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diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
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+/****************************************************************************
+ *
+ * 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 <drivers/drv_hrt.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_baro.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 <mathlib/mathlib.h>
+
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <systemlib/airspeed.h>
+#include <mavlink/mavlink_log.h>
+#include <commander/px4_custom_mode.h>
+#include <geo/geo.h>
+
+__BEGIN_DECLS
+
+#include "mavlink_bridge_header.h"
+#include "waypoints.h"
+#include "orb_topics.h"
+#include "missionlib.h"
+#include "mavlink_hil.h"
+#include "mavlink_parameters.h"
+#include "util.h"
+
+extern bool gcs_link;
+
+__END_DECLS
+
+/* XXX should be in a header somewhere */
+extern "C" 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_local_position_s hil_local_pos;
+struct vehicle_attitude_s hil_attitude;
+struct vehicle_gps_position_s hil_gps;
+struct sensor_combined_s hil_sensors;
+struct battery_status_s hil_battery_status;
+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_gps = -1;
+static orb_advert_t pub_hil_sensors = -1;
+static orb_advert_t pub_hil_gyro = -1;
+static orb_advert_t pub_hil_accel = -1;
+static orb_advert_t pub_hil_mag = -1;
+static orb_advert_t pub_hil_baro = -1;
+static orb_advert_t pub_hil_airspeed = -1;
+static orb_advert_t pub_hil_battery = -1;
+
+/* packet counter */
+static int hil_counter = 0;
+static int hil_frames = 0;
+static uint64_t old_timestamp = 0;
+
+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;
+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
+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;
+ // XXX do proper translation
+ vcmd.command = (enum VEHICLE_CMD)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);
+
+ } else {
+ /* 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 = flow.time_usec;
+ 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);
+
+ union px4_custom_mode custom_mode;
+ custom_mode.data = new_mode.custom_mode;
+ /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+ vcmd.param1 = new_mode.base_mode;
+ vcmd.param2 = custom_mode.main_mode;
+ vcmd.param3 = 0;
+ vcmd.param4 = 0;
+ vcmd.param5 = 0;
+ vcmd.param6 = 0;
+ vcmd.param7 = 0;
+ vcmd.command = VEHICLE_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.timestamp = hrt_absolute_time();
+
+ vicon_position.x = pos.x;
+ vicon_position.y = pos.y;
+ vicon_position.z = pos.z;
+
+ vicon_position.roll = pos.roll;
+ vicon_position.pitch = pos.pitch;
+ vicon_position.yaw = pos.yaw;
+
+ 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 = static_cast<enum OFFBOARD_CONTROL_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);
+ }
+ }
+ }
+
+ /* handle status updates of the radio */
+ if (msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
+
+ struct telemetry_status_s tstatus;
+
+ mavlink_radio_status_t rstatus;
+ mavlink_msg_radio_status_decode(msg, &rstatus);
+
+ /* publish telemetry status topic */
+ tstatus.timestamp = hrt_absolute_time();
+ tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
+ tstatus.rssi = rstatus.rssi;
+ tstatus.remote_rssi = rstatus.remrssi;
+ tstatus.txbuf = rstatus.txbuf;
+ tstatus.noise = rstatus.noise;
+ tstatus.remote_noise = rstatus.remnoise;
+ tstatus.rxerrors = rstatus.rxerrors;
+ tstatus.fixed = rstatus.fixed;
+
+ if (telemetry_status_pub == 0) {
+ telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
+
+ } else {
+ orb_publish(ORB_ID(telemetry_status), telemetry_status_pub, &tstatus);
+ }
+ }
+
+ /*
+ * Only decode hil messages in HIL mode.
