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Merge pull request #1043 from PX4/wpm_fixes 

mavlink WPM fixes
This commit is contained in:
Lorenz Meier 2014-06-06 08:09:43 +02:00
parent 5624c1406a 3306737361
commit d012612f05
2 changed files with 15 additions and 37 deletions
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51
src/modules/mavlink/mavlink_main.cpp
View File

@ -790,9 +790,14 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
{
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");
mavlink_param_request_list_t req;
mavlink_msg_param_request_list_decode(msg, &req);
if (req.target_system == mavlink_system.sysid &&
(req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
/* Start sending parameters */
mavlink_pm_start_queued_send();
mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
}
} break;
case MAVLINK_MSG_ID_PARAM_SET: {
@ -954,6 +959,7 @@ void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
state->current_partner_compid = 0;
state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0;
state->timestamp_last_send_request = 0;
state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->current_dataman_id = 0;
}
@ -1070,6 +1076,7 @@ void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, u
wpr.seq = seq;
mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr);
mavlink_missionlib_send_message(&msg);
_wpm->timestamp_last_send_request = hrt_absolute_time();
if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); }
@ -1112,6 +1119,10 @@ void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
_wpm->current_partner_sysid = 0;
_wpm->current_partner_compid = 0;
} else if (now - _wpm->timestamp_last_send_request > 500000 && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
/* try to get WP again after short timeout */
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
}
}
@ -1174,11 +1185,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
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;
@ -1211,11 +1217,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
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;
@ -1304,12 +1305,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
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"); }
}
}
@ -1368,12 +1363,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
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;
@ -1473,11 +1462,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
} 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;
@ -1513,13 +1497,6 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
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;

1
src/modules/mavlink/mavlink_main.h
View File

@ -93,6 +93,7 @@ struct mavlink_wpm_storage {
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint64_t timestamp_last_send_request;
uint32_t timeout;
int current_dataman_id;
};