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Added local position publication to mavlink receiver for HIL.

This commit is contained in:
James Goppert 2013-11-14 15:24:07 -05:00
parent 5c66899bfb
commit ea156f556f
1 changed files with 55 additions and 10 deletions
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57
src/modules/mavlink/mavlink_receiver.cpp
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@ -72,6 +72,7 @@
#include <systemlib/airspeed.h> #include <systemlib/airspeed.h>
#include <mavlink/mavlink_log.h> #include <mavlink/mavlink_log.h>
#include <commander/px4_custom_mode.h> #include <commander/px4_custom_mode.h>
#include <geo/geo.h>
__BEGIN_DECLS __BEGIN_DECLS
@ -99,11 +100,13 @@ static struct vehicle_command_s vcmd;
static struct offboard_control_setpoint_s offboard_control_sp; static struct offboard_control_setpoint_s offboard_control_sp;
struct vehicle_global_position_s hil_global_pos; struct vehicle_global_position_s hil_global_pos;
struct vehicle_local_position_s hil_local_pos;
struct vehicle_attitude_s hil_attitude; struct vehicle_attitude_s hil_attitude;
struct vehicle_gps_position_s hil_gps; struct vehicle_gps_position_s hil_gps;
struct sensor_combined_s hil_sensors; struct sensor_combined_s hil_sensors;
struct battery_status_s hil_battery_status; struct battery_status_s hil_battery_status;
static orb_advert_t pub_hil_global_pos = -1; static orb_advert_t pub_hil_global_pos = -1;
static orb_advert_t pub_hil_local_pos = -1;
static orb_advert_t pub_hil_attitude = -1; static orb_advert_t pub_hil_attitude = -1;
static orb_advert_t pub_hil_gps = -1; static orb_advert_t pub_hil_gps = -1;
static orb_advert_t pub_hil_sensors = -1; static orb_advert_t pub_hil_sensors = -1;
@ -126,6 +129,11 @@ static orb_advert_t offboard_control_sp_pub = -1;
static orb_advert_t vicon_position_pub = -1; static orb_advert_t vicon_position_pub = -1;
static orb_advert_t telemetry_status_pub = -1; static orb_advert_t telemetry_status_pub = -1;
// variables for HIL reference position
static int32_t lat0 = 0;
static int32_t lon0 = 0;
static double alt0 = 0;
static void static void
handle_message(mavlink_message_t *msg) handle_message(mavlink_message_t *msg)
{ {
@ -621,6 +629,13 @@ handle_message(mavlink_message_t *msg)
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
} }
uint64_t timestamp = hrt_absolute_time();
// publish global position
if (pub_hil_global_pos > 0) {
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
// global position packet
hil_global_pos.timestamp = timestamp;
hil_global_pos.valid = true; hil_global_pos.valid = true;
hil_global_pos.lat = hil_state.lat; hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon; hil_global_pos.lon = hil_state.lon;
@ -629,16 +644,46 @@ handle_message(mavlink_message_t *msg)
hil_global_pos.vy = hil_state.vy / 100.0f; hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f; hil_global_pos.vz = hil_state.vz / 100.0f;
/* set timestamp and notify processes (broadcast) */
hil_global_pos.timestamp = hrt_absolute_time();
if (pub_hil_global_pos > 0) {
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
} else { } else {
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
} }
// publish local position
if (pub_hil_local_pos > 0) {
float x;
float y;
bool landed = hil_state.alt/1000.0f < (alt0 + 0.1); // XXX improve?
double lat = hil_state.lat*1e-7;
double lon = hil_state.lon*1e-7;
map_projection_project(lat, lon, &x, &y);
hil_local_pos.timestamp = timestamp;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;
hil_local_pos.v_xy_valid = true;
hil_local_pos.v_z_valid = true;
hil_local_pos.x = x;
hil_local_pos.y = y;
hil_local_pos.z = alt0 - hil_state.alt/1000.0f;
hil_local_pos.vx = hil_state.vx/100.0f;
hil_local_pos.vy = hil_state.vy/100.0f;
hil_local_pos.vz = hil_state.vz/100.0f;
hil_local_pos.yaw = hil_attitude.yaw;
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;
hil_local_pos.ref_timestamp = timestamp;
hil_local_pos.ref_lat = hil_state.lat;
hil_local_pos.ref_lon = hil_state.lon;
hil_local_pos.ref_alt = alt0;
hil_local_pos.landed = landed;
orb_publish(ORB_ID(vehicle_local_position), pub_hil_local_pos, &hil_local_pos);
} else {
pub_hil_local_pos = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
lat0 = hil_state.lat;
lon0 = hil_state.lon;
alt0 = hil_state.alt / 1000.0f;
map_projection_init(hil_state.lat, hil_state.lon);
}
/* Calculate Rotation Matrix */ /* Calculate Rotation Matrix */
math::Quaternion q(hil_state.attitude_quaternion); math::Quaternion q(hil_state.attitude_quaternion);
math::Dcm C_nb(q); math::Dcm C_nb(q);