path: root/src/modules/mavlink/mavlink_receiver.h

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/**
 * @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/vehicle_land_detected.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_mode.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/vision_position_estimate.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 <uORB/topics/vehicle_force_setpoint.h>
#include <uORB/topics/time_offset.h>

#include "mavlink_ftp.h"

#define PX4_EPOCH_SECS 1234567890ULL

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_command_int(mavlink_message_t *msg);
	void handle_message_optical_flow_rad(mavlink_message_t *msg);
	void handle_message_hil_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_vision_position_estimate(mavlink_message_t *msg);
	void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
	void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
	void handle_message_set_actuator_control_target(mavlink_message_t *msg);
	void handle_message_set_attitude_target(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_ping(mavlink_message_t *msg);
	void handle_message_request_data_stream(mavlink_message_t *msg);
	void handle_message_system_time(mavlink_message_t *msg);
	void handle_message_timesync(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);

	/**
	* Convert remote timestamp to local hrt time (usec)
	* Use timesync if available, monotonic boot time otherwise
	*/
	uint64_t sync_stamp(uint64_t usec);
	/**
	* Exponential moving average filter to smooth time offset
	*/
	void smooth_time_offset(uint64_t offset_ns);

	mavlink_status_t status;
	struct vehicle_local_position_s hil_local_pos;
	struct vehicle_land_detected_s hil_land_detector;
	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 _range_pub;
	orb_advert_t _offboard_control_mode_pub;
	orb_advert_t _actuator_controls_pub;
	orb_advert_t _global_vel_sp_pub;
	orb_advert_t _att_sp_pub;
	orb_advert_t _rates_sp_pub;
	orb_advert_t _force_sp_pub;
	orb_advert_t _pos_sp_triplet_pub;
	orb_advert_t _vicon_position_pub;
	orb_advert_t _vision_position_pub;
	orb_advert_t _telemetry_status_pub;
	orb_advert_t _rc_pub;
	orb_advert_t _manual_pub;
	orb_advert_t _land_detector_pub;
	orb_advert_t _time_offset_pub;
	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;
	struct offboard_control_mode_s _offboard_control_mode;
	struct vehicle_attitude_setpoint_s _att_sp;
	struct vehicle_rates_setpoint_s _rates_sp;
	double _time_offset_avg_alpha;
	uint64_t _time_offset;

	/* do not allow copying this class */
	MavlinkReceiver(const MavlinkReceiver &);
	MavlinkReceiver operator=(const MavlinkReceiver &);
};