(unsigned int delay)
{
unsigned int dbuf = delay;
param_foreach(&mavlink_pm_callback, &dbuf, false);
}
int mavlink_pm_queued_send()
{
if (mavlink_param_queue_index < param_count()) {
mavlink_pm_send_param(param_for_index(mavlink_param_queue_index));
mavlink_param_queue_index++;
return 0;
} else {
return 1;
}
}
void mavlink_pm_start_queued_send()
{
mavlink_param_queue_index = 0;
}
int mavlink_pm_send_param_for_index(uint16_t index)
{
return mavlink_pm_send_param(param_for_index(index));
}
int mavlink_pm_send_param_for_name(const char *name)
{
return mavlink_pm_send_param(param_find(name));
}
int mavlink_pm_send_param(param_t param)
{
if (param == PARAM_INVALID) return 1;
/* buffers for param transmission */
static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
float val_buf;
static mavlink_message_t tx_msg;
/* query parameter type */
param_type_t type = param_type(param);
/* copy parameter name */
strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/*
* Map onboard parameter type to MAVLink type,
* endianess matches (both little endian)
*/
uint8_t mavlink_type;
if (type == PARAM_TYPE_INT32) {
mavlink_type = MAVLINK_TYPE_INT32_T;
} else if (type == PARAM_TYPE_FLOAT) {
mavlink_type = MAVLINK_TYPE_FLOAT;
} else {
mavlink_type = MAVLINK_TYPE_FLOAT;
}
/*
* get param value, since MAVLink encodes float and int params in the same
* space during transmission, copy param onto float val_buf
*/
int ret;
if ((ret = param_get(param, &val_buf)) != OK) {
return ret;
}
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
&tx_msg,
name_buf,
val_buf,
mavlink_type,
param_count(),
param_get_index(param));
ret = mavlink_missionlib_send_message(&tx_msg);
return ret;
}
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
/* Start sending parameters */
mavlink_pm_start_queued_send();
mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
} break;
case MAVLINK_MSG_ID_PARAM_SET: {
/* Handle parameter setting */
if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
mavlink_param_set_t mavlink_param_set;
mavlink_msg_param_set_decode(msg, &mavlink_param_set);
if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter, set and send it */
param_t param = param_find(name);
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[mavlink pm] unknown: %s", name);
mavlink_missionlib_send_gcs_string(buf);
} else {
/* set and send parameter */
param_set(param, &(mavlink_param_set.param_value));
mavlink_pm_send_param(param);
}
}
}
} break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
mavlink_param_request_read_t mavlink_param_request_read;
mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
/* when no index is given, loop through string ids and compare them */
if (mavlink_param_request_read.param_index == -1) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter and send it */
mavlink_pm_send_param_for_name(name);
} else {
/* when index is >= 0, send this parameter again */
mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
}
}
} break;
}
}

104
src/modules/mavlink/mavlink_parameters.h
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@ -1,104 +0,0 @@
/****************************************************************************
*
* 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
* 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_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
or in the same folder as this source file */
#include <v1.0/mavlink_types.h>
#include <stdbool.h>
#include <systemlib/param/param.h>
/**
* Handle parameter related messages.
*/
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
/**
* Send all parameters at once.
*
* This function blocks until all parameters have been sent.
* it delays each parameter by the passed amount of microseconds.
*
* @param delay The delay in us between sending all parameters.
*/
void mavlink_pm_send_all_params(unsigned int delay);
/**
* Send one parameter.
*
* @param param The parameter id to send.
* @return zero on success, nonzero on failure.
*/
int mavlink_pm_send_param(param_t param);
/**
* Send one parameter identified by index.
*
* @param index The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_index(uint16_t index);
/**
* Send one parameter identified by name.
*
* @param name The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_name(const char *name);
/**
* Send a queue of parameters, one parameter per function call.
*
* @return zero on success, nonzero on failure
*/
int mavlink_pm_queued_send(void);
/**
* Start sending the parameter queue.
*
* This function will not directly send parameters, but instead
* activate the sending of one parameter on each call of
* mavlink_pm_queued_send().
* @see mavlink_pm_queued_send()
*/
void mavlink_pm_start_queued_send(void);

72
src/modules/mavlink/mavlink_rate_limiter.cpp Normal file
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@ -0,0 +1,72 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* 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_rate_limiter.cpp
* Message rate limiter implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "mavlink_rate_limiter.h"
MavlinkRateLimiter::MavlinkRateLimiter() : _last_sent(0), _interval(1000000)
{
}
MavlinkRateLimiter::MavlinkRateLimiter(unsigned int interval) : _last_sent(0), _interval(interval)
{
}
MavlinkRateLimiter::~MavlinkRateLimiter()
{
}
void
MavlinkRateLimiter::set_interval(unsigned int interval)
{
_interval = interval;
}
bool
MavlinkRateLimiter::check(hrt_abstime t)
{
uint64_t dt = t - _last_sent;
if (dt > 0 && dt >= _interval) {
_last_sent = (t / _interval) * _interval;
return true;
}
return false;
}

39
src/modules/mavlink_onboard/util.h → src/modules/mavlink/mavlink_rate_limiter.h
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,23 +32,31 @@
****************************************************************************/
/**
* @file util.h
* Utility and helper functions and data.
* @file mavlink_rate_limiter.h
* Message rate limiter definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
#ifndef MAVLINK_RATE_LIMITER_H_
#define MAVLINK_RATE_LIMITER_H_
#include "orb_topics.h"
#include <drivers/drv_hrt.h>
/** MAVLink communications channel */
extern uint8_t chan;
/** Shutdown marker */
extern volatile bool thread_should_exit;
class MavlinkRateLimiter
{
private:
hrt_abstime _last_sent;
hrt_abstime _interval;
/**
* Translate the custom state into standard mavlink modes and state.
*/
extern void
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
uint8_t *mavlink_state, uint8_t *mavlink_mode);
public:
MavlinkRateLimiter();
MavlinkRateLimiter(unsigned int interval);
~MavlinkRateLimiter();
void set_interval(unsigned int interval);
bool check(hrt_abstime t);
};
#endif /* MAVLINK_RATE_LIMITER_H_ */

