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*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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* 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
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/**
* @file orb_listener.cpp
* Monitors ORB topics and sends update messages as appropriate.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
// XXX trim includes
#include <nuttx/config.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <sys/prctl.h>
#include <stdlib.h>
#include <poll.h>
#include <lib/geo/geo.h>
#include <mavlink/mavlink_log.h>
#include "mavlink_orb_listener.h"
#include "mavlink_main.h"
void *uorb_receive_thread(void *arg);
uint16_t cm_uint16_from_m_float(float m);
uint16_t
cm_uint16_from_m_float(float m)
{
if (m < 0.0f) {
return 0;
} else if (m > 655.35f) {
return 65535;
}
return (uint16_t)(m * 100.0f);
}
MavlinkOrbListener::MavlinkOrbListener(Mavlink* parent) :
thread_should_exit(false),
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink orb")),
_mavlink(parent),
_listeners(nullptr),
_n_listeners(0)
{
add_listener(MavlinkOrbListener::l_sensor_combined, &_mavlink->get_subs()->sensor_sub, 0);
add_listener(MavlinkOrbListener::l_vehicle_attitude, &_mavlink->get_subs()->att_sub, 0);
add_listener(MavlinkOrbListener::l_vehicle_gps_position, &_mavlink->get_subs()->gps_sub, 0);
add_listener(MavlinkOrbListener::l_vehicle_status, &status_sub, 0);
add_listener(MavlinkOrbListener::l_rc_channels, &rc_sub, 0);
add_listener(MavlinkOrbListener::l_input_rc, &_mavlink->get_subs()->input_rc_sub, 0);
add_listener(MavlinkOrbListener::l_global_position, &_mavlink->get_subs()->global_pos_sub, 0);
add_listener(MavlinkOrbListener::l_local_position, &_mavlink->get_subs()->local_pos_sub, 0);
add_listener(MavlinkOrbListener::l_global_position_setpoint, &_mavlink->get_subs()->triplet_sub, 0);
add_listener(MavlinkOrbListener::l_local_position_setpoint, &_mavlink->get_subs()->spl_sub, 0);
add_listener(MavlinkOrbListener::l_attitude_setpoint, &_mavlink->get_subs()->spa_sub, 0);
add_listener(MavlinkOrbListener::l_actuator_outputs, &_mavlink->get_subs()->act_0_sub, 0);
add_listener(MavlinkOrbListener::l_actuator_outputs, &_mavlink->get_subs()->act_1_sub, 1);
add_listener(MavlinkOrbListener::l_actuator_outputs, &_mavlink->get_subs()->act_2_sub, 2);
add_listener(MavlinkOrbListener::l_actuator_outputs, &_mavlink->get_subs()->act_3_sub, 3);
add_listener(MavlinkOrbListener::l_actuator_armed, &_mavlink->get_subs()->armed_sub, 0);
add_listener(MavlinkOrbListener::l_manual_control_setpoint, &_mavlink->get_subs()->man_control_sp_sub, 0);
add_listener(MavlinkOrbListener::l_vehicle_attitude_controls, &_mavlink->get_subs()->actuators_sub, 0);
add_listener(MavlinkOrbListener::l_debug_key_value, &_mavlink->get_subs()->debug_key_value, 0);
add_listener(MavlinkOrbListener::l_optical_flow, &_mavlink->get_subs()->optical_flow, 0);
add_listener(MavlinkOrbListener::l_vehicle_rates_setpoint, &_mavlink->get_subs()->rates_setpoint_sub, 0);
add_listener(MavlinkOrbListener::l_home, &_mavlink->get_subs()->home_sub, 0);
add_listener(MavlinkOrbListener::l_airspeed, &_mavlink->get_subs()->airspeed_sub, 0);
add_listener(MavlinkOrbListener::l_nav_cap, &_mavlink->get_subs()->navigation_capabilities_sub, 0);
add_listener(MavlinkOrbListener::l_control_mode, &_mavlink->get_subs()->control_mode_sub, 0);
}
void MavlinkOrbListener::add_listener(void (*callback)(const struct listener *l), int *subp, uintptr_t arg)
{
struct listener *nl = new listener;
nl->callback = callback;
nl->subp = subp;
nl->arg = arg;
nl->next = nullptr;
// Register it
struct listener *next = _listeners;
