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Fixed code style for mavlink app

This commit is contained in:
Lorenz Meier 2013-01-11 07:48:09 +01:00
parent fdf1c712b1
commit b52402dbe2
12 changed files with 334 additions and 261 deletions
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113
apps/mavlink/mavlink.c
View File

@ -156,12 +156,15 @@ set_hil_on_off(bool hil_enabled)
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;
@ -202,13 +205,13 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
/* attitude or rate control */
if (v_status.flag_control_attitude_enabled ||
v_status.flag_control_rates_enabled) {
v_status.flag_control_rates_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
}
/* vector control */
if (v_status.flag_control_velocity_enabled ||
v_status.flag_control_position_enabled) {
v_status.flag_control_position_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
}
@ -220,6 +223,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
/* set arming state */
if (armed.armed) {
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
} else {
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
}
@ -230,9 +234,11 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
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:
@ -284,41 +290,48 @@ int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_m
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);
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;
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);
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;
@ -469,7 +482,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
/*
* Internal function to give access to the channel status for each channel
*/
mavlink_status_t* mavlink_get_channel_status(uint8_t 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];
@ -478,7 +491,7 @@ mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
/*
* Internal function to give access to the channel buffer for each channel
*/
mavlink_message_t* mavlink_get_channel_buffer(uint8_t 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];
@ -501,18 +514,21 @@ void mavlink_update_system(void)
/* 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;
}
@ -538,8 +554,10 @@ int mavlink_thread_main(int argc, char *argv[])
switch (ch) {
case 'b':
baudrate = strtoul(optarg, NULL, 10);
if (baudrate == 0)
errx(1, "invalid baud rate '%s'", optarg);
break;
case 'd':
@ -560,6 +578,7 @@ int mavlink_thread_main(int argc, char *argv[])
}
struct termios uart_config_original;
bool usb_uart;
/* print welcome text */
@ -573,6 +592,7 @@ int mavlink_thread_main(int argc, char *argv[])
/* 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);
@ -603,6 +623,7 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 2 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);
@ -613,6 +634,7 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 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);
@ -625,6 +647,7 @@ int mavlink_thread_main(int argc, char *argv[])
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);
} else {
/* very low baud rate, limit to 1 Hz / 1000 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000);
@ -677,6 +700,7 @@ int mavlink_thread_main(int argc, char *argv[])
v_status.errors_count4);
lowspeed_counter = 0;
}
lowspeed_counter++;
/* sleep quarter the time */
@ -693,6 +717,7 @@ int mavlink_thread_main(int argc, char *argv[])
/* sleep quarter the time */
usleep(25000);
if (baudrate > 57600) {
mavlink_pm_queued_send();
}
@ -704,6 +729,7 @@ int mavlink_thread_main(int argc, char *argv[])
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);
}
@ -730,8 +756,8 @@ static void
usage()
{
fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
" mavlink stop\n"
" mavlink status\n");
" mavlink stop\n"
" mavlink status\n");
exit(1);
}
@ -755,16 +781,18 @@ int mavlink_main(int argc, char *argv[])
SCHED_PRIORITY_DEFAULT,
2048,
mavlink_thread_main,
(const char**)argv);
(const char **)argv);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
while (thread_running) {
usleep(200000);
printf(".");
}
warnx("terminated.");
exit(0);
}
@ -772,6 +800,7 @@ int mavlink_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
errx(0, "running");
} else {
errx(1, "not running");
}

4
apps/mavlink/mavlink_bridge_header.h
View File

@ -75,7 +75,7 @@ extern mavlink_system_t mavlink_system;
*/
extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan);
mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
#endif /* MAVLINK_BRIDGE_HEADER_H */