1438
src/modules/mavlink/mavlink_receiver.cpp
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143
src/modules/mavlink/orb_topics.h → src/modules/mavlink/mavlink_receiver.h
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@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -33,12 +32,15 @@
****************************************************************************/
/**
* @file orb_topics.h
* Common sets of topics subscribed to or published by the MAVLink driver,
* and structures maintained by those subscriptions.
* @file mavlink_orb_listener.h
* MAVLink 1.0 uORB listener definition
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#pragma once
#include <systemlib/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
@ -55,7 +57,6 @@
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
@ -66,59 +67,81 @@
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_rc_input.h>
#include <uORB/topics/navigation_capabilities.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 safety_sub;
int actuators_sub;
int armed_sub;
int actuators_effective_sub;
int local_pos_sub;
int spa_sub;
int spl_sub;
int triplet_sub;
int debug_key_value;
int input_rc_sub;
int optical_flow;
int rates_setpoint_sub;
int home_sub;
int airspeed_sub;
int navigation_capabilities_sub;
int position_setpoint_triplet_sub;
class Mavlink;
class MavlinkReceiver
{
public:
/**
* Constructor
*/
MavlinkReceiver(Mavlink *parent);
/**
* Destructor, also kills the mavlinks task.
*/
~MavlinkReceiver();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
int start();
/**
* Display the mavlink status.
*/
void print_status();
static pthread_t receive_start(Mavlink *parent);
static void *start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink *_mavlink;
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_hil_sensor(mavlink_message_t *msg);
void handle_message_hil_gps(mavlink_message_t *msg);
void handle_message_hil_state_quaternion(mavlink_message_t *msg);
void *receive_thread(void *arg);
mavlink_status_t status;
struct vehicle_local_position_s hil_local_pos;
int _manual_sub;
orb_advert_t _global_pos_pub;
orb_advert_t _local_pos_pub;
orb_advert_t _attitude_pub;
orb_advert_t _gps_pub;
orb_advert_t _sensors_pub;
orb_advert_t _gyro_pub;
orb_advert_t _accel_pub;
orb_advert_t _mag_pub;
orb_advert_t _baro_pub;
orb_advert_t _airspeed_pub;
orb_advert_t _battery_pub;
orb_advert_t _cmd_pub;
orb_advert_t _flow_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
int _hil_frames;
uint64_t _old_timestamp;
bool _hil_local_proj_inited;
float _hil_local_alt0;
struct map_projection_reference_s _hil_local_proj_ref;
};
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;
/** navigation capabilities */
extern struct navigation_capabilities_s nav_cap;
/** Vehicle status */
extern struct vehicle_status_s v_status;
/** Position setpoint triplet */
extern struct position_setpoint_triplet_s pos_sp_triplet;
/** 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);

85
src/modules/mavlink/mavlink_stream.cpp Normal file
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@ -0,0 +1,85 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* 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_stream.cpp
* Mavlink messages stream implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdlib.h>
#include "mavlink_stream.h"
#include "mavlink_main.h"
MavlinkStream::MavlinkStream() : _interval(1000000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr)
{
}
MavlinkStream::~MavlinkStream()
{
}
/**
* Set messages interval in ms
*/
void
MavlinkStream::set_interval(const unsigned int interval)
{
_interval = interval;
}
/**
* Set mavlink channel
*/
void
MavlinkStream::set_channel(mavlink_channel_t channel)
{
_channel = channel;
}
/**
* Update subscriptions and send message if necessary
*/
int
MavlinkStream::update(const hrt_abstime t)
{
uint64_t dt = t - _last_sent;
if (dt > 0 && dt >= _interval) {
/* interval expired, send message */
send(t);
_last_sent = (t / _interval) * _interval;
}
}

76
src/modules/mavlink/mavlink_stream.h Normal file
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@ -0,0 +1,76 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* 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_stream.cpp
* Mavlink messages stream definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef MAVLINK_STREAM_H_
#define MAVLINK_STREAM_H_
#include <drivers/drv_hrt.h>
class Mavlink;
class MavlinkStream;
#include "mavlink_main.h"
class MavlinkStream
{
private:
hrt_abstime _last_sent;
protected:
mavlink_channel_t _channel;
unsigned int _interval;
virtual void send(const hrt_abstime t) = 0;
public:
MavlinkStream *next;
MavlinkStream();
~MavlinkStream();
void set_interval(const unsigned int interval);
void set_channel(mavlink_channel_t channel);
int update(const hrt_abstime t);
virtual MavlinkStream *new_instance() = 0;
virtual void subscribe(Mavlink *mavlink) = 0;
virtual const char *get_name() = 0;
};
#endif /* MAVLINK_STREAM_H_ */

14
src/modules/mavlink/module.mk
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@ -1,6 +1,6 @@
############################################################################
#
# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@ -36,10 +36,12 @@
#
MODULE_COMMAND = mavlink
SRCS += mavlink.c \
mavlink_parameters.c \
mavlink_receiver.cpp \
orb_listener.c \
waypoints.c
SRCS += mavlink_main.cpp \
mavlink.c \
mavlink_receiver.cpp \
mavlink_orb_subscription.cpp \
mavlink_messages.cpp \
mavlink_stream.cpp \
mavlink_rate_limiter.cpp
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink

848
src/modules/mavlink/orb_listener.c
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@ -1,848 +0,0 @@
/****************************************************************************
*
* 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
* 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.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
// 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 <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <sys/prctl.h>
#include <stdlib.h>
#include <poll.h>
#include <lib/geo/geo.h>
#include <mavlink/mavlink_log.h>
#include "waypoints.h"
#include "orb_topics.h"
#include "mavlink_hil.h"
#include "util.h"
extern bool gcs_link;
struct vehicle_global_position_s global_pos;
struct vehicle_local_position_s local_pos;
struct home_position_s home;
struct navigation_capabilities_s nav_cap;
struct vehicle_status_s v_status;
struct position_setpoint_triplet_s pos_sp_triplet;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
struct actuator_controls_s actuators_0;
struct vehicle_attitude_s att;
struct airspeed_s airspeed;
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 hrt_abstime last_sent_vfr = 0;
static void *uorb_receive_thread(void *arg);
struct listener {
void (*callback)(const struct listener *l);
int *subp;
uintptr_t arg;
};
uint16_t cm_uint16_from_m_float(float m);
static void l_sensor_combined(const struct listener *l);
static void l_vehicle_attitude(const struct listener *l);
static void l_vehicle_gps_position(const struct listener *l);
static void l_vehicle_status(const struct listener *l);
static void l_rc_channels(const struct listener *l);
static void l_input_rc(const struct listener *l);
static void l_global_position(const struct listener *l);
static void l_local_position(const struct listener *l);
static void l_global_position_setpoint(const struct listener *l);
static void l_local_position_setpoint(const struct listener *l);
static void l_attitude_setpoint(const struct listener *l);
static void l_actuator_outputs(const struct listener *l);
static void l_actuator_armed(const struct listener *l);
static void l_manual_control_setpoint(const struct listener *l);
static void l_vehicle_attitude_controls(const struct listener *l);
static void l_debug_key_value(const struct listener *l);
static void l_optical_flow(const struct listener *l);
static void l_vehicle_rates_setpoint(const struct listener *l);
static void l_home(const struct listener *l);
static void l_airspeed(const struct listener *l);
static void l_nav_cap(const struct listener *l);
static const 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_input_rc, &mavlink_subs.input_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.triplet_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},
{l_optical_flow, &mavlink_subs.optical_flow, 0},
{l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0},
{l_home, &mavlink_subs.home_sub, 0},
{l_airspeed, &mavlink_subs.airspeed_sub, 0},
{l_nav_cap, &mavlink_subs.navigation_capabilities_sub, 0},
};
static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
uint16_t
cm_uint16_from_m_float(float m)
{
if (m < 0.0f) {
return 0;
} else if (m > 655.35f) {
return 65535;
}
return (uint16_t)(m * 100.0f);
}
void
l_sensor_combined(const 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;
/* 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 second group dimensions as changed */
fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
gyro_counter = raw.gyro_counter;
}
if (mag_counter != raw.magnetometer_counter) {
/* mark third group dimensions as changed */
fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
mag_counter = raw.magnetometer_counter;
}
if (baro_counter != raw.baro_counter) {
/* mark last group dimensions as changed */
fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
baro_counter = raw.baro_counter;
}
if (gcs_link)
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, raw.differential_pressure_pa,
raw.baro_alt_meter, raw.baro_temp_celcius,
fields_updated);
sensors_raw_counter++;
}
void
l_vehicle_attitude(const struct listener *l)
{
/* copy attitude data into local buffer */
orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att);
if (gcs_link) {
/* 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);
/* limit VFR message rate to 10Hz */
hrt_abstime t = hrt_absolute_time();
if (t >= last_sent_vfr + 100000) {
last_sent_vfr = t;
float groundspeed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f;
mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vel_d);
}
/* send quaternion values if it exists */
if(att.q_valid) {
mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
att.q[0],
att.q[1],
att.q[2],
att.q[3],
att.rollspeed,
att.pitchspeed,
att.yawspeed);
}
}
attitude_counter++;
}
void
l_vehicle_gps_position(const 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 COG is 0..2PI in degrees * 1e2 */
float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F;
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
gps.timestamp_position,
gps.fix_type,
gps.lat,
gps.lon,
gps.alt,
cm_uint16_from_m_float(gps.eph_m),
cm_uint16_from_m_float(gps.epv_m),
gps.vel_m_s * 1e2f, // from m/s to cm/s
cog_deg * 1e2f, // from deg to deg * 100
gps.satellites_visible);
/* update SAT info every 10 seconds */
if (gps.satellite_info_available && (gps_counter % 50 == 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(const 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);
orb_copy(ORB_ID(position_setpoint_triplet), mavlink_subs.position_setpoint_triplet_sub, &pos_sp_triplet);
/* enable or disable HIL */
if (v_status.hil_state == HIL_STATE_ON)
set_hil_on_off(true);
else if (v_status.hil_state == HIL_STATE_OFF)
set_hil_on_off(false);
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(chan,
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_base_mode,
mavlink_custom_mode,
mavlink_state);
}
void
l_rc_channels(const struct listener *l)
{
/* copy rc channels into local buffer */
orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
// XXX Add RC channels scaled message here
}
void
l_input_rc(const struct listener *l)
{
/* copy rc channels into local buffer */
orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw);
if (gcs_link) {
const unsigned port_width = 8;
for (unsigned i = 0; (i * port_width) < rc_raw.channel_count; i++) {
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc_raw.timestamp_publication / 1000,
i,
(rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX,
(rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX,
rc_raw.rssi);
}
}
}
void
l_global_position(const struct listener *l)
{
/* copy global position data into local buffer */
orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
mavlink_msg_global_position_int_send(MAVLINK_COMM_0,
global_pos.timestamp / 1000,
global_pos.lat * 1e7,
global_pos.lon * 1e7,
global_pos.alt * 1000.0f,