while (next->next != nullptr) {
next = next->next;
}
// Attach
next->next = nl;
_n_listeners++;
}
void
MavlinkOrbListener::l_sensor_combined(const struct listener *l)
{
struct sensor_combined_s raw;
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), l->mavlink->get_subs()->sensor_sub, &raw);
/* mark individual fields as _mavlink->get_chan()ged */
uint16_t fields_updated = 0;
// if (accel_counter != raw.accelerometer_counter) {
// /* mark first three dimensions as _mavlink->get_chan()ged */
// fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
// accel_counter = raw.accelerometer_counter;
// }
// if (gyro_counter != raw.gyro_counter) {
// /* mark second group dimensions as _mavlink->get_chan()ged */
// fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
// gyro_counter = raw.gyro_counter;
// }
// if (mag_counter != raw.magnetometer_counter) {
// /* mark third group dimensions as _mavlink->get_chan()ged */
// fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
// mag_counter = raw.magnetometer_counter;
// }
// if (baro_counter != raw.baro_counter) {
// /* mark last group dimensions as _mavlink->get_chan()ged */
// fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
// baro_counter = raw.baro_counter;
// }
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
mavlink_msg_highres_imu_send(l->mavlink->get_chan(), l->listener->last_sensor_timestamp,
raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
raw.gyro_rad_s[1], raw.gyro_rad_s[2],
raw.magnetometer_ga[0],
raw.magnetometer_ga[1], raw.magnetometer_ga[2],
raw.baro_pres_mbar, raw.differential_pressure_pa,
raw.baro_alt_meter, raw.baro_temp_celcius,
fields_updated);
l->listener->sensors_raw_counter++;
}
void
MavlinkOrbListener::l_vehicle_attitude(const struct listener *l)
{
/* copy attitude data into local buffer */
orb_copy(ORB_ID(vehicle_attitude), l->mavlink->get_subs()->att_sub, &l->listener->att);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) {
/* send sensor values */
mavlink_msg_attitude_send(l->mavlink->get_chan(),
l->listener->last_sensor_timestamp / 1000,
l->listener->att.roll,
l->listener->att.pitch,
l->listener->att.yaw,
l->listener->att.rollspeed,
l->listener->att.pitchspeed,
l->listener->att.yawspeed);
/* limit VFR message rate to 10Hz */
hrt_abstime t = hrt_absolute_time();
if (t >= l->listener->last_sent_vfr + 100000) {
l->listener->last_sent_vfr = t;
float groundspeed = sqrtf(l->listener->global_pos.vel_n * l->listener->global_pos.vel_n + l->listener->global_pos.vel_e * l->listener->global_pos.vel_e);
uint16_t heading = _wrap_2pi(l->listener->att.yaw) * M_RAD_TO_DEG_F;
float throttle = l->listener->armed.armed ? l->listener->actuators_0.control[3] * 100.0f : 0.0f;
mavlink_msg_vfr_hud_send(l->mavlink->get_chan(), l->listener->airspeed.true_airspeed_m_s, groundspeed, heading, throttle, l->listener->global_pos.alt, -l->listener->global_pos.vel_d);
}
/* send quaternion values if it exists */
if(l->listener->att.q_valid) {
mavlink_msg_attitude_quaternion_send(l->mavlink->get_chan(),
l->listener->last_sensor_timestamp / 1000,
l->listener->att.q[0],
l->listener->att.q[1],
l->listener->att.q[2],
l->listener->att.q[3],
l->listener->att.rollspeed,
l->listener->att.pitchspeed,
l->listener->att.yawspeed);
}
}
l->listener->attitude_counter++;
}
void
MavlinkOrbListener::l_vehicle_gps_position(const struct listener *l)
{
struct vehicle_gps_position_s gps;
/* copy gps data into local buffer */
orb_copy(ORB_ID(vehicle_gps_position), l->mavlink->get_subs()->gps_sub, &gps);
/* GPS COG is 0..2PI in degrees * 1e2 */
float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F;
/* GPS position */
mavlink_msg_gps_raw_int_send(l->mavlink->get_chan(),
