forked from Archive/PX4-Autopilot
191 lines
6.6 KiB
C
191 lines
6.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file missionlib.h
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* MAVLink missionlib components
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*/
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// XXX trim includes
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <pthread.h>
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#include <stdio.h>
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#include <math.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <mqueue.h>
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#include <string.h>
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#include "mavlink_bridge_header.h"
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#include <v1.0/common/mavlink.h>
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#include <drivers/drv_hrt.h>
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#include <time.h>
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#include <float.h>
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#include <unistd.h>
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#include <nuttx/sched.h>
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#include <sys/prctl.h>
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#include <termios.h>
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#include <errno.h>
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#include <stdlib.h>
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#include <poll.h>
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#include <systemlib/param/param.h>
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#include <systemlib/systemlib.h>
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#include "waypoints.h"
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#include "mavlink_log.h"
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#include "orb_topics.h"
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#include "missionlib.h"
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#include "mavlink_hil.h"
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#include "util.h"
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#include "waypoints.h"
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#include "mavlink_parameters.h"
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static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
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int
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mavlink_missionlib_send_message(mavlink_message_t *msg)
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{
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uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
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mavlink_send_uart_bytes(chan, missionlib_msg_buf, len);
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return 0;
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}
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int
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mavlink_missionlib_send_gcs_string(const char *string)
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{
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const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
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mavlink_statustext_t statustext;
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int i = 0;
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while (i < len - 1) {
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statustext.text[i] = string[i];
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if (string[i] == '\0')
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break;
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i++;
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}
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if (i > 1) {
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/* Enforce null termination */
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statustext.text[i] = '\0';
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mavlink_message_t msg;
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mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
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return mavlink_missionlib_send_message(&msg);
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} else {
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return 1;
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}
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}
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/**
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* Get system time since boot in microseconds
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*
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* @return the system time since boot in microseconds
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*/
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uint64_t mavlink_missionlib_get_system_timestamp()
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{
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return hrt_absolute_time();
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}
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/**
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* This callback is executed each time a waypoint changes.
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*
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* It publishes the vehicle_global_position_setpoint_s or the
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* vehicle_local_position_setpoint_s topic, depending on the type of waypoint
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*/
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void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
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float param2, float param3, float param4, float param5_lat_x,
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float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command)
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{
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static orb_advert_t global_position_setpoint_pub = -1;
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static orb_advert_t local_position_setpoint_pub = -1;
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char buf[50] = {0};
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/* Update controller setpoints */
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if (frame == (int)MAV_FRAME_GLOBAL) {
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/* global, absolute waypoint */
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struct vehicle_global_position_setpoint_s sp;
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sp.lat = param5_lat_x * 1e7f;
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sp.lon = param6_lon_y * 1e7f;
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sp.altitude = param7_alt_z;
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sp.altitude_is_relative = false;
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sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
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/* Initialize publication if necessary */
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if (global_position_setpoint_pub < 0) {
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global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
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} else {
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orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
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}
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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);
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} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
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/* global, relative alt (in relation to HOME) waypoint */
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struct vehicle_global_position_setpoint_s sp;
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sp.lat = param5_lat_x * 1e7f;
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sp.lon = param6_lon_y * 1e7f;
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sp.altitude = param7_alt_z;
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sp.altitude_is_relative = true;
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sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
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/* Initialize publication if necessary */
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if (global_position_setpoint_pub < 0) {
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global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
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} else {
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orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
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}
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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);
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} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
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/* local, absolute waypoint */
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struct vehicle_local_position_setpoint_s sp;
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sp.x = param5_lat_x;
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sp.y = param6_lon_y;
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sp.z = param7_alt_z;
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sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
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/* Initialize publication if necessary */
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if (local_position_setpoint_pub < 0) {
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local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
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} else {
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orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
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}
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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);
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}
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mavlink_missionlib_send_gcs_string(buf);
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printf("%s\n", buf);
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//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
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}
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