(global_pos.alt - home.alt) * 1000.0f,
global_pos.vel_n * 100.0f,
global_pos.vel_e * 100.0f,
global_pos.vel_d * 100.0f,
_wrap_2pi(global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f);
}
void
l_local_position(const struct listener *l)
{
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
if (gcs_link)
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(const struct listener *l)
{
struct position_setpoint_triplet_s triplet;
orb_copy(ORB_ID(position_setpoint_triplet), mavlink_subs.triplet_sub, &triplet);
if (!triplet.current.valid)
return;
if (gcs_link)
mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
MAV_FRAME_GLOBAL,
(int32_t)(triplet.current.lat * 1e7d),
(int32_t)(triplet.current.lon * 1e7d),
(int32_t)(triplet.current.alt * 1e3f),
(int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f));
}
void
l_local_position_setpoint(const 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);
if (gcs_link)
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(const 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);
if (gcs_link)
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_vehicle_rates_setpoint(const struct listener *l)
{
struct vehicle_rates_setpoint_s rates_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_rates_setpoint), mavlink_subs.rates_setpoint_sub, &rates_sp);
if (gcs_link)
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_0,
rates_sp.timestamp / 1000,
rates_sp.roll,
rates_sp.pitch,
rates_sp.yaw,
rates_sp.thrust);
}
void
l_actuator_outputs(const 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);
if (gcs_link) {
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
l->arg /* port number - needs GCS support */,
/* QGC has port number support already */
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]);
/* only send in HIL mode and only send first group for HIL */
if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* HIL message as per MAVLink spec */
/* scale / assign outputs depending on system type */
if (mavlink_system.type == MAV_TYPE_QUADROTOR) {
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
-1,
-1,
-1,
-1,
mavlink_base_mode,
0);
} else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) {
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
-1,
-1,
mavlink_base_mode,
0);
} else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) {
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
mavlink_base_mode,
0);
} else {
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
(act_outputs.output[0] - 1500.0f) / 500.0f,
(act_outputs.output[1] - 1500.0f) / 500.0f,
(act_outputs.output[2] - 1500.0f) / 500.0f,
(act_outputs.output[3] - 1000.0f) / 1000.0f,
(act_outputs.output[4] - 1500.0f) / 500.0f,
(act_outputs.output[5] - 1500.0f) / 500.0f,
(act_outputs.output[6] - 1500.0f) / 500.0f,
(act_outputs.output[7] - 1500.0f) / 500.0f,
mavlink_base_mode,
0);
}
}
}
}
void
l_actuator_armed(const struct listener *l)
{
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
}
void
l_manual_control_setpoint(const 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);
if (gcs_link)
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(const struct listener *l)
{
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators_0);
if (gcs_link) {
/* 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_0.control[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl1 ",
actuators_0.control[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl2 ",
actuators_0.control[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
last_sensor_timestamp / 1000,
"ctrl3 ",
actuators_0.control[3]);
}
}
void
l_debug_key_value(const 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);
}
void
l_optical_flow(const struct listener *l)
{
struct optical_flow_s flow;
orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow);
mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y,
flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
}
void
l_home(const struct listener *l)
{
orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home);
mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, (int32_t)(home.lat*1e7d), (int32_t)(home.lon*1e7d), (int32_t)(home.alt)*1e3f);
}
void
l_airspeed(const struct listener *l)
{
orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed);
}
void
l_nav_cap(const struct listener *l)
{
orb_copy(ORB_ID(navigation_capabilities), mavlink_subs.navigation_capabilities_sub, &nav_cap);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
hrt_absolute_time() / 1000,
"turn dist",
nav_cap.turn_distance);
}
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;
fds[i].events = POLLIN;
/* 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) {
/* silent */
} 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, 200); /* 5Hz 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, 200); /* 5Hz updates */
/* --- GPS VALUE --- */
mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */
/* --- HOME POSITION --- */
mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));
orb_set_interval(mavlink_subs.home_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 */
/* --- POSITION SETPOINT TRIPLET --- */
mavlink_subs.position_setpoint_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
orb_set_interval(mavlink_subs.position_setpoint_triplet_sub, 0); /* not polled, don't limit */
/* --- RC CHANNELS VALUE --- */
rc_sub = orb_subscribe(ORB_ID(rc_channels));
orb_set_interval(rc_sub, 100); /* 10Hz updates */
/* --- RC RAW VALUE --- */
mavlink_subs.input_rc_sub = orb_subscribe(ORB_ID(input_rc));
orb_set_interval(mavlink_subs.input_rc_sub, 100);
/* --- GLOBAL POS VALUE --- */
mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz 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.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
orb_set_interval(mavlink_subs.triplet_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 */
/* --- RATES SETPOINT VALUE --- */
mavlink_subs.rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
orb_set_interval(mavlink_subs.rates_setpoint_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 */
/* --- FLOW SENSOR --- */
mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow));
orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */
/* --- AIRSPEED --- */
mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
orb_set_interval(mavlink_subs.airspeed_sub, 200); /* 5Hz updates */
/* --- NAVIGATION CAPABILITIES --- */
mavlink_subs.navigation_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
orb_set_interval(mavlink_subs.navigation_capabilities_sub, 500); /* 2Hz updates */
nav_cap.turn_distance = 0.0f;
/* start the listener loop */
pthread_attr_t uorb_attr;
pthread_attr_init(&uorb_attr);
/* Set stack size, needs less than 2k */
pthread_attr_setstacksize(&uorb_attr, 2048);
pthread_t thread;
pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);
pthread_attr_destroy(&uorb_attr);
return thread;
}