+ *
+ * The HIL mode is enabled by the HIL bit flag
+ * in the system mode. Either send a set mode
+ * COMMAND_LONG message or a SET_MODE message
+ */
+
+ if (mavlink_hil_enabled) {
+
+ uint64_t timestamp = hrt_absolute_time();
+
+ if (msg->msgid == MAVLINK_MSG_ID_HIL_SENSOR) {
+
+ mavlink_hil_sensor_t imu;
+ mavlink_msg_hil_sensor_decode(msg, &imu);
+
+ /* sensors general */
+ hil_sensors.timestamp = hrt_absolute_time();
+
+ /* hil gyro */
+ static const float mrad2rad = 1.0e-3f;
+ hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
+ hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
+ hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
+ hil_sensors.gyro_rad_s[0] = imu.xgyro;
+ hil_sensors.gyro_rad_s[1] = imu.ygyro;
+ hil_sensors.gyro_rad_s[2] = imu.zgyro;
+ hil_sensors.gyro_counter = hil_counter;
+
+ /* accelerometer */
+ static const float mg2ms2 = 9.8f / 1000.0f;
+ hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
+ hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
+ hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2;
+ hil_sensors.accelerometer_m_s2[0] = imu.xacc;
+ hil_sensors.accelerometer_m_s2[1] = imu.yacc;
+ hil_sensors.accelerometer_m_s2[2] = imu.zacc;
+ hil_sensors.accelerometer_mode = 0; // TODO what is this?
+ hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
+ hil_sensors.accelerometer_counter = hil_counter;
+
+ /* adc */
+ hil_sensors.adc_voltage_v[0] = 0.0f;
+ hil_sensors.adc_voltage_v[1] = 0.0f;
+ hil_sensors.adc_voltage_v[2] = 0.0f;
+
+ /* magnetometer */
+ float mga2ga = 1.0e-3f;
+ hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
+ hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
+ hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
+ hil_sensors.magnetometer_ga[0] = imu.xmag;
+ hil_sensors.magnetometer_ga[1] = imu.ymag;
+ hil_sensors.magnetometer_ga[2] = imu.zmag;
+ hil_sensors.magnetometer_range_ga = 32.7f; // int16
+ hil_sensors.magnetometer_mode = 0; // TODO what is this
+ hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
+ hil_sensors.magnetometer_counter = hil_counter;
+
+ /* baro */
+ hil_sensors.baro_pres_mbar = imu.abs_pressure;
+ hil_sensors.baro_alt_meter = imu.pressure_alt;
+ hil_sensors.baro_temp_celcius = imu.temperature;
+ hil_sensors.baro_counter = hil_counter;
+
+ /* differential pressure */
+ hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
+ hil_sensors.differential_pressure_counter = hil_counter;
+
+ /* airspeed from differential pressure, ambient pressure and temp */
+ struct airspeed_s airspeed;
+
+ float ias = calc_indicated_airspeed(hil_sensors.differential_pressure_pa);
+ // XXX need to fix this
+ float tas = ias;
+
+ airspeed.timestamp = hrt_absolute_time();
+ airspeed.indicated_airspeed_m_s = ias;
+ airspeed.true_airspeed_m_s = tas;
+
+ if (pub_hil_airspeed < 0) {
+ pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+
+ } else {
+ orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
+ }
+
+ //warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
+
+ /* individual sensor publications */
+ struct gyro_report gyro;
+ gyro.x_raw = imu.xgyro / mrad2rad;
+ gyro.y_raw = imu.ygyro / mrad2rad;
+ gyro.z_raw = imu.zgyro / mrad2rad;
+ gyro.x = imu.xgyro;
+ gyro.y = imu.ygyro;
+ gyro.z = imu.zgyro;
+ gyro.temperature = imu.temperature;
+ gyro.timestamp = hrt_absolute_time();
+
+ if (pub_hil_gyro < 0) {
+ pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro);
+
+ } else {
+ orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro);
+ }
+
+ struct accel_report accel;
+
+ accel.x_raw = imu.xacc / mg2ms2;
+
+ accel.y_raw = imu.yacc / mg2ms2;
+
+ accel.z_raw = imu.zacc / mg2ms2;
+
+ accel.x = imu.xacc;
+
+ accel.y = imu.yacc;
+
+ accel.z = imu.zacc;
+
+ accel.temperature = imu.temperature;
+
+ accel.timestamp = hrt_absolute_time();
+
+ if (pub_hil_accel < 0) {
+ pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
+
+ } else {
+ orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
+ }
+
+ struct mag_report mag;
+
+ mag.x_raw = imu.xmag / mga2ga;
+
+ mag.y_raw = imu.ymag / mga2ga;
+
+ mag.z_raw = imu.zmag / mga2ga;
+
+ mag.x = imu.xmag;
+
+ mag.y = imu.ymag;
+
+ mag.z = imu.zmag;