58
apps/mavlink/mavlink_log.c
View File

@ -44,38 +44,46 @@
#include "mavlink_log.h"
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) {
lb->size = size;
lb->start = 0;
lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
{
lb->size = size;
lb->start = 0;
lb->count = 0;
lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
}
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) {
int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
{
return lb->count == (int)lb->size;
}
int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) {
return lb->count == 0;
int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb)
{
return lb->count == 0;
}
void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem) {
int end = (lb->start + lb->count) % lb->size;
memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
if (mavlink_logbuffer_is_full(lb)) {
lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
} else {
++lb->count;
}
void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_logmessage *elem)
{
int end = (lb->start + lb->count) % lb->size;
memcpy(&(lb->elems[end]), elem, sizeof(struct mavlink_logmessage));
if (mavlink_logbuffer_is_full(lb)) {
lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
} else {
++lb->count;
}
}
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem) {
if (!mavlink_logbuffer_is_empty(lb)) {
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size;
--lb->count;
return 0;
} else {
return 1;
}
int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem)
{
if (!mavlink_logbuffer_is_empty(lb)) {
memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
lb->start = (lb->start + 1) % lb->size;
--lb->count;
return 0;
} else {
return 1;
}
}

14
apps/mavlink/mavlink_log.h
View File

@ -82,16 +82,16 @@
#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text);
struct mavlink_logmessage {
char text[51];
unsigned char severity;
char text[51];
unsigned char severity;
};
struct mavlink_logbuffer {
unsigned int start;
// unsigned int end;
unsigned int size;
int count;
struct mavlink_logmessage *elems;
unsigned int start;
// unsigned int end;
unsigned int size;
int count;
struct mavlink_logmessage *elems;
};
void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size);

47
apps/mavlink/mavlink_parameters.c
View File

@ -75,7 +75,7 @@ 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);
usleep(*(unsigned int *)arg);
}
void mavlink_pm_send_all_params(unsigned int delay)
@ -90,6 +90,7 @@ int mavlink_pm_queued_send()
mavlink_pm_send_param(param_for_index(mavlink_param_queue_index));
mavlink_param_queue_index++;
return 0;
} else {
return 1;
}
@ -105,7 +106,7 @@ 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)
int mavlink_pm_send_param_for_name(const char *name)
{
return mavlink_pm_send_param(param_find(name));
}
@ -129,10 +130,13 @@ int mavlink_pm_send_param(param_t param)
* 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;
}
@ -143,6 +147,7 @@ int mavlink_pm_send_param(param_t param)
*/
int ret;
if ((ret = param_get(param, &val_buf)) != OK) {
return ret;
}
@ -163,13 +168,13 @@ int mavlink_pm_send_param(param_t param)
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: {
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: {
case MAVLINK_MSG_ID_PARAM_SET: {
/* Handle parameter setting */
@ -179,7 +184,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
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];
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';
@ -190,6 +195,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
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));
@ -199,25 +205,26 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
}
} break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
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);
}
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;
}

4
apps/mavlink/mavlink_parameters.h
View File

@ -84,14 +84,14 @@ int mavlink_pm_send_param_for_index(uint16_t index);
* @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);
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);
int mavlink_pm_queued_send(void);
/**
* Start sending the parameter queue.

63
apps/mavlink/mavlink_receiver.c
View File

@ -106,7 +106,7 @@ handle_message(mavlink_message_t *msg)
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))) {
|| (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 */
@ -138,6 +138,7 @@ handle_message(mavlink_message_t *msg)
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
}
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
@ -162,6 +163,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
@ -191,6 +193,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
@ -214,6 +217,7 @@ handle_message(mavlink_message_t *msg)
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);
}
@ -238,33 +242,37 @@ handle_message(mavlink_message_t *msg)
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;
case 0:
ml_armed = false;
break;
break;
case 2:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
ml_armed = true;
case 1:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
ml_armed = true;
break;
case 3:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
break;
case 4:
ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
break;
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;
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) {
if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
}
@ -276,6 +284,7 @@ handle_message(mavlink_message_t *msg)
/* 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);
@ -378,12 +387,14 @@ handle_message(mavlink_message_t *msg)
if (rc_pub == 0) {
rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
} else {
orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
}
if (mc_pub == 0) {
mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
} else {
orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
}
@ -398,7 +409,7 @@ handle_message(mavlink_message_t *msg)
static void *
receive_thread(void *arg)
{
int uart_fd = *((int*)arg);
int uart_fd = *((int *)arg);
const int timeout = 1000;
uint8_t ch;
@ -442,8 +453,8 @@ receive_start(int uart)
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
param.sched_priority = SCHED_PRIORITY_MAX - 40;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048);