3
src/modules/mavlink/util.h
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

730
src/modules/mavlink/waypoints.c
View File

@ -1,730 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.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 waypoints.c
* MAVLink waypoint protocol implementation (BSD-relicensed).
*/
#include <math.h>
#include <sys/prctl.h>
#include <unistd.h>
#include <stdio.h>
#include "mavlink_bridge_header.h"
#include "waypoints.h"
#include "util.h"
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <geo/geo.h>
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
bool verbose = true;
orb_advert_t mission_pub = -1;
struct mission_s mission;
uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
void
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);
}
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);
mavlink_missionlib_send_message(&msg);
return OK;
} else {
return 1;
}
}
void publish_mission()
{
/* Initialize mission publication if necessary */
if (mission_pub < 0) {
mission_pub = orb_advertise(ORB_ID(mission), &mission);
} else {
orb_publish(ORB_ID(mission), mission_pub, &mission);
}
}
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
{
/* only support global waypoints for now */
switch (mavlink_mission_item->frame) {
case MAV_FRAME_GLOBAL:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = false;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = true;
break;
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_ENU:
return MAV_MISSION_UNSUPPORTED_FRAME;
case MAV_FRAME_MISSION:
default:
return MAV_MISSION_ERROR;
}
switch (mavlink_mission_item->command) {
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param2;
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
break;
}
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4*M_DEG_TO_RAD_F);
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = mavlink_mission_item->command;
mission_item->time_inside = mavlink_mission_item->param1;
mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
return OK;
}
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
{
if (mission_item->altitude_is_relative) {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
} else {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param2 = mission_item->pitch_min;
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
break;
}
mavlink_mission_item->x = (float)mission_item->lat;
mavlink_mission_item->y = (float)mission_item->lon;
mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->param1 = mission_item->time_inside;
mavlink_mission_item->autocontinue = mission_item->autocontinue;
// mavlink_mission_item->seq = mission_item->index;
return OK;
}
void mavlink_wpm_init(mavlink_wpm_storage *state)
{
state->size = 0;
state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
state->current_state = MAVLINK_WPM_STATE_IDLE;
state->current_partner_sysid = 0;
state->current_partner_compid = 0;
state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0;
state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->current_dataman_id = 0;
}
/*
* @brief Sends an waypoint ack message
*/
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_mission_ack_t wpa;
wpa.target_system = sysid;
wpa.target_component = compid;
wpa.type = type;
mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system);
}
/*
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void mavlink_wpm_send_waypoint_current(uint16_t seq)
{
if (seq < wpm->size) {
mavlink_message_t msg;
mavlink_mission_current_t wpc;
wpc.seq = seq;
mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Broadcasted new current waypoint %u", wpc.seq);
} else {
mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds");
if (verbose) warnx("ERROR: index out of bounds");
}
}
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
mavlink_message_t msg;
mavlink_mission_count_t wpc;
wpc.target_system = sysid;
wpc.target_component = compid;
wpc.count = mission.count;
mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system);
}
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
{
struct mission_item_s mission_item;
ssize_t len = sizeof(struct mission_item_s);
dm_item_t dm_current;
if (wpm->current_dataman_id == 0) {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
} else {
dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
}
if (dm_read(dm_current, seq, &mission_item, len) == len) {
/* create mission_item_s from mavlink_mission_item_t */
mavlink_mission_item_t wp;
map_mission_item_to_mavlink_mission_item(&mission_item, &wp);
mavlink_message_t msg;
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system);
} else {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
if (verbose) warnx("ERROR: could not read WP%u", seq);
}
}
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < wpm->max_size) {
mavlink_message_t msg;
mavlink_mission_request_t wpr;
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system);
} else {
mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity");
if (verbose) warnx("ERROR: Waypoint index exceeds list capacity");
}
}
/*
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void mavlink_wpm_send_waypoint_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_item_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached);
mavlink_missionlib_send_message(&msg);
if (verbose) warnx("Sent waypoint %u reached message", wp_reached.seq);
}
void mavlink_waypoint_eventloop(uint64_t now)
{
/* check for timed-out operations */
if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
mavlink_missionlib_send_gcs_string("Operation timeout");
if (verbose) warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_state);
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
wpm->current_partner_sysid = 0;
wpm->current_partner_compid = 0;
}
}
void mavlink_wpm_message_handler(const mavlink_message_t *msg)
{
uint64_t now = hrt_absolute_time();
switch (msg->msgid) {
case MAVLINK_MSG_ID_MISSION_ACK: {
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
if ((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpm->current_wp_id == wpm->size - 1) {
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
wpm->current_wp_id = 0;
}
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch");
if (verbose) warnx("REJ. WP CMD: curr partner id mismatch");
}
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.seq < wpm->size) {
mission.current_index = wpc.seq;
publish_mission();
mavlink_wpm_send_waypoint_current(wpc.seq);
} else {
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
if (verbose) warnx("IGN WP CURR CMD: Not in list");
}
} else {
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy");
if (verbose) warnx("IGN WP CURR CMD: Busy");
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
if (verbose) warnx("REJ. WP CMD: target id mismatch");
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (wpm->size > 0) {
wpm->current_state = MAVLINK_WPM_STATE_SENDLIST;
wpm->current_wp_id = 0;
wpm->current_partner_sysid = msg->sysid;
wpm->current_partner_compid = msg->compid;
} else {
if (verbose) warnx("No waypoints send");
}
wpm->current_count = wpm->size;
mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count);
} else {
mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy");
if (verbose) warnx("IGN REQUEST LIST: Busy");
}
} else {
mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch");
if (verbose) warnx("REJ. REQUEST LIST: target id mismatch");
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST: {
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpr.seq >= wpm->size) {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq);
break;
}
/*
* Ensure that we are in the correct state and that the first request has id 0
* and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
*/
if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (wpr.seq == 0) {
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid);
wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0");
if (verbose) warnx("REJ. WP CMD: First id != 0");
break;
}
} else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpr.seq == wpm->current_wp_id) {
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid);
} else if (wpr.seq == wpm->current_wp_id + 1) {
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid);
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1);
break;
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", wpm->current_state);
break;
}
wpm->current_wp_id = wpr.seq;
wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
if (wpr.seq < wpm->size) {
mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid,wpm->current_wp_id);
} else {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
if (verbose) warnx("ERROR: Waypoint %u out of bounds", wpr.seq);
}
} else {
//we we're target but already communicating with someone else
if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, wpm->current_partner_sysid);
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH");
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT: {
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
wpm->timestamp_lastaction = now;
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.count > NUM_MISSIONS_SUPPORTED) {
if (verbose) warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED);
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_NO_SPACE);
break;
}
if (wpc.count == 0) {
mavlink_missionlib_send_gcs_string("COUNT 0");
if (verbose) warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE");
break;
}
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid);
wpm->current_state = MAVLINK_WPM_STATE_GETLIST;
wpm->current_wp_id = 0;
wpm->current_partner_sysid = msg->sysid;
wpm->current_partner_compid = msg->compid;
wpm->current_count = wpc.count;
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (wpm->current_wp_id == 0) {
mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid);
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", wpm->current_wp_id);
}
} else {
mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy");
if (verbose) warnx("IGN MISSION_COUNT CMD: Busy");
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch");
if (verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH");
}
}
break;
case MAVLINK_MSG_ID_MISSION_ITEM: {
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) {
wpm->timestamp_lastaction = now;
/*
* ensure that we are in the correct state and that the first waypoint has id 0
* and the following waypoints have the correct ids
*/
if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (wp.seq != 0) {
mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0");
warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq);
break;
}
} else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (wp.seq >= wpm->current_count) {
mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds");
warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq);
break;
}
if (wp.seq != wpm->current_wp_id) {
warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, wpm->current_wp_id);
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
break;
}
}
wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
struct mission_item_s mission_item;
int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item);
if (ret != OK) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret);
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
ssize_t len = sizeof(struct mission_item_s);
dm_item_t dm_next;
if (wpm->current_dataman_id == 0) {
dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1;
mission.dataman_id = 1;
} else {
dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0;
mission.dataman_id = 0;
}
if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
if (wp.current) {
mission.current_index = wp.seq;
}
wpm->current_wp_id = wp.seq + 1;
if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (verbose) warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_count);
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
mission.count = wpm->current_count;
publish_mission();
wpm->current_dataman_id = mission.dataman_id;
wpm->size = wpm->current_count;
wpm->current_state = MAVLINK_WPM_STATE_IDLE;
} else {
mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id);
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH");
}
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
wpm->timestamp_lastaction = now;
wpm->size = 0;
/* prepare mission topic */
mission.dataman_id = -1;
mission.count = 0;
mission.current_index = -1;
publish_mission();
if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
} else {
mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR);
}
} else {
mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy");
if (verbose) warnx("IGN WP CLEAR CMD: Busy");
}
} else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch");
if (verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH");
}
break;
}
default: {
/* other messages might should get caught by mavlink and others */
break;
}
}
}