+
+ mag.timestamp = hrt_absolute_time();
+
+ if (pub_hil_mag < 0) {
+ pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag);
+
+ } else {
+ orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag);
+ }
+
+ struct baro_report baro;
+
+ baro.pressure = imu.abs_pressure;
+
+ baro.altitude = imu.pressure_alt;
+
+ baro.temperature = imu.temperature;
+
+ baro.timestamp = hrt_absolute_time();
+
+ if (pub_hil_baro < 0) {
+ pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro);
+
+ } else {
+ orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro);
+ }
+
+ /* publish combined sensor topic */
+ if (pub_hil_sensors > 0) {
+ orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+
+ } else {
+ pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
+ }
+
+ /* fill in HIL battery status */
+ hil_battery_status.timestamp = hrt_absolute_time();
+ hil_battery_status.voltage_v = 11.1f;
+ hil_battery_status.current_a = 10.0f;
+
+ /* lazily publish the battery voltage */
+ if (pub_hil_battery > 0) {
+ orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
+
+ } else {
+ pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+ }
+
+ // increment counters
+ hil_counter++;
+ hil_frames++;
+
+ // output
+ if ((timestamp - old_timestamp) > 10000000) {
+ printf("receiving hil sensor at %d hz\n", hil_frames / 10);
+ old_timestamp = timestamp;
+ hil_frames = 0;
+ }
+ }
+
+ if (msg->msgid == MAVLINK_MSG_ID_HIL_GPS) {
+
+ mavlink_hil_gps_t gps;
+ mavlink_msg_hil_gps_decode(msg, &gps);
+
+ /* gps */
+ hil_gps.timestamp_position = gps.time_usec;
+ hil_gps.time_gps_usec = gps.time_usec;
+ hil_gps.lat = gps.lat;
+ hil_gps.lon = gps.lon;
+ hil_gps.alt = gps.alt;
+ hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
+ hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
+ hil_gps.s_variance_m_s = 5.0f;
+ hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
+ hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
+
+ /* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
+ float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
+
+ /* go back to -PI..PI */
+ if (heading_rad > M_PI_F)
+ heading_rad -= 2.0f * M_PI_F;
+
+ hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
+ hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
+ hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
+ hil_gps.vel_ned_valid = true;
+ /* COG (course over ground) is spec'ed as -PI..+PI */
+ hil_gps.cog_rad = heading_rad;
+ hil_gps.fix_type = gps.fix_type;
+ hil_gps.satellites_visible = gps.satellites_visible;
+
+ /* publish GPS measurement data */
+ if (pub_hil_gps > 0) {
+ orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
+
+ } else {
+ pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
+ }
+
+ }
+
+ if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE_QUATERNION) {
+
+ mavlink_hil_state_quaternion_t hil_state;
+ mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
+
+ struct airspeed_s airspeed;
+ airspeed.timestamp = hrt_absolute_time();
+ airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
+ airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
+
+ if (pub_hil_airspeed < 0) {
+ pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+
+ } else {
+ 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.lat = hil_state.lat;
+ hil_global_pos.lon = hil_state.lon;
+ hil_global_pos.alt = hil_state.alt / 1000.0f;
+ hil_global_pos.vx = hil_state.vx / 100.0f;
+ hil_global_pos.vy = hil_state.vy / 100.0f;
+ hil_global_pos.vz = hil_state.vz / 100.0f;
+
+ } else {
+ 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 */
+ math::Quaternion q(hil_state.attitude_quaternion);
+ math::Dcm C_nb(q);
+ math::EulerAngles euler(C_nb);
+
+ /* set rotation matrix */
+ for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
+ hil_attitude.R[i][j] = C_nb(i, j);
+
+ hil_attitude.R_valid = true;
+
+ /* set quaternion */
+ hil_attitude.q[0] = q(0);
+ hil_attitude.q[1] = q(1);
+ hil_attitude.q[2] = q(2);
+ hil_attitude.q[3] = q(3);
+ hil_attitude.q_valid = true;
+
+ hil_attitude.roll = euler.getPhi();
+ hil_attitude.pitch = euler.getTheta();
+ hil_attitude.yaw = euler.getPsi();
+ hil_attitude.rollspeed = hil_state.rollspeed;
