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Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 159 |
1 files changed, 159 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h new file mode 100644 index 000000000..8d38b9973 --- /dev/null +++ b/src/modules/mavlink/mavlink_receiver.h @@ -0,0 +1,159 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * 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_orb_listener.h + * MAVLink 1.0 uORB listener definition + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> + */ + +#pragma once + +#include <systemlib/perf_counter.h> +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/home_position.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/topics/vehicle_local_position_setpoint.h> +#include <uORB/topics/vehicle_global_velocity_setpoint.h> +#include <uORB/topics/position_setpoint_triplet.h> +#include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/optical_flow.h> +#include <uORB/topics/actuator_outputs.h> +#include <uORB/topics/actuator_controls_effective.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/telemetry_status.h> +#include <uORB/topics/debug_key_value.h> +#include <uORB/topics/airspeed.h> +#include <uORB/topics/battery_status.h> + +#include "mavlink_ftp.h" + +class Mavlink; + +class MavlinkReceiver +{ +public: + /** + * Constructor + */ + MavlinkReceiver(Mavlink *parent); + + /** + * Destructor, also kills the mavlinks task. + */ + ~MavlinkReceiver(); + + /** + * Start the mavlink task. + * + * @return OK on success. + */ + int start(); + + /** + * Display the mavlink status. + */ + void print_status(); + + static pthread_t receive_start(Mavlink *parent); + + static void *start_helper(void *context); + +private: + Mavlink *_mavlink; + + void handle_message(mavlink_message_t *msg); + void handle_message_command_long(mavlink_message_t *msg); + void handle_message_optical_flow(mavlink_message_t *msg); + void handle_message_set_mode(mavlink_message_t *msg); + void handle_message_vicon_position_estimate(mavlink_message_t *msg); + void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg); + void handle_message_radio_status(mavlink_message_t *msg); + void handle_message_manual_control(mavlink_message_t *msg); + void handle_message_heartbeat(mavlink_message_t *msg); + void handle_message_request_data_stream(mavlink_message_t *msg); + void handle_message_hil_sensor(mavlink_message_t *msg); + void handle_message_hil_gps(mavlink_message_t *msg); + void handle_message_hil_state_quaternion(mavlink_message_t *msg); + + void *receive_thread(void *arg); + + mavlink_status_t status; + struct vehicle_local_position_s hil_local_pos; + struct vehicle_control_mode_s _control_mode; + orb_advert_t _global_pos_pub; + orb_advert_t _local_pos_pub; + orb_advert_t _attitude_pub; + orb_advert_t _gps_pub; + orb_advert_t _sensors_pub; + orb_advert_t _gyro_pub; + orb_advert_t _accel_pub; + orb_advert_t _mag_pub; + orb_advert_t _baro_pub; + orb_advert_t _airspeed_pub; + orb_advert_t _battery_pub; + orb_advert_t _cmd_pub; + orb_advert_t _flow_pub; + orb_advert_t _offboard_control_sp_pub; + orb_advert_t _local_pos_sp_pub; + orb_advert_t _global_vel_sp_pub; + orb_advert_t _att_sp_pub; + orb_advert_t _rates_sp_pub; + orb_advert_t _vicon_position_pub; + orb_advert_t _telemetry_status_pub; + orb_advert_t _rc_pub; + orb_advert_t _manual_pub; + hrt_abstime _telemetry_heartbeat_time; + bool _radio_status_available; + int _control_mode_sub; + int _hil_frames; + uint64_t _old_timestamp; + bool _hil_local_proj_inited; + float _hil_local_alt0; + struct map_projection_reference_s _hil_local_proj_ref; +}; |