13
src/modules/mavlink/waypoints.h
View File

@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* Copyright (c) 2009-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -37,6 +34,11 @@
/**
* @file waypoints.h
* MAVLink waypoint protocol definition (BSD-relicensed).
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef WAYPOINTS_H_
@ -106,7 +108,4 @@ extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float pa
static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
void mavlink_missionlib_send_message(mavlink_message_t *msg);
int mavlink_missionlib_send_gcs_string(const char *string);
#endif /* WAYPOINTS_H_ */

537
src/modules/mavlink_onboard/mavlink.c
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@ -1,537 +0,0 @@
/****************************************************************************
*
* 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
* 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.c
* MAVLink 1.0 protocol implementation.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#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 <drivers/drv_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 <systemlib/err.h>
#include "orb_topics.h"
#include "util.h"
__EXPORT int mavlink_onboard_main(int argc, char *argv[]);
static int mavlink_thread_main(int argc, char *argv[]);
/* thread state */
volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static int mavlink_task;
/* pthreads */
static pthread_t receive_thread;
/* terminate MAVLink on user request - disabled by default */
static bool mavlink_link_termination_allowed = false;
mavlink_system_t mavlink_system = {
100,
50,
MAV_TYPE_QUADROTOR,
0,
0,
0
}; // System ID, 1-255, Component/Subsystem ID, 1-255
/* XXX not widely used */
uint8_t chan = MAVLINK_COMM_0;
/* XXX probably should be in a header... */
extern pthread_t receive_start(int uart);
bool mavlink_hil_enabled = false;
/* protocol interface */
static int uart;
static int baudrate;
bool gcs_link = true;
/* interface mode */
static enum {
MAVLINK_INTERFACE_MODE_OFFBOARD,
MAVLINK_INTERFACE_MODE_ONBOARD
} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD;
static void mavlink_update_system(void);
static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
static void usage(void);
/****************************************************************************
* Public Functions
****************************************************************************/
int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
{
/* process baud rate */
int speed;
switch (baud) {
case 0: speed = B0; break;
case 50: speed = B50; break;
case 75: speed = B75; break;
case 110: speed = B110; break;
case 134: speed = B134; break;
case 150: speed = B150; break;
case 200: speed = B200; break;
case 300: speed = B300; break;
case 600: speed = B600; break;
case 1200: speed = B1200; break;
case 1800: speed = B1800; break;
case 2400: speed = B2400; break;
case 4800: speed = B4800; break;
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
case 460800: speed = B460800; break;
case 921600: speed = B921600; break;
default:
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600", baud);
return -EINVAL;
}
/* open uart */
warnx("UART is %s, baudrate is %d", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
*is_usb = false;
if (strcmp(uart_name, "/dev/ttyACM0") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERROR getting baudrate / termios config for %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)", uart_name);
close(uart);
return -1;
}
} else {
*is_usb = true;
}
return uart;
}
void
mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
{
write(uart, ch, (size_t)(sizeof(uint8_t) * length));
}
/*
* Internal function to give access to the channel status for each channel
*/
mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
{
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_status[channel];
}
/*
* Internal function to give access to the channel buffer for each channel
*/
mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel)
{
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
return &m_mavlink_buffer[channel];
}
void mavlink_update_system(void)
{
static bool initialized = false;
param_t param_system_id;
param_t param_component_id;
param_t param_system_type;
if (!initialized) {
param_system_id = param_find("MAV_SYS_ID");
param_component_id = param_find("MAV_COMP_ID");
param_system_type = param_find("MAV_TYPE");
}
/* update system and component id */
int32_t system_id;
param_get(param_system_id, &system_id);
if (system_id > 0 && system_id < 255) {
mavlink_system.sysid = system_id;
}
int32_t component_id;
param_get(param_component_id, &component_id);
if (component_id > 0 && component_id < 255) {
mavlink_system.compid = component_id;
}
int32_t system_type;
param_get(param_system_type, &system_type);
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
mavlink_system.type = system_type;
}
}
void
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
uint8_t *mavlink_state, uint8_t *mavlink_mode)
{
/* reset MAVLink mode bitfield */
*mavlink_mode = 0;
/* set mode flags independent of system state */
if (control_mode->flag_control_manual_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
if (control_mode->flag_system_hil_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
/* set arming state */
if (armed->armed) {
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
} else {
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
}
if (control_mode->flag_control_velocity_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
} else {
*mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED;
}
// switch (v_status->state_machine) {
// case SYSTEM_STATE_PREFLIGHT:
// if (v_status->flag_preflight_gyro_calibration ||
// v_status->flag_preflight_mag_calibration ||
// v_status->flag_preflight_accel_calibration) {
// *mavlink_state = MAV_STATE_CALIBRATING;
// } else {
// *mavlink_state = MAV_STATE_UNINIT;
// }
// break;
//
// case SYSTEM_STATE_STANDBY:
// *mavlink_state = MAV_STATE_STANDBY;
// break;
//
// case SYSTEM_STATE_GROUND_READY:
// *mavlink_state = MAV_STATE_ACTIVE;
// break;
//
// case SYSTEM_STATE_MANUAL:
// *mavlink_state = MAV_STATE_ACTIVE;
// *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
// break;
//
// case SYSTEM_STATE_STABILIZED:
// *mavlink_state = MAV_STATE_ACTIVE;
// *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
// break;
//
// case SYSTEM_STATE_AUTO:
// *mavlink_state = MAV_STATE_ACTIVE;
// *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
// break;
//
// case SYSTEM_STATE_MISSION_ABORT:
// *mavlink_state = MAV_STATE_EMERGENCY;
// break;
//
// case SYSTEM_STATE_EMCY_LANDING:
// *mavlink_state = MAV_STATE_EMERGENCY;
// break;
//
// case SYSTEM_STATE_EMCY_CUTOFF:
// *mavlink_state = MAV_STATE_EMERGENCY;
// break;
//
// case SYSTEM_STATE_GROUND_ERROR:
// *mavlink_state = MAV_STATE_EMERGENCY;
// break;
//
// case SYSTEM_STATE_REBOOT:
// *mavlink_state = MAV_STATE_POWEROFF;
// break;
// }
}
/**
* MAVLink Protocol main function.
*/
int mavlink_thread_main(int argc, char *argv[])
{
int ch;
char *device_name = "/dev/ttyS1";
baudrate = 57600;
/* XXX this is never written? */
struct vehicle_status_s v_status;
struct vehicle_control_mode_s control_mode;
struct actuator_armed_s armed;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) {
switch (ch) {
case 'b':
baudrate = strtoul(optarg, NULL, 10);
if (baudrate == 0)
errx(1, "invalid baud rate '%s'", optarg);
break;
case 'd':
device_name = optarg;
break;
case 'e':
mavlink_link_termination_allowed = true;
break;
case 'o':
mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD;
break;
default:
usage();
}
}
struct termios uart_config_original;
bool usb_uart;
/* print welcome text */
warnx("MAVLink v1.0 serial interface starting...");
/* inform about mode */
warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE");
/* Flush stdout in case MAVLink is about to take it over */
fflush(stdout);
/* default values for arguments */
uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart);
if (uart < 0)
err(1, "could not open %s", device_name);
/* Initialize system properties */
mavlink_update_system();
/* start the MAVLink receiver */
receive_thread = receive_start(uart);
thread_running = true;
/* arm counter to go off immediately */
unsigned lowspeed_counter = 10;
while (!thread_should_exit) {
/* 1 Hz */
if (lowspeed_counter == 10) {
mavlink_update_system();
/* translate the current system state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode);
/* send heartbeat */
// TODO fix navigation state, use control_mode topic
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, 0, mavlink_state);
/* send status (values already copied in the section above) */
mavlink_msg_sys_status_send(chan,
v_status.onboard_control_sensors_present,
v_status.onboard_control_sensors_enabled,
v_status.onboard_control_sensors_health,
v_status.load * 1000.0f,
v_status.battery_voltage * 1000.0f,
v_status.battery_current * 1000.0f,
v_status.battery_remaining,
v_status.drop_rate_comm,
v_status.errors_comm,
v_status.errors_count1,
v_status.errors_count2,
v_status.errors_count3,
v_status.errors_count4);
lowspeed_counter = 0;
}
lowspeed_counter++;
/* sleep 1000 ms */
usleep(1000000);
}
/* wait for threads to complete */
pthread_join(receive_thread, NULL);
/* Reset the UART flags to original state */
if (!usb_uart)
tcsetattr(uart, TCSANOW, &uart_config_original);
thread_running = false;
exit(0);
}
static void
usage()
{
fprintf(stderr, "usage: mavlink_onboard start [-d <devicename>] [-b <baud rate>]\n"
" mavlink_onboard stop\n"
" mavlink_onboard status\n");
exit(1);
}
int mavlink_onboard_main(int argc, char *argv[])
{
if (argc < 2) {
warnx("missing command");
usage();
}
if (!strcmp(argv[1], "start")) {
/* this is not an error */
if (thread_running)
errx(0, "already running");
thread_should_exit = false;
mavlink_task = task_spawn_cmd("mavlink_onboard",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
mavlink_thread_main,
(const char**)argv);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
while (thread_running) {
usleep(200000);
}
warnx("terminated");
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
usage();
/* not getting here */
return 0;
}

344
src/modules/mavlink_onboard/mavlink_receiver.c
View File

@ -1,344 +0,0 @@
/****************************************************************************
*
* 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
* 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
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
/* 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 <drivers/drv_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 "util.h"
#include "orb_topics.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;
extern bool gcs_link;
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 */
warnx("terminating...");
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 = hrt_absolute_time();
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);
if (mavlink_system.sysid < 4) {
/* switch to a receiving link mode */
gcs_link = false;
/*
* rate control mode - defined by MAVLink
*/
uint8_t ml_mode = 0;
bool ml_armed = false;
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 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 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);
}
}
}
}
/**
* Receive data from UART.
*/
static void *
receive_thread(void *arg)
{
int uart_fd = *((int *)arg);
const int timeout = 1000;
uint8_t buf[32];
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink_onboard_rcv", getpid());
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
ssize_t nread = 0;
while (!thread_should_exit) {
if (poll(fds, 1, timeout) > 0) {
if (nread < sizeof(buf)) {
/* to avoid reading very small chunks wait for data before reading */
usleep(1000);
}
/* non-blocking read. read may return negative values */
nread = read(uart_fd, buf, sizeof(buf));
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(chan, buf[i], &msg, &status)) {
/* handle generic messages and commands */
handle_message(&msg);
}
}
}
}
return NULL;
}
pthread_t
receive_start(int uart)
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
return thread;
}