gps.timestamp_position,
gps.fix_type,
gps.lat,
gps.lon,
gps.alt,
cm_uint16_from_m_float(gps.eph_m),
cm_uint16_from_m_float(gps.epv_m),
gps.vel_m_s * 1e2f, // from m/s to cm/s
cog_deg * 1e2f, // from deg to deg * 100
gps.satellites_visible);
/* update SAT info every 10 seconds */
if (gps.satellite_info_available && (l->listener->gps_counter % 50 == 0)) {
mavlink_msg_gps_status_send(l->mavlink->get_chan(),
gps.satellites_visible,
gps.satellite_prn,
gps.satellite_used,
gps.satellite_elevation,
gps.satellite_azimuth,
gps.satellite_snr);
}
l->listener->gps_counter++;
}
void
MavlinkOrbListener::l_vehicle_status(const struct listener *l)
{
/* immediately communicate state _mavlink->get_chan()ges back to user */
orb_copy(ORB_ID(vehicle_status), l->listener->status_sub, &l->listener->v_status);
orb_copy(ORB_ID(actuator_armed), l->mavlink->get_subs()->armed_sub, &l->listener->armed);
/* enable or disable HIL */
if (l->listener->v_status.hil_state == HIL_STATE_ON)
l->mavlink->set_hil_enabled(true);
else if (l->listener->v_status.hil_state == HIL_STATE_OFF)
l->mavlink->set_hil_enabled(false);
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
l->mavlink->get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(l->mavlink->get_chan(),
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_base_mode,
mavlink_custom_mode,
mavlink_state);
}
void
MavlinkOrbListener::l_rc_channels(const struct listener *l)
{
/* copy rc channels into local buffer */
orb_copy(ORB_ID(rc_channels), l->mavlink->get_subs()->rc_sub, &l->listener->rc);
// XXX Add RC channels scaled message here
}
void
MavlinkOrbListener::l_input_rc(const struct listener *l)
{
/* copy rc _mavlink->get_chan()nels into local buffer */
orb_copy(ORB_ID(input_rc), l->mavlink->get_subs()->input_rc_sub, &l->listener->rc_raw);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) {
const unsigned port_width = 8;
for (unsigned i = 0; (i * port_width) < (l->listener->rc_raw.channel_count + port_width); i++) {
/* Channels are sent in MAVLink main loop at a fixed interval */
mavlink_msg_rc_channels_raw_send(l->mavlink->get_chan(),
l->listener->rc_raw.timestamp / 1000,
i,
(l->listener->rc_raw.channel_count > (i * port_width) + 0) ? l->listener->rc_raw.values[(i * port_width) + 0] : UINT16_MAX,
(l->listener->rc_raw.channel_count > (i * port_width) + 1) ? l->listener->rc_raw.values[(i * port_width) + 1] : UINT16_MAX,
(l->listener->rc_raw.channel_count > (i * port_width) + 2) ? l->listener->rc_raw.values[(i * port_width) + 2] : UINT16_MAX,
(l->listener->rc_raw.channel_count > (i * port_width) + 3) ? l->listener->rc_raw.values[(i * port_width) + 3] : UINT16_MAX,
(l->listener->rc_raw.channel_count > (i * port_width) + 4) ? l->listener->rc_raw.values[(i * port_width) + 4] : UINT16_MAX,
(l->listener->rc_raw.channel_count > (i * port_width) + 5) ? l->listener->rc_raw.values[(i * port_width) + 5] : UINT16_MAX,
(l->listener->rc_raw.channel_count > (i * port_width) + 6) ? l->listener->rc_raw.values[(i * port_width) + 6] : UINT16_MAX,
(l->listener->rc_raw.channel_count > (i * port_width) + 7) ? l->listener->rc_raw.values[(i * port_width) + 7] : UINT16_MAX,
l->listener->rc_raw.rssi);
}
}
}
void
MavlinkOrbListener::l_global_position(const struct listener *l)
{
/* copy global position data into local buffer */
orb_copy(ORB_ID(vehicle_global_position), l->mavlink->get_subs()->global_pos_sub, &l->listener->global_pos);
mavlink_msg_global_position_int_send(l->mavlink->get_chan(),
l->listener->global_pos.timestamp / 1000,
l->listener->global_pos.lat * 1e7,
l->listener->global_pos.lon * 1e7,
l->listener->global_pos.alt * 1000.0f,
(l->listener->global_pos.alt - l->listener->home.alt) * 1000.0f,