10
apps/mavlink/missionlib.c
View File

@ -106,6 +106,7 @@ mavlink_missionlib_send_gcs_string(const char *string)
mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
return mavlink_missionlib_send_message(&msg);
} else {
return 1;
}
@ -144,12 +145,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.altitude = param7_alt_z;
sp.altitude_is_relative = false;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (global_position_setpoint_pub < 0) {
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
@ -160,12 +164,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.altitude = param7_alt_z;
sp.altitude_is_relative = true;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (global_position_setpoint_pub < 0) {
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
@ -175,12 +182,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
sp.y = param6_lon_y;
sp.z = param7_alt_z;
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
/* Initialize publication if necessary */
if (local_position_setpoint_pub < 0) {
local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
}

4
apps/mavlink/missionlib.h
View File

@ -48,5 +48,5 @@ extern int mavlink_missionlib_send_message(mavlink_message_t *msg);
extern int mavlink_missionlib_send_gcs_string(const char *string);
extern uint64_t mavlink_missionlib_get_system_timestamp(void);
extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);

241
apps/mavlink/orb_listener.c
View File

@ -90,9 +90,8 @@ static uint64_t last_sensor_timestamp;
static void *uorb_receive_thread(void *arg);
struct listener
{
void (*callback)(struct listener *l);
struct listener {
void (*callback)(struct listener *l);
int *subp;
uintptr_t arg;
};
@ -185,14 +184,14 @@ l_sensor_combined(struct listener *l)
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, 0 /* no diff pressure yet */,
raw.baro_alt_meter, raw.baro_temp_celcius,
fields_updated);
raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
raw.gyro_rad_s[1], raw.gyro_rad_s[2],
raw.magnetometer_ga[0],
raw.magnetometer_ga[1], raw.magnetometer_ga[2],
raw.baro_pres_mbar, 0 /* no diff pressure yet */,
raw.baro_alt_meter, raw.baro_temp_celcius,
fields_updated);
sensors_raw_counter++;
}
@ -209,13 +208,13 @@ l_vehicle_attitude(struct listener *l)
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);
last_sensor_timestamp / 1000,
att.roll,
att.pitch,
att.yaw,
att.rollspeed,
att.pitchspeed,
att.yawspeed);
attitude_counter++;
}
@ -295,17 +294,17 @@ l_input_rc(struct listener *l)
if (gcs_link)
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(chan,
rc_raw.timestamp / 1000,
0,
(rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
(rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
(rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
(rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
(rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
(rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
(rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
(rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
255);
rc_raw.timestamp / 1000,
0,
(rc_raw.channel_count > 0) ? rc_raw.values[0] : UINT16_MAX,
(rc_raw.channel_count > 1) ? rc_raw.values[1] : UINT16_MAX,
(rc_raw.channel_count > 2) ? rc_raw.values[2] : UINT16_MAX,
(rc_raw.channel_count > 3) ? rc_raw.values[3] : UINT16_MAX,
(rc_raw.channel_count > 4) ? rc_raw.values[4] : UINT16_MAX,
(rc_raw.channel_count > 5) ? rc_raw.values[5] : UINT16_MAX,
(rc_raw.channel_count > 6) ? rc_raw.values[6] : UINT16_MAX,
(rc_raw.channel_count > 7) ? rc_raw.values[7] : UINT16_MAX,
255);
}
void
@ -317,7 +316,7 @@ l_global_position(struct listener *l)
uint64_t timestamp = global_pos.timestamp;
int32_t lat = global_pos.lat;
int32_t lon = global_pos.lon;
int32_t alt = (int32_t)(global_pos.alt*1000);
int32_t alt = (int32_t)(global_pos.alt * 1000);
int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
int16_t vx = (int16_t)(global_pos.vx * 100.0f);
int16_t vy = (int16_t)(global_pos.vy * 100.0f);
@ -346,13 +345,13 @@ l_local_position(struct listener *l)
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);
local_pos.timestamp / 1000,
local_pos.x,
local_pos.y,
local_pos.z,
local_pos.vx,
local_pos.vy,
local_pos.vz);
}
void
