Hotfixes for HIL and mode switching.

src/modules/mavlink/mavlink.c

@@ -531,7 +531,7 @@ int mavlink_thread_main(int argc, char *argv[])
 		case 'b':
 			baudrate = strtoul(optarg, NULL, 10);
 
-			if (baudrate == 0)
+			if (baudrate < 9600 || baudrate > 921600)
 				errx(1, "invalid baud rate '%s'", optarg);
 
 			break;

src/modules/mavlink/mavlink_receiver.cpp

@@ -102,6 +102,7 @@ struct vehicle_global_position_s hil_global_pos;
 struct vehicle_attitude_s hil_attitude;
 struct vehicle_gps_position_s hil_gps;
 struct sensor_combined_s hil_sensors;
+struct battery_status_s	hil_battery_status;
 static orb_advert_t pub_hil_global_pos = -1;
 static orb_advert_t pub_hil_attitude = -1;
 static orb_advert_t pub_hil_gps = -1;
@@ -111,6 +112,12 @@ static orb_advert_t pub_hil_accel = -1;
 static orb_advert_t pub_hil_mag = -1;
 static orb_advert_t pub_hil_baro = -1;
 static orb_advert_t pub_hil_airspeed = -1;
+static orb_advert_t pub_hil_battery = -1;
+
+/* packet counter */
+static int hil_counter = 0;
+static int hil_frames = 0;
+static uint64_t old_timestamp = 0;
 
 static orb_advert_t cmd_pub = -1;
 static orb_advert_t flow_pub = -1;
@@ -149,7 +156,8 @@ handle_message(mavlink_message_t *msg)
 				vcmd.param5 = cmd_mavlink.param5;
 				vcmd.param6 = cmd_mavlink.param6;
 				vcmd.param7 = cmd_mavlink.param7;
-				vcmd.command = cmd_mavlink.command;
+				// XXX do proper translation
+				vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
 				vcmd.target_system = cmd_mavlink.target_system;
 				vcmd.target_component = cmd_mavlink.target_component;
 				vcmd.source_system = msg->sysid;
@@ -207,7 +215,7 @@ handle_message(mavlink_message_t *msg)
 		vcmd.param5 = 0;
 		vcmd.param6 = 0;
 		vcmd.param7 = 0;
-		vcmd.command = MAV_CMD_DO_SET_MODE;
+		vcmd.command = VEHICLE_CMD_DO_SET_MODE;
 		vcmd.target_system = new_mode.target_system;
 		vcmd.target_component = MAV_COMP_ID_ALL;
 		vcmd.source_system = msg->sysid;
@@ -360,11 +368,6 @@ handle_message(mavlink_message_t *msg)
 			mavlink_hil_sensor_t imu;
 			mavlink_msg_hil_sensor_decode(msg, &imu);
 
-			/* packet counter */
-			static uint16_t hil_counter = 0;
-			static uint16_t hil_frames = 0;
-			static uint64_t old_timestamp = 0;
-
 			/* sensors general */
 			hil_sensors.timestamp = hrt_absolute_time();
 
@@ -391,9 +394,9 @@ handle_message(mavlink_message_t *msg)
 			hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
 
 			/* adc */
-			hil_sensors.adc_voltage_v[0] = 0;
+			hil_sensors.adc_voltage_v[0] = 0.0f;
-			hil_sensors.adc_voltage_v[1] = 0;
+			hil_sensors.adc_voltage_v[1] = 0.0f;
-			hil_sensors.adc_voltage_v[2] = 0;
+			hil_sensors.adc_voltage_v[2] = 0.0f;
 
 			/* magnetometer */
 			float mga2ga = 1.0e-3f;
@@ -506,6 +509,18 @@ handle_message(mavlink_message_t *msg)
 				pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
 			}
 
+			/* fill in HIL battery status */
+			hil_battery_status.timestamp = hrt_absolute_time();
+			hil_battery_status.voltage_v = 11.1f;
+			hil_battery_status.current_a = 10.0f;
+
+			/* lazily publish the battery voltage */
+			if (pub_hil_battery > 0) {
+				orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
+			} else {
+				pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+			}
+
 			// increment counters
 			hil_counter++;
 			hil_frames++;
@@ -640,6 +655,18 @@ handle_message(mavlink_message_t *msg)
 			} else {
 				orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
 			}
+
+			/* fill in HIL battery status */
+			hil_battery_status.timestamp = hrt_absolute_time();
+			hil_battery_status.voltage_v = 11.1f;
+			hil_battery_status.current_a = 10.0f;
+
+			/* lazily publish the battery voltage */
+			if (pub_hil_battery > 0) {
+				orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
+			} else {
+				pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+			}
 		}
 
 		if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {

src/modules/mavlink/orb_topics.h

@@ -65,6 +65,7 @@
 #include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/debug_key_value.h>
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/battery_status.h>
 #include <drivers/drv_rc_input.h>
 
 struct mavlink_subscriptions {

src/modules/uORB/topics/vehicle_command.h

@@ -120,7 +120,7 @@ struct vehicle_command_s
 	float param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param7;			/**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum.   */
-	uint16_t command;		/**< Command ID, as defined MAVLink by VEHICLE_CMD enum.   */
+	enum VEHICLE_CMD command;		/**< Command ID, as defined MAVLink by VEHICLE_CMD enum.   */
 	uint8_t target_system;		/**< System which should execute the command  */
 	uint8_t target_component;	/**< Component which should execute the command, 0 for all components  */
 	uint8_t source_system;		/**< System sending the command  */