/****************************************************************************
*
* Copyright (c) 2012-2015 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
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****************************************************************************/
/**
* @file mavlink_receiver.cpp
* MAVLink protocol message receive and dispatch
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
/* 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 <drivers/drv_range_finder.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 <conversion/rotation.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 "mavlink_receiver.h"
#include "mavlink_main.h"
__END_DECLS
static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
status{},
hil_local_pos{},
hil_land_detector{},
_control_mode{},
_global_pos_pub(-1),
_local_pos_pub(-1),
_attitude_pub(-1),
_gps_pub(-1),
_sensors_pub(-1),
_gyro_pub(-1),
_accel_pub(-1),
_mag_pub(-1),
_baro_pub(-1),
_airspeed_pub(-1),
_battery_pub(-1),
_cmd_pub(-1),
_flow_pub(-1),
_range_pub(-1),
_offboard_control_mode_pub(-1),
_actuator_controls_pub(-1),
_global_vel_sp_pub(-1),
_att_sp_pub(-1),
_rates_sp_pub(-1),
_force_sp_pub(-1),
_pos_sp_triplet_pub(-1),
_vicon_position_pub(-1),
_vision_position_pub(-1),
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
_land_detector_pub(-1),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
_hil_local_proj_inited(0),
_hil_local_alt0(0.0f),
_hil_local_proj_ref{},
_time_offset_avg_alpha(0.6),
_time_offset(0)
{
// make sure the FTP server is started
(void)MavlinkFTP::get_server();
}
MavlinkReceiver::~MavlinkReceiver()
{
}
void
MavlinkReceiver::handle_message(mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_COMMAND_LONG:
handle_message_command_long(msg);
break;
case MAVLINK_MSG_ID_COMMAND_INT:
handle_message_command_int(msg);
break;
case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
handle_message_optical_flow_rad(msg);
break;
case MAVLINK_MSG_ID_SET_MODE:
handle_message_set_mode(msg);
break;
case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
handle_message_vicon_position_estimate(msg);
break;
case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
handle_message_set_position_target_local_ned(msg);
break;
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_message_set_attitude_target(msg);
break;
case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
handle_message_set_actuator_control_target(msg);
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
handle_message_vision_position_estimate(msg);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
handle_message_radio_status(msg);
break;
case MAVLINK_MSG_ID_MANUAL_CONTROL:
handle_message_manual_control(msg);
break;
case MAVLINK_MSG_ID_HEARTBEAT:
handle_message_heartbeat(msg);
break;
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
handle_message_request_data_stream(msg);
break;
case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
MavlinkFTP::get_server()->handle_message(_mavlink, msg);
break;
case MAVLINK_MSG_ID_SYSTEM_TIME:
handle_message_system_time(msg);
break;
case MAVLINK_MSG_ID_TIMESYNC:
handle_message_timesync(msg);
break;
default:
break;
}
/*
* 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
*
* Accept HIL GPS messages if use_hil_gps flag is true.
* This allows to provide fake gps measurements to the system.