42
src/modules/mavlink_onboard/module.mk
View File

@ -1,42 +0,0 @@
############################################################################
#
# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
#
# 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.
#
############################################################################
#
# MAVLink protocol to uORB interface process (XXX hack for onboard use)
#
MODULE_COMMAND = mavlink_onboard
SRCS = mavlink.c \
mavlink_receiver.c
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink

102
src/modules/mavlink_onboard/orb_topics.h
View File

@ -1,102 +0,0 @@
/****************************************************************************
*
* 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/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_rc_input.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 safety_sub;
int actuators_sub;
int local_pos_sub;
int spa_sub;
int spl_sub;
int spg_sub;
int debug_key_value;
int input_rc_sub;
};
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);

24
src/modules/navigator/navigator_main.cpp
View File

@ -65,7 +65,6 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
@ -288,9 +287,9 @@ private:
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
* Main task.
*/
void task_main() __attribute__((noreturn));
void task_main();
void publish_safepoints(unsigned points);
@ -395,7 +394,6 @@ Navigator::Navigator() :
/* publications */
_pos_sp_triplet_pub(-1),
_mission_result_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
@ -427,7 +425,6 @@ Navigator::Navigator() :
_parameter_handles.rtl_land_delay = param_find("NAV_RTL_LAND_T");
memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_s));
memset(&_mission_result, 0, sizeof(struct mission_result_s));
memset(&_mission_item, 0, sizeof(struct mission_item_s));
memset(&nav_states_str, 0, sizeof(nav_states_str));
@ -529,13 +526,16 @@ Navigator::offboard_mission_update(bool isrotaryWing)
missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
_mission.set_offboard_dataman_id(offboard_mission.dataman_id);
_mission.set_current_offboard_mission_index(offboard_mission.current_index);
_mission.set_offboard_mission_count(offboard_mission.count);
_mission.set_current_offboard_mission_index(offboard_mission.current_index);
} else {
_mission.set_current_offboard_mission_index(0);
_mission.set_offboard_mission_count(0);
_mission.set_current_offboard_mission_index(0);
}
_mission.publish_mission_result();
}
void
@ -545,12 +545,12 @@ Navigator::onboard_mission_update()
if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
_mission.set_current_onboard_mission_index(onboard_mission.current_index);
_mission.set_onboard_mission_count(onboard_mission.count);
_mission.set_current_onboard_mission_index(onboard_mission.current_index);
} else {
_mission.set_current_onboard_mission_index(0);
_mission.set_onboard_mission_count(0);
_mission.set_current_onboard_mission_index(0);
}
}
@ -1112,6 +1112,8 @@ Navigator::set_mission_item()
ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index);
if (ret == OK) {
_mission.report_current_offboard_mission_item();
_mission_item_valid = true;
position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
@ -1581,6 +1583,9 @@ void
Navigator::on_mission_item_reached()
{
if (myState == NAV_STATE_MISSION) {
_mission.report_mission_item_reached();
if (_do_takeoff) {
/* takeoff completed */
_do_takeoff = false;
@ -1627,6 +1632,7 @@ Navigator::on_mission_item_reached()
mavlink_log_info(_mavlink_fd, "[navigator] landing completed");
dispatch(EVENT_READY_REQUESTED);
}
_mission.publish_mission_result();
}
void

65
src/modules/navigator/navigator_mission.cpp
View File

@ -36,13 +36,12 @@
* Helper class to access missions
*/
// #include <stdio.h>
// #include <stdlib.h>
// #include <string.h>
// #include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <dataman/dataman.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission_result.h>
#include "navigator_mission.h"
/* oddly, ERROR is not defined for c++ */
@ -60,8 +59,11 @@ Mission::Mission() :
_offboard_mission_item_count(0),
_onboard_mission_item_count(0),
_onboard_mission_allowed(false),
_current_mission_type(MISSION_TYPE_NONE)
{}
_current_mission_type(MISSION_TYPE_NONE),
_mission_result_pub(-1)
{
memset(&_mission_result, 0, sizeof(struct mission_result_s));
}
Mission::~Mission()
{
@ -78,8 +80,16 @@ void
Mission::set_current_offboard_mission_index(int new_index)
{
if (new_index != -1) {
warnx("specifically set to %d", new_index);
_current_offboard_mission_index = (unsigned)new_index;
} else {
/* if less WPs available, reset to first WP */
if (_current_offboard_mission_index >= _offboard_mission_item_count) {
_current_offboard_mission_index = 0;
}
}
report_current_offboard_mission_item();
}
void
@ -87,7 +97,15 @@ Mission::set_current_onboard_mission_index(int new_index)
{
if (new_index != -1) {
_current_onboard_mission_index = (unsigned)new_index;
} else {
/* if less WPs available, reset to first WP */
if (_current_onboard_mission_index >= _onboard_mission_item_count) {
_current_onboard_mission_index = 0;
}
}
// TODO: implement this for onboard missions as well
// report_current_mission_item();
}
void
@ -266,4 +284,35 @@ Mission::move_to_next()
default:
break;
}
}
}
void
Mission::report_mission_item_reached()
{
if (_current_mission_type == MISSION_TYPE_OFFBOARD) {
_mission_result.mission_reached = true;
_mission_result.mission_index_reached = _current_offboard_mission_index;
}
}
void
Mission::report_current_offboard_mission_item()
{
_mission_result.index_current_mission = _current_offboard_mission_index;
}
void
Mission::publish_mission_result()
{
/* lazily publish the mission result only once available */
if (_mission_result_pub > 0) {
/* publish mission result */
orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
} else {
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.mission_reached = false;
}

11
src/modules/navigator/navigator_mission.h
View File

@ -40,6 +40,7 @@
#define NAVIGATOR_MISSION_H
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
class __EXPORT Mission
@ -71,7 +72,9 @@ public:
void move_to_next();
void add_home_pos(struct mission_item_s *new_mission_item);
void report_mission_item_reached();
void report_current_offboard_mission_item();
void publish_mission_result();
private:
bool current_onboard_mission_available();
@ -92,6 +95,10 @@ private:
MISSION_TYPE_ONBOARD,
MISSION_TYPE_OFFBOARD,
} _current_mission_type;
int _mission_result_pub;
struct mission_result_s _mission_result;
};
#endif
#endif