l->listener->global_pos.vel_n * 100.0f,
l->listener->global_pos.vel_e * 100.0f,
l->listener->global_pos.vel_d * 100.0f,
_wrap_2pi(l->listener->global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f);
}
void
MavlinkOrbListener::l_local_position(const struct listener *l)
{
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_local_position), l->mavlink->get_subs()->local_pos_sub, &l->listener->local_pos);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
mavlink_msg_local_position_ned_send(l->mavlink->get_chan(),
l->listener->local_pos.timestamp / 1000,
l->listener->local_pos.x,
l->listener->local_pos.y,
l->listener->local_pos.z,
l->listener->local_pos.vx,
l->listener->local_pos.vy,
l->listener->local_pos.vz);
}
void
MavlinkOrbListener::l_global_position_setpoint(const struct listener *l)
{
struct position_setpoint_triplet_s triplet;
orb_copy(ORB_ID(position_setpoint_triplet), l->mavlink->get_subs()->triplet_sub, &triplet);
if (!triplet.current.valid)
return;
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
mavlink_msg_global_position_setpoint_int_send(l->mavlink->get_chan(),
MAV_FRAME_GLOBAL,
(int32_t)(triplet.current.lat * 1e7d),
(int32_t)(triplet.current.lon * 1e7d),
(int32_t)(triplet.current.alt * 1e3f),
(int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f));
}
void
MavlinkOrbListener::l_local_position_setpoint(const struct listener *l)
{
struct vehicle_local_position_setpoint_s local_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_local_position_setpoint), l->mavlink->get_subs()->spl_sub, &local_sp);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
mavlink_msg_local_position_setpoint_send(l->mavlink->get_chan(),
MAV_FRAME_LOCAL_NED,
local_sp.x,
local_sp.y,
local_sp.z,
local_sp.yaw);
}
void
MavlinkOrbListener::l_attitude_setpoint(const struct listener *l)
{
struct vehicle_attitude_setpoint_s att_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_attitude_setpoint), l->mavlink->get_subs()->spa_sub, &att_sp);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(l->mavlink->get_chan(),
att_sp.timestamp / 1000,
att_sp.roll_body,
att_sp.pitch_body,
att_sp.yaw_body,
att_sp.thrust);
}
void
MavlinkOrbListener::l_vehicle_rates_setpoint(const struct listener *l)
{
struct vehicle_rates_setpoint_s rates_sp;
/* copy local position data into local buffer */
orb_copy(ORB_ID(vehicle_rates_setpoint), l->mavlink->get_subs()->rates_setpoint_sub, &rates_sp);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(l->mavlink->get_chan(),
rates_sp.timestamp / 1000,
rates_sp.roll,
rates_sp.pitch,
rates_sp.yaw,
rates_sp.thrust);
}
void
MavlinkOrbListener::l_actuator_outputs(const struct listener *l)
{
struct actuator_outputs_s act_outputs;
orb_id_t ids[] = {
ORB_ID(actuator_outputs_0),
ORB_ID(actuator_outputs_1),
ORB_ID(actuator_outputs_2),
ORB_ID(actuator_outputs_3)
};
/* copy actuator data into local buffer */
orb_copy(ids[l->arg], *l->subp, &act_outputs);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) {
mavlink_msg_servo_output_raw_send(l->mavlink->get_chan(), l->listener->last_sensor_timestamp / 1000,
l->arg /* port number - needs GCS support */,
/* QGC has port number support already */
act_outputs.output[0],
act_outputs.output[1],
act_outputs.output[2],
act_outputs.output[3],
act_outputs.output[4],
act_outputs.output[5],
act_outputs.output[6],
act_outputs.output[7]);
/* only send in HIL mode and only send first group for HIL */
if (l->mavlink->get_hil_enabled() && l->listener->armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
l->mavlink->get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* HIL message as per MAVLink spec */
/* scale / assign outputs depending on system type */