*/
if (_mavlink->get_hil_enabled()) {
switch (msg->msgid) {
case MAVLINK_MSG_ID_HIL_SENSOR:
handle_message_hil_sensor(msg);
break;
case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
handle_message_hil_state_quaternion(msg);
break;
case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
handle_message_hil_optical_flow(msg);
break;
default:
break;
}
}
if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
switch (msg->msgid) {
case MAVLINK_MSG_ID_HIL_GPS:
handle_message_hil_gps(msg);
break;
default:
break;
}
}
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
}
void
MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
{
/* command */
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 */
warnx("terminated by remote");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
_mavlink->_task_should_exit = true;
} else {
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
warnx("ignoring CMD with same SYS/COMP (%d/%d) ID",
mavlink_system.sysid, mavlink_system.compid);
return;
}
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
/* 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;
if (_cmd_pub < 0) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
}
}
}
}
void
MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
{
/* command */
mavlink_command_int_t cmd_mavlink;
mavlink_msg_command_int_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 */
warnx("terminated by remote");
fflush(stdout);
usleep(50000);
/* terminate other threads and this thread */
_mavlink->_task_should_exit = true;
} else {
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
warnx("ignoring CMD with same SYS/COMP (%d/%d) ID",
mavlink_system.sysid, mavlink_system.compid);
return;
}
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
/* Copy the content of mavlink_command_int_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;
/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
vcmd.param7 = cmd_mavlink.z;
// 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;
if (_cmd_pub < 0) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
}
}
}
}
void
MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
{
/* optical flow */
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
enum Rotation flow_rot;
param_get(param_find("SENS_FLOW_ROT"),&flow_rot);
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
f.timestamp = flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
/* rotate measurements according to parameter */
float zeroval = 0.0f;
rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
orb_publish(ORB_ID(optical_flow), _flow_pub, &f);
}
}
void
MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
{
/* optical flow */
mavlink_hil_optical_flow_t flow;
mavlink_msg_hil_optical_flow_decode(msg, &flow);
struct optical_flow_s f;
memset(&f, 0, sizeof(f));
f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec;
f.integration_timespan = flow.integration_time_us;
f.pixel_flow_x_integral = flow.integrated_x;
f.pixel_flow_y_integral = flow.integrated_y;
f.gyro_x_rate_integral = flow.integrated_xgyro;
f.gyro_y_rate_integral = flow.integrated_ygyro;
f.gyro_z_rate_integral = flow.integrated_zgyro;
f.time_since_last_sonar_update = flow.time_delta_distance_us;
f.ground_distance_m = flow.distance;
f.quality = flow.quality;
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
if (_flow_pub < 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
orb_publish(ORB_ID(optical_flow), _flow_pub, &f);
}
/* Use distance value for range finder report */
struct range_finder_report r;
memset(&r, 0, sizeof(r));
r.timestamp = hrt_absolute_time();
r.error_count = 0;
r.type = RANGE_FINDER_TYPE_LASER;
r.distance = flow.distance;
r.minimum_distance = 0.0f;
r.maximum_distance = 40.0f; // this is set to match the typical range of real sensors, could be made configurable
r.valid = (r.distance > r.minimum_distance) && (r.distance < r.maximum_distance);
if (_range_pub < 0) {
_range_pub = orb_advertise(ORB_ID(sensor_range_finder), &r);
} else {
orb_publish(ORB_ID(sensor_range_finder), _range_pub, &r);
}
}
void
MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
{
mavlink_set_mode_t new_mode;
mavlink_msg_set_mode_decode(msg, &new_mode);
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));
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;
if (_cmd_pub < 0) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
}
}
void
MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
{
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(msg, &pos);
struct vehicle_vicon_position_s vicon_position;
memset(&vicon_position, 0, sizeof(vicon_position));
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);
}
}
void
MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg)
{
mavlink_set_position_target_local_ned_t set_position_target_local_ned;
mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned);
struct offboard_control_mode_s offboard_control_mode;
memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
/* Only accept messages which are intended for this system */
if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
set_position_target_local_ned.target_system == 0) &&
(mavlink_system.compid == set_position_target_local_ned.target_component ||
set_position_target_local_ned.target_component == 0)) {
/* convert mavlink type (local, NED) to uORB offboard control struct */
offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));
/* yaw ignore flag mapps to ignore_attitude */
offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
/* yawrate ignore flag mapps to ignore_bodyrate */
offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
} else {
orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
}