16
src/modules/position_estimator_inav/position_estimator_inav_main.c
View File

@ -207,8 +207,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
bool landed = true;
hrt_abstime landed_time = 0;
uint32_t accel_counter = 0;
uint32_t baro_counter = 0;
hrt_abstime accel_timestamp = 0;
hrt_abstime baro_timestamp = 0;
bool ref_inited = false;
hrt_abstime ref_init_start = 0;
@ -319,8 +319,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.baro_counter != baro_counter) {
baro_counter = sensor.baro_counter;
if (wait_baro && sensor.baro_timestamp != baro_timestamp) {
baro_timestamp = sensor.baro_timestamp;
/* mean calculation over several measurements */
if (baro_init_cnt < baro_init_num) {
@ -393,7 +393,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (sensor.accelerometer_counter != accel_counter) {
if (sensor.accelerometer_timestamp != accel_timestamp) {
if (att.R_valid) {
/* correct accel bias */
sensor.accelerometer_m_s2[0] -= acc_bias[0];
@ -417,13 +417,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
memset(corr_acc, 0, sizeof(corr_acc));
}
accel_counter = sensor.accelerometer_counter;
accel_timestamp = sensor.accelerometer_timestamp;
accel_updates++;
}
if (sensor.baro_counter != baro_counter) {
if (sensor.baro_timestamp != baro_timestamp) {
corr_baro = baro_offset - sensor.baro_alt_meter - z_est[0];
baro_counter = sensor.baro_counter;
baro_timestamp = sensor.baro_timestamp;
baro_updates++;
}
}

31
src/modules/sdlog2/sdlog2.c
View File

@ -887,11 +887,11 @@ int sdlog2_thread_main(int argc, char *argv[])
pthread_cond_init(&logbuffer_cond, NULL);
/* track changes in sensor_combined topic */
uint16_t gyro_counter = 0;
uint16_t accelerometer_counter = 0;
uint16_t magnetometer_counter = 0;
uint16_t baro_counter = 0;
uint16_t differential_pressure_counter = 0;
hrt_abstime gyro_timestamp = 0;
hrt_abstime accelerometer_timestamp = 0;
hrt_abstime magnetometer_timestamp = 0;
hrt_abstime barometer_timestamp = 0;
hrt_abstime differential_pressure_timestamp = 0;
/* track changes in distance status */
bool dist_bottom_present = false;
@ -976,28 +976,28 @@ int sdlog2_thread_main(int argc, char *argv[])
bool write_IMU = false;
bool write_SENS = false;
if (buf.sensor.gyro_counter != gyro_counter) {
gyro_counter = buf.sensor.gyro_counter;
if (buf.sensor.timestamp != gyro_timestamp) {
gyro_timestamp = buf.sensor.timestamp;
write_IMU = true;
}
if (buf.sensor.accelerometer_counter != accelerometer_counter) {
accelerometer_counter = buf.sensor.accelerometer_counter;
if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) {
accelerometer_timestamp = buf.sensor.accelerometer_timestamp;
write_IMU = true;
}
if (buf.sensor.magnetometer_counter != magnetometer_counter) {
magnetometer_counter = buf.sensor.magnetometer_counter;
if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) {
magnetometer_timestamp = buf.sensor.magnetometer_timestamp;
write_IMU = true;
}
if (buf.sensor.baro_counter != baro_counter) {
baro_counter = buf.sensor.baro_counter;
if (buf.sensor.baro_timestamp != barometer_timestamp) {
barometer_timestamp = buf.sensor.baro_timestamp;
write_SENS = true;
}
if (buf.sensor.differential_pressure_counter != differential_pressure_counter) {
differential_pressure_counter = buf.sensor.differential_pressure_counter;
if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) {
differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp;
write_SENS = true;
}
@ -1023,6 +1023,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}
/* --- ATTITUDE --- */

13
src/modules/sensors/sensors.cpp
View File

@ -940,7 +940,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
raw.accelerometer_raw[1] = accel_report.y_raw;
raw.accelerometer_raw[2] = accel_report.z_raw;
raw.accelerometer_counter++;
raw.accelerometer_timestamp = accel_report.timestamp;
}
}
@ -966,7 +966,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
raw.gyro_raw[1] = gyro_report.y_raw;
raw.gyro_raw[2] = gyro_report.z_raw;
raw.gyro_counter++;
raw.timestamp = gyro_report.timestamp;
}
}
@ -996,7 +996,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
raw.magnetometer_raw[1] = mag_report.y_raw;
raw.magnetometer_raw[2] = mag_report.z_raw;
raw.magnetometer_counter++;
raw.magnetometer_timestamp = mag_report.timestamp;
}
}
@ -1014,7 +1014,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius
raw.baro_counter++;
raw.baro_timestamp = _barometer.timestamp;
}
}
@ -1028,7 +1028,7 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
raw.differential_pressure_counter++;
raw.differential_pressure_timestamp = _diff_pres.timestamp;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar * 1e2f,
@ -1592,8 +1592,7 @@ Sensors::task_main()
/* check parameters for updates */
parameter_update_poll();
/* store the time closest to all measurements (this is bogus, sensor timestamps should be propagated...) */
raw.timestamp = hrt_absolute_time();
/* the timestamp of the raw struct is updated by the gyro_poll() method */
/* copy most recent sensor data */
gyro_poll(raw);

3
src/modules/uORB/topics/mission_result.h
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@ -54,7 +54,8 @@
struct mission_result_s
{
bool mission_reached; /**< true if mission has been reached */
unsigned mission_index; /**< index of the mission which has been reached */
unsigned mission_index_reached; /**< index of the mission which has been reached */
unsigned index_current_mission; /**< index of the current mission */
};
/**

17
src/modules/uORB/topics/sensor_combined.h
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@ -77,34 +77,33 @@ struct sensor_combined_s {
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
uint64_t timestamp; /**< Timestamp in microseconds since boot */
uint64_t timestamp; /**< Timestamp in microseconds since boot, from gyro */
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
uint16_t gyro_counter; /**< Number of raw measurments taken */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
uint32_t accelerometer_counter; /**< Number of raw acc measurements taken */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
int accelerometer_mode; /**< Accelerometer measurement mode */
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
uint64_t accelerometer_timestamp; /**< Accelerometer timestamp */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
int magnetometer_mode; /**< Magnetometer measurement mode */
float magnetometer_range_ga; /**< ± measurement range in Gauss */
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
uint32_t magnetometer_counter; /**< Number of raw mag measurements taken */
uint64_t magnetometer_timestamp; /**< Magnetometer timestamp */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
uint32_t baro_counter; /**< Number of raw baro measurements taken */
uint64_t baro_timestamp; /**< Barometer timestamp */
float differential_pressure_pa; /**< Airspeed sensor differential pressure */
uint32_t differential_pressure_counter; /**< Number of raw differential pressure measurements taken */
float differential_pressure_pa; /**< Airspeed sensor differential pressure */
uint64_t differential_pressure_timestamp; /**< Last measurement timestamp */
};
/**

2
src/modules/uORB/topics/vehicle_attitude.h
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@ -76,7 +76,7 @@ struct vehicle_attitude_s {
float rate_offsets[3]; /**< Offsets of the body angular rates from zero */
float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */
float q[4]; /**< Quaternion (NED) */
float g_comp[3]; /**< Compensated gravity vector */
float g_comp[3]; /**< Compensated gravity vector */
bool R_valid; /**< Rotation matrix valid */
bool q_valid; /**< Quaternion valid */