if (mavlink_system.type == MAV_TYPE_QUADROTOR) {
mavlink_msg_hil_controls_send(l->mavlink->get_chan(),
hrt_absolute_time(),
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
-1,
-1,
-1,
-1,
mavlink_base_mode,
0);
} else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) {
mavlink_msg_hil_controls_send(l->mavlink->get_chan(),
hrt_absolute_time(),
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
-1,
-1,
mavlink_base_mode,
0);
} else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) {
mavlink_msg_hil_controls_send(l->mavlink->get_chan(),
hrt_absolute_time(),
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
mavlink_base_mode,
0);
} else {
mavlink_msg_hil_controls_send(l->mavlink->get_chan(),
hrt_absolute_time(),
(act_outputs.output[0] - 1500.0f) / 500.0f,
(act_outputs.output[1] - 1500.0f) / 500.0f,
(act_outputs.output[2] - 1500.0f) / 500.0f,
(act_outputs.output[3] - 1000.0f) / 1000.0f,
(act_outputs.output[4] - 1500.0f) / 500.0f,
(act_outputs.output[5] - 1500.0f) / 500.0f,
(act_outputs.output[6] - 1500.0f) / 500.0f,
(act_outputs.output[7] - 1500.0f) / 500.0f,
mavlink_base_mode,
0);
}
}
}
}
void
MavlinkOrbListener::l_actuator_armed(const struct listener *l)
{
orb_copy(ORB_ID(actuator_armed), l->mavlink->get_subs()->armed_sub, &l->listener->armed);
}
void
MavlinkOrbListener::l_manual_control_setpoint(const struct listener *l)
{
struct manual_control_setpoint_s man_control;
/* copy manual control data into local buffer */
orb_copy(ORB_ID(manual_control_setpoint), l->mavlink->get_subs()->man_control_sp_sub, &man_control);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
mavlink_msg_manual_control_send(l->mavlink->get_chan(),
mavlink_system.sysid,
man_control.roll * 1000,
man_control.pitch * 1000,
man_control.yaw * 1000,
man_control.throttle * 1000,
0);
}
void
MavlinkOrbListener::l_vehicle_attitude_controls(const struct listener *l)
{
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, l->mavlink->get_subs()->actuators_sub, &l->listener->actuators_0);
if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) {
/* send, add spaces so that string buffer is at least 10 chars long */
mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
l->listener->last_sensor_timestamp / 1000,
"ctrl0 ",
l->listener->actuators_0.control[0]);
mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
l->listener->last_sensor_timestamp / 1000,
"ctrl1 ",
l->listener->actuators_0.control[1]);
mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
l->listener->last_sensor_timestamp / 1000,
"ctrl2 ",
l->listener->actuators_0.control[2]);
mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
l->listener->last_sensor_timestamp / 1000,
"ctrl3 ",
l->listener->actuators_0.control[3]);
}
}
void
MavlinkOrbListener::l_debug_key_value(const struct listener *l)
{
struct debug_key_value_s debug;
orb_copy(ORB_ID(debug_key_value), l->mavlink->get_subs()->debug_key_value, &debug);
/* Enforce null termination */
debug.key[sizeof(debug.key) - 1] = '\0';
mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
l->listener->last_sensor_timestamp / 1000,
debug.key,
debug.value);
}
void
MavlinkOrbListener::l_optical_flow(const struct listener *l)
{
struct optical_flow_s flow;
orb_copy(ORB_ID(optical_flow), l->mavlink->get_subs()->optical_flow, &flow);
mavlink_msg_optical_flow_send(l->mavlink->get_chan(), flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y,
flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
}
void
MavlinkOrbListener::l_home(const struct listener *l)
{
orb_copy(ORB_ID(home_position), l->mavlink->get_subs()->home_sub, &l->listener->home);