/* If we are in offboard control mode and offboard control loop through is enabled
* also publish the setpoint topic which is read by the controller */
if (_mavlink->get_forward_externalsp()) {
bool updated;
orb_check(_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
if (_control_mode.flag_control_offboard_enabled) {
if (is_force_sp && offboard_control_mode.ignore_position &&
offboard_control_mode.ignore_velocity) {
/* The offboard setpoint is a force setpoint only, directly writing to the force
* setpoint topic and not publishing the setpoint triplet topic */
struct vehicle_force_setpoint_s force_sp;
force_sp.x = set_position_target_local_ned.afx;
force_sp.y = set_position_target_local_ned.afy;
force_sp.z = set_position_target_local_ned.afz;
//XXX: yaw
if (_force_sp_pub < 0) {
_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
} else {
orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
}
} else {
/* It's not a pure force setpoint: publish to setpoint triplet topic */
struct position_setpoint_triplet_s pos_sp_triplet;
pos_sp_triplet.previous.valid = false;
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others
/* set the local pos values */
if (!offboard_control_mode.ignore_position) {
pos_sp_triplet.current.position_valid = true;
pos_sp_triplet.current.x = set_position_target_local_ned.x;
pos_sp_triplet.current.y = set_position_target_local_ned.y;
pos_sp_triplet.current.z = set_position_target_local_ned.z;
} else {
pos_sp_triplet.current.position_valid = false;
}
/* set the local vel values */
if (!offboard_control_mode.ignore_velocity) {
pos_sp_triplet.current.velocity_valid = true;
pos_sp_triplet.current.vx = set_position_target_local_ned.vx;
pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
pos_sp_triplet.current.vz = set_position_target_local_ned.vz;
} else {
pos_sp_triplet.current.velocity_valid = false;
}
/* set the local acceleration values if the setpoint type is 'local pos' and none
* of the accelerations fields is set to 'ignore' */
if (!offboard_control_mode.ignore_acceleration_force) {
pos_sp_triplet.current.acceleration_valid = true;
pos_sp_triplet.current.a_x = set_position_target_local_ned.afx;
pos_sp_triplet.current.a_y = set_position_target_local_ned.afy;
pos_sp_triplet.current.a_z = set_position_target_local_ned.afz;
pos_sp_triplet.current.acceleration_is_force =
is_force_sp;
} else {
pos_sp_triplet.current.acceleration_valid = false;
}
/* set the yaw sp value */
if (!offboard_control_mode.ignore_attitude) {
pos_sp_triplet.current.yaw_valid = true;
pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;
} else {
pos_sp_triplet.current.yaw_valid = false;
}
/* set the yawrate sp value */
if (!offboard_control_mode.ignore_bodyrate) {
pos_sp_triplet.current.yawspeed_valid = true;
pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;
} else {
pos_sp_triplet.current.yawspeed_valid = false;
}
//XXX handle global pos setpoints (different MAV frames)
if (_pos_sp_triplet_pub < 0) {
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
&pos_sp_triplet);
} else {
orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub,
&pos_sp_triplet);
}
}
}
}
}
}
void
MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg)
{
mavlink_set_actuator_control_target_t set_actuator_control_target;
mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target);
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints
if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
set_actuator_control_target.target_system == 0) &&
(mavlink_system.compid == set_actuator_control_target.target_component ||
set_actuator_control_target.target_component == 0)){
actuator_controls.timestamp = hrt_absolute_time();
for(size_t i = 0; i < 8 ; i++){
actuator_controls.control[i] = set_actuator_control_target.controls[i];
}
_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
}
}
void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(msg, &pos);
struct vision_position_estimate vision_position;
memset(&vision_position, 0, sizeof(vision_position));
// Use the component ID to identify the vision sensor
vision_position.id = msg->compid;
vision_position.timestamp_boot = to_hrt(pos.usec); // Synced time
vision_position.timestamp_computer = pos.usec;
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;
// XXX fix this
vision_position.vx = 0.0f;
vision_position.vy = 0.0f;
vision_position.vz = 0.0f;
math::Quaternion q;
q.from_euler(pos.roll, pos.pitch, pos.yaw);
vision_position.q[0] = q(0);
vision_position.q[1] = q(1);
vision_position.q[2] = q(2);
vision_position.q[3] = q(3);
if (_vision_position_pub < 0) {
_vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position);
} else {
orb_publish(ORB_ID(vision_position_estimate), _vision_position_pub, &vision_position);
}
}
void
MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
{
mavlink_set_attitude_target_t set_attitude_target;
mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target);
static struct offboard_control_mode_s offboard_control_mode = {};
/* Only accept messages which are intended for this system */
if ((mavlink_system.sysid == set_attitude_target.target_system ||
set_attitude_target.target_system == 0) &&
(mavlink_system.compid == set_attitude_target.target_component ||
set_attitude_target.target_component == 0)) {
/* set correct ignore flags for thrust field: copy from mavlink message */
offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));
/*
* The tricky part in pasrsing this message is that the offboard sender can set attitude and thrust
* using different messages. Eg.: First send set_attitude_target containing the attitude and ignore
* bits set for everything else and then send set_attitude_target containing the thrust and ignore bits
* set for everything else.