@ -364,16 +363,17 @@ l_global_position_setpoint(struct listener *l)
orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp);
uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
if (global_sp.altitude_is_relative)
coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
if (gcs_link)
mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
coordinate_frame,
global_sp.lat,
global_sp.lon,
global_sp.altitude,
global_sp.yaw);
coordinate_frame,
global_sp.lat,
global_sp.lon,
global_sp.altitude,
global_sp.yaw);
}
void
@ -386,11 +386,11 @@ l_local_position_setpoint(struct listener *l)
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);
MAV_FRAME_LOCAL_NED,
local_sp.x,
local_sp.y,
local_sp.z,
local_sp.yaw);
}
void
@ -403,11 +403,11 @@ l_attitude_setpoint(struct listener *l)
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);
att_sp.timestamp / 1000,
att_sp.roll_body,
att_sp.pitch_body,
att_sp.yaw_body,
att_sp.thrust);
}
void
@ -420,11 +420,11 @@ l_vehicle_rates_setpoint(struct listener *l)
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);
rates_sp.timestamp / 1000,
rates_sp.roll,
rates_sp.pitch,
rates_sp.yaw,
rates_sp.thrust);
}
void
@ -444,15 +444,15 @@ l_actuator_outputs(struct listener *l)
if (gcs_link) {
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
l->arg /* port number */,
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],
act_outputs.output[3],
act_outputs.output[4],
act_outputs.output[5],
act_outputs.output[6],
act_outputs.output[7]);
l->arg /* port number */,
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],
act_outputs.output[3],
act_outputs.output[4],
act_outputs.output[5],
act_outputs.output[6],
act_outputs.output[7]);
/* only send in HIL mode */
if (mavlink_hil_enabled && armed.armed) {
@ -468,43 +468,46 @@ l_actuator_outputs(struct listener *l)
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_mode,
0);
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_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_mode,
0);
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_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_mode,
0);
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_mode,
0);
} else {
/*
@ -516,23 +519,24 @@ l_actuator_outputs(struct listener *l)
if (act_outputs.noutputs < 4) {
rudder = 0.0f;
throttle = (act_outputs.output[2] - 900.0f) / 1200.0f;
} else {
rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
throttle = (act_outputs.output[3] - 900.0f) / 1200.0f;
}
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
(act_outputs.output[0] - 1500.0f) / 600.0f,
(act_outputs.output[1] - 1500.0f) / 600.0f,
rudder,
throttle,
(act_outputs.output[4] - 1500.0f) / 600.0f,
(act_outputs.output[5] - 1500.0f) / 600.0f,
(act_outputs.output[6] - 1500.0f) / 600.0f,
(act_outputs.output[7] - 1500.0f) / 600.0f,
mavlink_mode,
0);
hrt_absolute_time(),
(act_outputs.output[0] - 1500.0f) / 600.0f,
(act_outputs.output[1] - 1500.0f) / 600.0f,
rudder,
throttle,
(act_outputs.output[4] - 1500.0f) / 600.0f,
(act_outputs.output[5] - 1500.0f) / 600.0f,
(act_outputs.output[6] - 1500.0f) / 600.0f,
(act_outputs.output[7] - 1500.0f) / 600.0f,
mavlink_mode,
0);
}
}
}
@ -554,12 +558,12 @@ l_manual_control_setpoint(struct listener *l)
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);
mavlink_system.sysid,
man_control.roll * 1000,
man_control.pitch * 1000,
man_control.yaw * 1000,
man_control.throttle * 1000,
0);
}
void
@ -614,7 +618,7 @@ l_optical_flow(struct listener *l)
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);
flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
}
static void *
@ -635,6 +639,7 @@ uorb_receive_thread(void *arg)
* 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;
@ -650,8 +655,10 @@ uorb_receive_thread(void *arg)
/* handle the poll result */
if (poll_ret == 0) {
mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
} else if (poll_ret < 0) {
mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
} else {
for (unsigned i = 0; i < n_listeners; i++) {

1
apps/mavlink/waypoints.c
View File

@ -379,6 +379,7 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
if (counter % 100 == 0)
printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit);
}
// else
// {
// if(counter % 100 == 0)