mavlink_msg_gps_global_origin_send(l->mavlink->get_chan(), (int32_t)(l->listener->home.lat*1e7d), (int32_t)(l->listener->home.lon*1e7d), (int32_t)(l->listener->home.alt)*1e3f);
}
void
MavlinkOrbListener::l_airspeed(const struct listener *l)
{
orb_copy(ORB_ID(airspeed), l->mavlink->get_subs()->airspeed_sub, &l->listener->airspeed);
}
void
MavlinkOrbListener::l_nav_cap(const struct listener *l)
{
orb_copy(ORB_ID(navigation_capabilities), l->mavlink->get_subs()->navigation_capabilities_sub, &l->listener->nav_cap);
mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
hrt_absolute_time() / 1000,
"turn dist",
l->listener->nav_cap.turn_distance);
}
void
MavlinkOrbListener::l_control_mode(const struct listener *l)
{
orb_copy(ORB_ID(vehicle_control_mode), l->mavlink->get_subs()->control_mode_sub, &l->listener->control_mode);
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
l->mavlink->get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(l->mavlink->get_chan(),
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_base_mode,
mavlink_custom_mode,
mavlink_state);
}
void *
MavlinkOrbListener::uorb_receive_thread(void *arg)
{
/* Set thread name */
char buf[32];
sprintf(buf, "mavlink rcv%d", Mavlink::instance_count());
prctl(PR_SET_NAME, buf, getpid());
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms (1 second)
*/
const int timeout = 1000;
/*
* Initialise listener array.
*
* Might want to invoke each listener once to set initial state.
*/
struct pollfd fds[_max_listeners];
struct listener* next = _listeners;
unsigned i = 0;
while (next != nullptr) {
fds[i].fd = *next->subp;
fds[i].events = POLLIN;
next = next->next;
i++;
}
/* Invoke callback to set initial state */
//listeners[i].callback(&listener[i]);
while (!thread_should_exit) {
int poll_ret = poll(fds, _n_listeners, timeout);
/* handle the poll result */
if (poll_ret == 0) {
/* silent */
} else if (poll_ret < 0) {
//mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
} else {
i = 0;
struct listener* cb = _listeners;
while (cb != nullptr) {
if (fds[i].revents & POLLIN)
cb->callback(cb);
cb = cb->next;
i++;
}
}
}
return NULL;
}
void * MavlinkOrbListener::uorb_start_helper(void *context)
{
MavlinkOrbListener* urcv = new MavlinkOrbListener(((Mavlink *)context));
return urcv->uorb_receive_thread(NULL);
}
pthread_t
MavlinkOrbListener::uorb_receive_start(Mavlink* mavlink)
{
/* --- SENSORS RAW VALUE --- */
mavlink->get_subs()->sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
/* rate limit set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink->get_subs()->sensor_sub, 200); /* 5Hz updates */
/* --- ATTITUDE VALUE --- */
mavlink->get_subs()->att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
/* rate limit set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink->get_subs()->att_sub, 200); /* 5Hz updates */
/* --- GPS VALUE --- */
mavlink->get_subs()->gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(mavlink->get_subs()->gps_sub, 200); /* 5Hz updates */
/* --- HOME POSITION --- */
mavlink->get_subs()->home_sub = orb_subscribe(ORB_ID(home_position));
orb_set_interval(mavlink->get_subs()->home_sub, 1000); /* 1Hz updates */
/* --- SYSTEM STATE --- */
mavlink->get_subs()->status_sub = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(mavlink->get_subs()->status_sub, 300); /* max 3.33 Hz updates */
/* --- CONTROL MODE --- */
mavlink->get_subs()->control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
orb_set_interval(mavlink->get_subs()->control_mode_sub, 300); /* max 3.33 Hz updates */
/* --- RC CHANNELS VALUE --- */
mavlink->get_subs()->rc_sub = orb_subscribe(ORB_ID(rc_channels));
orb_set_interval(mavlink->get_subs()->rc_sub, 100); /* 10Hz updates */
/* --- RC RAW VALUE --- */