*/
/*
* if attitude or body rate have been used (not ignored) previously and this message only sends
* throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
* body rates to keep the controllers running
*/
bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7);
bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7));
if (ignore_bodyrate && ignore_attitude && !offboard_control_mode.ignore_thrust) {
/* Message want's us to ignore everything except thrust: only ignore if previously ignored */
offboard_control_mode.ignore_bodyrate = ignore_bodyrate && offboard_control_mode.ignore_bodyrate;
offboard_control_mode.ignore_attitude = ignore_attitude && offboard_control_mode.ignore_attitude;
} else {
offboard_control_mode.ignore_bodyrate = ignore_bodyrate;
offboard_control_mode.ignore_attitude = ignore_attitude;
}
offboard_control_mode.ignore_position = true;
offboard_control_mode.ignore_velocity = true;
offboard_control_mode.ignore_acceleration_force = true;
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
} else {
orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
}
/* If we are in offboard control mode and offboard control loop through is enabled
* also publish the setpoint topic which is read by the controller */
if (_mavlink->get_forward_externalsp()) {
bool updated;
orb_check(_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
}
if (_control_mode.flag_control_offboard_enabled) {
/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
if (!(offboard_control_mode.ignore_attitude)) {
static struct vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = hrt_absolute_time();
mavlink_quaternion_to_euler(set_attitude_target.q,
&att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body);
mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
att_sp.R_valid = true;
if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
att_sp.thrust = set_attitude_target.thrust;
}
att_sp.yaw_sp_move_rate = 0.0;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
att_sp.q_d_valid = true;
if (_att_sp_pub < 0) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
} else {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp);
}
}
/* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
///XXX add support for ignoring individual axes
if (!(offboard_control_mode.ignore_bodyrate)) {
static struct vehicle_rates_setpoint_s rates_sp = {};
rates_sp.timestamp = hrt_absolute_time();
rates_sp.roll = set_attitude_target.body_roll_rate;
rates_sp.pitch = set_attitude_target.body_pitch_rate;
rates_sp.yaw = set_attitude_target.body_yaw_rate;
if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
rates_sp.thrust = set_attitude_target.thrust;
}
if (_att_sp_pub < 0) {
_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
} else {
orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &rates_sp);
}
}
}
}
}
}
void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(msg, &rstatus);
struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
tstatus.timestamp = hrt_absolute_time();
tstatus.telem_time = tstatus.timestamp;
/* tstatus.heartbeat_time is set by system heartbeats */
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;
tstatus.system_id = msg->sysid;
tstatus.component_id = msg->compid;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
}
}
void
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
{
mavlink_manual_control_t man;
mavlink_msg_manual_control_decode(msg, &man);
struct manual_control_setpoint_s manual;
memset(&manual, 0, sizeof(manual));
manual.timestamp = hrt_absolute_time();
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
// warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
if (_manual_pub < 0) {
_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
} else {
orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
}
}
void
MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
{
/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
/* ignore own heartbeats, accept only heartbeats from GCS */
if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
/* set heartbeat time and topic time and publish -
* the telem status also gets updated on telemetry events
*/
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = tstatus.timestamp;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
}
}
}
void
MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
{
mavlink_request_data_stream_t req;
mavlink_msg_request_data_stream_decode(msg, &req);
