forked from Archive/PX4-Autopilot
331 lines
9.6 KiB
C
331 lines
9.6 KiB
C
/****************************************************************************
|
|
*
|
|
* 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 <v1.0/common/mavlink.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 */
|
|
printf("[mavlink] Terminating .. \n");
|
|
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 ch;
|
|
|
|
mavlink_message_t msg;
|
|
|
|
prctl(PR_SET_NAME, "mavlink offb rcv", getpid());
|
|
|
|
while (!thread_should_exit) {
|
|
|
|
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
|
|
|
|
if (poll(fds, 1, timeout) > 0) {
|
|
/* non-blocking read until buffer is empty */
|
|
int nread = 0;
|
|
|
|
do {
|
|
nread = read(uart_fd, &ch, 1);
|
|
|
|
if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
|
|
/* handle generic messages and commands */
|
|
handle_message(&msg);
|
|
}
|
|
} while (nread > 0);
|
|
}
|
|
}
|
|
|
|
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, ¶m);
|
|
|
|
pthread_attr_setstacksize(&receiveloop_attr, 2048);
|
|
|
|
pthread_t thread;
|
|
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
|
|
return thread;
|
|
} |