+ hil_attitude.pitchspeed = hil_state.pitchspeed;
+ hil_attitude.yawspeed = hil_state.yawspeed;
+
+ /* set timestamp and notify processes (broadcast) */
+ hil_attitude.timestamp = hrt_absolute_time();
+
+ if (pub_hil_attitude > 0) {
+ orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
+
+ } else {
+ pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
+ }
+
+ struct accel_report accel;
+
+ accel.x_raw = hil_state.xacc / 9.81f * 1e3f;
+
+ accel.y_raw = hil_state.yacc / 9.81f * 1e3f;
+
+ accel.z_raw = hil_state.zacc / 9.81f * 1e3f;
+
+ accel.x = hil_state.xacc;
+
+ accel.y = hil_state.yacc;
+
+ accel.z = hil_state.zacc;
+
+ accel.temperature = 25.0f;
+
+ accel.timestamp = hrt_absolute_time();
+
+ if (pub_hil_accel < 0) {
+ pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
+
+ } else {
+ orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
+ }
+
+ /* fill in HIL battery status */
+ hil_battery_status.timestamp = hrt_absolute_time();
+ hil_battery_status.voltage_v = 11.1f;
+ hil_battery_status.current_a = 10.0f;
+
+ /* lazily publish the battery voltage */
+ if (pub_hil_battery > 0) {
+ orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
+
+ } else {
+ pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+ }
+ }
+
+ if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
+ mavlink_manual_control_t man;
+ mavlink_msg_manual_control_decode(msg, &man);
+
+ struct rc_channels_s rc_hil;
+ memset(&rc_hil, 0, sizeof(rc_hil));
+ static orb_advert_t rc_pub = 0;
+
+ rc_hil.timestamp = hrt_absolute_time();
+ rc_hil.chan_count = 4;
+
+ rc_hil.chan[0].scaled = man.x / 1000.0f;
+ rc_hil.chan[1].scaled = man.y / 1000.0f;
+ rc_hil.chan[2].scaled = man.r / 1000.0f;
+ rc_hil.chan[3].scaled = man.z / 1000.0f;
+
+ struct manual_control_setpoint_s mc;
+ static orb_advert_t mc_pub = 0;
+
+ int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+
+ /* get a copy first, to prevent altering values that are not sent by the mavlink command */
+ orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc);
+
+ mc.timestamp = rc_hil.timestamp;
+ mc.roll = man.x / 1000.0f;
+ mc.pitch = man.y / 1000.0f;
+ mc.yaw = man.r / 1000.0f;
+ mc.throttle = man.z / 1000.0f;
+
+ /* fake RC channels with manual control input from simulator */
+
+
+ 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);
+ }
+ }
+ }
+}
+
+
+/**
+ * Receive data from UART.
+ */
+static void *
+receive_thread(void *arg)
+{
+ int uart_fd = *((int *)arg);
+
+ const int timeout = 1000;
+ uint8_t buf[32];
+
+ mavlink_message_t msg;
+
+ prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid());
+
+ struct pollfd fds[1];
+ fds[0].fd = uart_fd;
+ fds[0].events = POLLIN;
+
+ ssize_t nread = 0;
+
+ while (!thread_should_exit) {
+ if (poll(fds, 1, timeout) > 0) {
+ if (nread < sizeof(buf)) {
+ /* to avoid reading very small chunks wait for data before reading */
+ usleep(1000);
+ }
+
+ /* non-blocking read. read may return negative values */
+ nread = read(uart_fd, buf, sizeof(buf));
+
+ /* if read failed, this loop won't execute */
+ for (ssize_t i = 0; i < nread; i++) {
+ if (mavlink_parse_char(chan, buf[i], &msg, &status)) {
+ /* handle generic messages and commands */
+ handle_message(&msg);
+
+ /* handle packet with waypoint component */
+ mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
+
+ /* handle packet with parameter component */
+ mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
+ }
+ }
+ }
+ }
+
+ return NULL;
+}
+
+pthread_t
+receive_start(int uart)
+{
+ pthread_attr_t receiveloop_attr;
+ pthread_attr_init(&receiveloop_attr);
+
+ // set to non-blocking read
+ int flags = fcntl(uart, F_GETFL, 0);
+ fcntl(uart, F_SETFL, flags | O_NONBLOCK);
+
+ struct sched_param param;
+ (void)pthread_attr_getschedparam(&receiveloop_attr, &param);
+ param.sched_priority = SCHED_PRIORITY_MAX - 40;
+ (void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+ pthread_attr_setstacksize(&receiveloop_attr, 3000);
+
+ pthread_t thread;
+ pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
+
+ pthread_attr_destroy(&receiveloop_attr);
+ return thread;
+}
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