if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid && req.req_message_rate != 0) {
float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
MavlinkStream *stream;
LL_FOREACH(_mavlink->get_streams(), stream) {
if (req.req_stream_id == stream->get_id()) {
_mavlink->configure_stream_threadsafe(stream->get_name(), rate);
}
}
}
}
void
MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg)
{
mavlink_system_time_t time;
mavlink_msg_system_time_decode(msg, &time);
timespec tv;
clock_gettime(CLOCK_REALTIME, &tv);
// date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009
bool onb_unix_valid = tv.tv_sec > PX4_EPOCH_SECS;
bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL;
if (!onb_unix_valid && ofb_unix_valid) {
tv.tv_sec = time.time_unix_usec / 1000000ULL;
tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;
if(clock_settime(CLOCK_REALTIME, &tv)) {
warn("failed setting clock");
}
else {
warnx("[timesync] UTC time synced.");
}
}
}
void
MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
{
mavlink_timesync_t tsync;
mavlink_msg_timesync_decode(msg, &tsync);
uint64_t now_ns = hrt_absolute_time() * 1000LL ;
if (tsync.tc1 == 0) {
mavlink_timesync_t rsync; // return timestamped sync message
rsync.tc1 = now_ns;
rsync.ts1 = tsync.ts1;
_mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &rsync);
return;
} else if (tsync.tc1 > 0) {
int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ;
int64_t dt = _time_offset - offset_ns;
if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew
_time_offset = offset_ns;
warnx("[timesync] Hard setting offset.");
} else {
smooth_time_offset(offset_ns);
}
}
}
void
MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{
mavlink_hil_sensor_t imu;
mavlink_msg_hil_sensor_decode(msg, &imu);
uint64_t timestamp = hrt_absolute_time();
/* airspeed */
{
struct airspeed_s airspeed;
memset(&airspeed, 0, sizeof(airspeed));
float ias = calc_indicated_airspeed(imu.diff_pressure * 1e2f);
// XXX need to fix this
float tas = ias;
airspeed.timestamp = timestamp;
airspeed.indicated_airspeed_m_s = ias;
airspeed.true_airspeed_m_s = tas;
if (_airspeed_pub < 0) {
_airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed);
}
}
/* gyro */
{
struct gyro_report gyro;
memset(&gyro, 0, sizeof(gyro));
gyro.timestamp = timestamp;
gyro.x_raw = imu.xgyro * 1000.0f;
gyro.y_raw = imu.ygyro * 1000.0f;
gyro.z_raw = imu.zgyro * 1000.0f;
gyro.x = imu.xgyro;
gyro.y = imu.ygyro;
gyro.z = imu.zgyro;
gyro.temperature = imu.temperature;
if (_gyro_pub < 0) {
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
} else {
orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
}
}
/* accelerometer */
{
struct accel_report accel;
memset(&accel, 0, sizeof(accel));
accel.timestamp = timestamp;
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;
if (_accel_pub < 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
}
}
/* magnetometer */
{
struct mag_report mag;
memset(&mag, 0, sizeof(mag));
mag.timestamp = timestamp;
mag.x_raw = imu.xmag * 1000.0f;
mag.y_raw = imu.ymag * 1000.0f;
mag.z_raw = imu.zmag * 1000.0f;
mag.x = imu.xmag;
mag.y = imu.ymag;
mag.z = imu.zmag;
if (_mag_pub < 0) {
/* publish to the first mag topic */
_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
} else {
orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
}
}
/* baro */
{
struct baro_report baro;
memset(&baro, 0, sizeof(baro));
baro.timestamp = timestamp;
baro.pressure = imu.abs_pressure;
baro.altitude = imu.pressure_alt;
baro.temperature = imu.temperature;
if (_baro_pub < 0) {
_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
} else {
orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
}
}
/* sensor combined */
{
struct sensor_combined_s hil_sensors;
memset(&hil_sensors, 0, sizeof(hil_sensors));
hil_sensors.timestamp = timestamp;
hil_sensors.gyro_raw[0] = imu.xgyro * 1000.0f;
hil_sensors.gyro_raw[1] = imu.ygyro * 1000.0f;
hil_sensors.gyro_raw[2] = imu.zgyro * 1000.0f;
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.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_timestamp = timestamp;
hil_sensors.adc_voltage_v[0] = 0.0f;
hil_sensors.adc_voltage_v[1] = 0.0f;
hil_sensors.adc_voltage_v[2] = 0.0f;
hil_sensors.magnetometer_raw[0] = imu.xmag * 1000.0f;
hil_sensors.magnetometer_raw[1] = imu.ymag * 1000.0f;
hil_sensors.magnetometer_raw[2] = imu.zmag * 1000.0f;
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_timestamp = timestamp;