mavlink->get_subs()->input_rc_sub = orb_subscribe(ORB_ID(input_rc));
orb_set_interval(mavlink->get_subs()->input_rc_sub, 100);
/* --- GLOBAL POS VALUE --- */
mavlink->get_subs()->global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
orb_set_interval(mavlink->get_subs()->global_pos_sub, 100); /* 10 Hz active updates */
/* --- LOCAL POS VALUE --- */
mavlink->get_subs()->local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
orb_set_interval(mavlink->get_subs()->local_pos_sub, 1000); /* 1Hz active updates */
/* --- GLOBAL SETPOINT VALUE --- */
mavlink->get_subs()->triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
orb_set_interval(mavlink->get_subs()->triplet_sub, 2000); /* 0.5 Hz updates */
/* --- LOCAL SETPOINT VALUE --- */
mavlink->get_subs()->spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
orb_set_interval(mavlink->get_subs()->spl_sub, 2000); /* 0.5 Hz updates */
/* --- ATTITUDE SETPOINT VALUE --- */
mavlink->get_subs()->spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
orb_set_interval(mavlink->get_subs()->spa_sub, 2000); /* 0.5 Hz updates */
/* --- RATES SETPOINT VALUE --- */
mavlink->get_subs()->rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
orb_set_interval(mavlink->get_subs()->rates_setpoint_sub, 2000); /* 0.5 Hz updates */
/* --- ACTUATOR OUTPUTS --- */
mavlink->get_subs()->act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
mavlink->get_subs()->act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1));
mavlink->get_subs()->act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2));
mavlink->get_subs()->act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3));
/* rate limits set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink->get_subs()->act_0_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink->get_subs()->act_1_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink->get_subs()->act_2_sub, 100); /* 10Hz updates */
orb_set_interval(mavlink->get_subs()->act_3_sub, 100); /* 10Hz updates */
/* --- ACTUATOR ARMED VALUE --- */
mavlink->get_subs()->armed_sub = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(mavlink->get_subs()->armed_sub, 100); /* 10Hz updates */
/* --- MAPPED MANUAL CONTROL INPUTS --- */
mavlink->get_subs()->man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limits set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink->get_subs()->man_control_sp_sub, 100); /* 10Hz updates */
/* --- ACTUATOR CONTROL VALUE --- */
mavlink->get_subs()->actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(mavlink->get_subs()->actuators_sub, 100); /* 10Hz updates */
/* --- DEBUG VALUE OUTPUT --- */
mavlink->get_subs()->debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
orb_set_interval(mavlink->get_subs()->debug_key_value, 100); /* 10Hz updates */
/* --- FLOW SENSOR --- */
mavlink->get_subs()->optical_flow = orb_subscribe(ORB_ID(optical_flow));
orb_set_interval(mavlink->get_subs()->optical_flow, 200); /* 5Hz updates */
/* --- AIRSPEED --- */
mavlink->get_subs()->airspeed_sub = orb_subscribe(ORB_ID(airspeed));
orb_set_interval(mavlink->get_subs()->airspeed_sub, 200); /* 5Hz updates */
/* --- NAVIGATION CAPABILITIES --- */
mavlink->get_subs()->navigation_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
orb_set_interval(mavlink->get_subs()->navigation_capabilities_sub, 500); /* 2Hz updates */
/* start the listener loop */
pthread_attr_t uorb_attr;
pthread_attr_init(&uorb_attr);
/* Set stack size, needs less than 2k */
pthread_attr_setstacksize(&uorb_attr, 2048);
pthread_t thread;
pthread_create(&thread, &uorb_attr, MavlinkOrbListener::uorb_start_helper, mavlink);
pthread_attr_destroy(&uorb_attr);
return thread;
}