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_timestamp = timestamp;
hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
hil_sensors.differential_pressure_timestamp = timestamp;
/* publish combined sensor topic */
if (_sensors_pub < 0) {
_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
} else {
orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors);
}
}
/* battery status */
{
struct battery_status_s hil_battery_status;
memset(&hil_battery_status, 0, sizeof(hil_battery_status));
hil_battery_status.timestamp = timestamp;
hil_battery_status.voltage_v = 11.1f;
hil_battery_status.voltage_filtered_v = 11.1f;
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
if (_battery_pub < 0) {
_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
} else {
orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
}
}
/* increment counters */
_hil_frames++;
/* print HIL sensors rate */
if ((timestamp - _old_timestamp) > 10000000) {
// printf("receiving HIL sensors at %d hz\n", _hil_frames / 10);
_old_timestamp = timestamp;
_hil_frames = 0;
}
}
void
MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
{
mavlink_hil_gps_t gps;
mavlink_msg_hil_gps_decode(msg, &gps);
uint64_t timestamp = hrt_absolute_time();
struct vehicle_gps_position_s hil_gps;
memset(&hil_gps, 0, sizeof(hil_gps));
hil_gps.timestamp_time = timestamp;
hil_gps.time_utc_usec = gps.time_usec;
hil_gps.timestamp_position = timestamp;
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.timestamp_variance = timestamp;
hil_gps.s_variance_m_s = 5.0f;
hil_gps.timestamp_velocity = timestamp;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
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;
hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used?
if (_gps_pub < 0) {
_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
} else {
orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps);
}
}
void
MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
{
mavlink_hil_state_quaternion_t hil_state;
mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
uint64_t timestamp = hrt_absolute_time();
/* airspeed */
{
struct airspeed_s airspeed;
memset(&airspeed, 0, sizeof(airspeed));
airspeed.timestamp = timestamp;
airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
if (_airspeed_pub < 0) {
_airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed);
}
}
/* attitude */
struct vehicle_attitude_s hil_attitude;
{
memset(&hil_attitude, 0, sizeof(hil_attitude));
math::Quaternion q(hil_state.attitude_quaternion);
math::Matrix<3, 3> C_nb = q.to_dcm();
math::Vector<3> euler = C_nb.to_euler();
hil_attitude.timestamp = timestamp;
memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R));
hil_attitude.R_valid = true;
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(0);
hil_attitude.pitch = euler(1);
hil_attitude.yaw = euler(2);
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
if (_attitude_pub < 0) {
_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
} else {
orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude);
}
}
/* global position */
{
struct vehicle_global_position_s hil_global_pos;
memset(&hil_global_pos, 0, sizeof(hil_global_pos));
hil_global_pos.timestamp = timestamp;
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.vel_n = hil_state.vx / 100.0f;
hil_global_pos.vel_e = hil_state.vy / 100.0f;
hil_global_pos.vel_d = hil_state.vz / 100.0f;
hil_global_pos.yaw = hil_attitude.yaw;
hil_global_pos.eph = 2.0f;
hil_global_pos.epv = 4.0f;
if (_global_pos_pub < 0) {
_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
} else {
orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos);
}
}
/* local position */
{
double lat = hil_state.lat * 1e-7;
double lon = hil_state.lon * 1e-7;
if (!_hil_local_proj_inited) {
_hil_local_proj_inited = true;
_hil_local_alt0 = hil_state.alt / 1000.0f;
map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon);
hil_local_pos.ref_timestamp = timestamp;
hil_local_pos.ref_lat = lat;
hil_local_pos.ref_lon = lon;
hil_local_pos.ref_alt = _hil_local_alt0;
}
float x;
float y;
map_projection_project(&_hil_local_proj_ref, 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 = _hil_local_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;
if (_local_pos_pub < 0) {
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
} else {
orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos);
}
}
/* land detector */
{
bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve?
if(hil_land_detector.landed != landed) {
hil_land_detector.landed = landed;
hil_land_detector.timestamp = hrt_absolute_time();
if (_land_detector_pub < 0) {
_land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector);
} else {
orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &hil_land_detector);
}
}
}
/* accelerometer */
{
struct accel_report accel;
memset(&accel, 0, sizeof(accel));
accel.timestamp = timestamp;
accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f;
accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f;
accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f;
accel.x = hil_state.xacc;
accel.y = hil_state.yacc;
accel.z = hil_state.zacc;
accel.temperature = 25.0f;
if (_accel_pub < 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
}
}
/* battery status */
{
struct battery_status_s hil_battery_status;
memset(&hil_battery_status, 0, sizeof(hil_battery_status));
hil_battery_status.timestamp = timestamp;
hil_battery_status.voltage_v = 11.1f;
hil_battery_status.voltage_filtered_v = 11.1f;
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
if (_battery_pub < 0) {
_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
} else {
orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
}
}
}
/**
* Receive data from UART.
*/
void *
MavlinkReceiver::receive_thread(void *arg)
{
int uart_fd = _mavlink->get_uart_fd();
const int timeout = 500;
uint8_t buf[32];
mavlink_message_t msg;
/* set thread name */
char thread_name[24];
sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
prctl(PR_SET_NAME, thread_name, getpid());
struct pollfd fds[1];
fds[0].fd = uart_fd;
fds[0].events = POLLIN;
ssize_t nread = 0;
while (!_mavlink->_task_should_exit) {
if (poll(fds, 1, timeout) > 0) {
/* non-blocking read. read may return negative values */
if ((nread = read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) {
/* to avoid reading very small chunks wait for data before reading */
usleep(1000);
}
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &status)) {
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with parent object */
_mavlink->handle_message(&msg);
}
}
/* count received bytes */
_mavlink->count_rxbytes(nread);
}
}
return NULL;
}
void MavlinkReceiver::print_status()
{
}
uint64_t MavlinkReceiver::to_hrt(uint64_t usec)
{
return usec - (_time_offset / 1000) ;
}
void MavlinkReceiver::smooth_time_offset(uint64_t offset_ns)
{
/* alpha = 0.6 fixed for now. The closer alpha is to 1.0,
* the faster the moving average updates in response to
* new offset samples.
*/
_time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset;
}
void *MavlinkReceiver::start_helper(void *context)
{
MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context);
rcv->receive_thread(NULL);
delete rcv;
return nullptr;
}
pthread_t
MavlinkReceiver::receive_start(Mavlink *parent)
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
// set to non-blocking read
int flags = fcntl(parent->get_uart_fd(), F_GETFL, 0);
fcntl(parent->get_uart_fd(), F_SETFL, flags | O_NONBLOCK);
struct sched_param param;
(void)pthread_attr_getschedparam(&receiveloop_attr, ¶m);
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&receiveloop_attr, ¶m);
pthread_attr_setstacksize(&receiveloop_attr, 2900);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
pthread_attr_destroy(&receiveloop_attr);
return thread;
}