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author | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-29 15:08:48 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-29 15:08:48 +0100 |
commit | 4f5791d4b1b3bf691d8ebfa30551e7626a25b967 (patch) | |
tree | 5a4fae2b50d96d3cf0152d63c9bf29b7b5c3c176 | |
parent | 7e860d8e74c3bbcc2e8a327622fb2f215b1abdf4 (diff) | |
parent | ea9efd75dd688c42a16667d199be08bdb1aacddf (diff) | |
download | px4-firmware-4f5791d4b1b3bf691d8ebfa30551e7626a25b967.tar.gz px4-firmware-4f5791d4b1b3bf691d8ebfa30551e7626a25b967.tar.bz2 px4-firmware-4f5791d4b1b3bf691d8ebfa30551e7626a25b967.zip |
Merge remote-tracking branch 'upstream/navigator_new' into fw_autoland_att_tecs_navigator_termination
21 files changed, 638 insertions, 1297 deletions
diff --git a/ROMFS/px4fmu_common/init.d/31_io_phantom b/ROMFS/px4fmu_common/init.d/31_io_phantom index 63cd7f9b2..62cfe1a9c 100644 --- a/ROMFS/px4fmu_common/init.d/31_io_phantom +++ b/ROMFS/px4fmu_common/init.d/31_io_phantom @@ -8,30 +8,35 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV" if param compare SYS_AUTOCONFIG 1 then # Set all params here, then disable autoconfig + param set FW_AIRSPD_MIN 11.4 + param set FW_AIRSPD_TRIM 14 + param set FW_AIRSPD_MAX 22 + param set FW_L1_PERIOD 15 param set FW_P_D 0 param set FW_P_I 0 param set FW_P_IMAX 15 - param set FW_P_LIM_MAX 50 - param set FW_P_LIM_MIN -50 + param set FW_P_LIM_MAX 45 + param set FW_P_LIM_MIN -45 param set FW_P_P 60 param set FW_P_RMAX_NEG 0 param set FW_P_RMAX_POS 0 - param set FW_P_ROLLFF 1.1 + param set FW_P_ROLLFF 2 param set FW_R_D 0 param set FW_R_I 5 - param set FW_R_IMAX 20 - param set FW_R_P 100 - param set FW_R_RMAX 100 - param set FW_THR_CRUISE 0.65 + param set FW_R_IMAX 15 + param set FW_R_P 80 + param set FW_R_RMAX 60 + param set FW_THR_CRUISE 0.8 + param set FW_THR_LND_MAX 0 param set FW_THR_MAX 1 - param set FW_THR_MIN 0 + param set FW_THR_MIN 0.5 param set FW_T_SINK_MAX 5.0 - param set FW_T_SINK_MIN 4.0 - param set FW_Y_ROLLFF 1.1 - param set FW_L1_PERIOD 17 - param set RC_SCALE_ROLL 1.0 - param set RC_SCALE_PITCH 1.0 - + param set FW_T_SINK_MIN 2.0 + param set FW_Y_ROLLFF 1.0 + param set RC_SCALE_ROLL 0.6 + param set RC_SCALE_PITCH 0.6 + param set TRIM_PITCH 0.1 + param set SYS_AUTOCONFIG 0 param save fi diff --git a/ROMFS/px4fmu_common/init.d/33_io_wingwing b/ROMFS/px4fmu_common/init.d/33_io_wingwing new file mode 100644 index 000000000..538c69711 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/33_io_wingwing @@ -0,0 +1,91 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on the Wing Wing (aka Z-84)" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set FW_AIRSPD_MIN 7 + param set FW_AIRSPD_TRIM 9 + param set FW_AIRSPD_MAX 14 + param set FW_L1_PERIOD 10 + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 20 + param set FW_P_LIM_MAX 30 + param set FW_P_LIM_MIN -20 + param set FW_P_P 30 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 2 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 60 + param set FW_R_RMAX 60 + param set FW_THR_CRUISE 0.65 + param set FW_THR_MAX 0.7 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5 + param set FW_T_SINK_MIN 2 + param set FW_T_TIME_CONST 9 + param set FW_Y_ROLLFF 2.0 + param set RC_SCALE_ROLL 1.0 + param set RC_SCALE_PITCH 1.0 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_Q.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_Q.mix +else + echo "Using /etc/mixers/FMU_Q.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix +fi + +# +# Start common fixedwing apps +# +sh /etc/init.d/rc.fixedwing + +if [ $EXIT_ON_END == yes ] +then + exit +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/34_io_fx79 b/ROMFS/px4fmu_common/init.d/34_io_fx79 new file mode 100644 index 000000000..989204952 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/34_io_fx79 @@ -0,0 +1,91 @@ +#!nsh + +echo "[init] PX4FMU v1, v2 with or without IO on FX-79 Buffalo" + +# +# Load default params for this platform +# +if param compare SYS_AUTOCONFIG 1 +then + # Set all params here, then disable autoconfig + param set FW_AIRSPD_MAX 20 + param set FW_AIRSPD_TRIM 12 + param set FW_AIRSPD_MIN 15 + param set FW_L1_PERIOD 12 + param set FW_P_D 0 + param set FW_P_I 0 + param set FW_P_IMAX 15 + param set FW_P_LIM_MAX 50 + param set FW_P_LIM_MIN -50 + param set FW_P_P 60 + param set FW_P_RMAX_NEG 0 + param set FW_P_RMAX_POS 0 + param set FW_P_ROLLFF 1.1 + param set FW_R_D 0 + param set FW_R_I 5 + param set FW_R_IMAX 20 + param set FW_R_P 80 + param set FW_R_RMAX 100 + param set FW_THR_CRUISE 0.75 + param set FW_THR_MAX 1 + param set FW_THR_MIN 0 + param set FW_T_SINK_MAX 5.0 + param set FW_T_SINK_MIN 4.0 + param set FW_T_TIME_CONST 9 + param set FW_Y_ROLLFF 1.1 + param set RC_SCALE_ROLL 1.0 + param set RC_SCALE_PITCH 1.0 + + param set SYS_AUTOCONFIG 0 + param save +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing +# +param set MAV_TYPE 1 + +set EXIT_ON_END no + +# +# Start and configure PX4IO or FMU interface +# +if px4io detect +then + # Start MAVLink (depends on orb) + mavlink start + + sh /etc/init.d/rc.io + # Limit to 100 Hz updates and (implicit) 50 Hz PWM + px4io limit 100 +else + # Start MAVLink (on UART1 / ttyS0) + mavlink start -d /dev/ttyS0 + + fmu mode_pwm + param set BAT_V_SCALING 0.004593 + set EXIT_ON_END yes +fi + +# +# Load mixer and start controllers (depends on px4io) +# +if [ -f /fs/microsd/etc/mixers/FMU_FX79.mix ] +then + echo "Using /fs/microsd/etc/mixers/FMU_FX79.mix" + mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_FX79.mix +else + echo "Using /etc/mixers/FMU_FX79.mix" + mixer load /dev/pwm_output /etc/mixers/FMU_FX79.mix +fi + +# +# Start common fixedwing apps +# +sh /etc/init.d/rc.fixedwing + +if [ $EXIT_ON_END == yes ] +then + exit +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index fbcf57828..6eac00d0c 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -331,6 +331,18 @@ then set MODE custom fi + if param compare SYS_AUTOSTART 33 + then + sh /etc/init.d/33_io_wingwing + set MODE custom + fi + + if param compare SYS_AUTOSTART 34 + then + sh /etc/init.d/34_io_fx79 + set MODE custom + fi + if param compare SYS_AUTOSTART 40 then sh /etc/init.d/40_io_segway diff --git a/ROMFS/px4fmu_common/mixers/FMU_FX79.mix b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix new file mode 100755 index 000000000..0a1dca98d --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_FX79.mix @@ -0,0 +1,72 @@ +FX-79 Delta-wing mixer for PX4FMU +================================= + +Designed for FX-79. + +TODO (sjwilks): Add mixers for flaps. + +This file defines mixers suitable for controlling a delta wing aircraft using +PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU +servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is +assumed to be unused. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +See the README for more information on the scaler format. + +Elevon mixers +------------- +Three scalers total (output, roll, pitch). + +On the assumption that the two elevon servos are physically reversed, the pitch +input is inverted between the two servos. + +The scaling factor for roll inputs is adjusted to implement differential travel +for the elevons. + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 5000 8000 0 -10000 10000 +S: 0 1 8000 8000 0 -10000 10000 + +M: 2 +O: 10000 10000 0 -10000 10000 +S: 0 0 8000 5000 0 -10000 10000 +S: 0 1 -8000 -8000 0 -10000 10000 + +Output 2 +-------- +This mixer is empty. + +Z: + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 9812ea497..cbdd5acc4 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -850,7 +850,7 @@ PX4IO::task_main() /* we're not nice to the lower-priority control groups and only check them when the primary group updated (which is now). */ - io_set_control_groups(); + (void)io_set_control_groups(); } if (now >= poll_last + IO_POLL_INTERVAL) { @@ -962,14 +962,14 @@ out: int PX4IO::io_set_control_groups() { - bool attitude_ok = io_set_control_state(0); + int ret = io_set_control_state(0); /* send auxiliary control groups */ (void)io_set_control_state(1); (void)io_set_control_state(2); (void)io_set_control_state(3); - return attitude_ok; + return ret; } int @@ -1095,8 +1095,10 @@ PX4IO::io_set_rc_config() * assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical * controls. */ + + /* fill the mapping with an error condition triggering value */ for (unsigned i = 0; i < _max_rc_input; i++) - input_map[i] = -1; + input_map[i] = UINT8_MAX; /* * NOTE: The indices for mapped channels are 1-based @@ -1128,12 +1130,6 @@ PX4IO::io_set_rc_config() if ((ichan >= 0) && (ichan < (int)_max_rc_input)) input_map[ichan - 1] = 4; - ichan = 5; - - for (unsigned i = 0; i < _max_rc_input; i++) - if (input_map[i] == -1) - input_map[i] = ichan++; - /* * Iterate all possible RC inputs. */ diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index 5bfbe04b8..b7c9b89a4 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 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 @@ -168,7 +168,7 @@ # error HRT_TIMER_CLOCK must be greater than 1MHz #endif -/* +/** * Minimum/maximum deadlines. * * These are suitable for use with a 16-bit timer/counter clocked @@ -276,7 +276,7 @@ static void hrt_call_invoke(void); * Specific registers and bits used by PPM sub-functions */ #ifdef HRT_PPM_CHANNEL -/* +/* * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it. * * Note that we assume that M3 means STM32F1 (since we don't really care about the F2). @@ -336,17 +336,18 @@ static void hrt_call_invoke(void); /* * PPM decoder tuning parameters */ -# define PPM_MAX_PULSE_WIDTH 700 /* maximum width of a valid pulse */ -# define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */ -# define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */ -# define PPM_MIN_START 2400 /* shortest valid start gap (only 2nd part of pulse) */ +# define PPM_MIN_PULSE_WIDTH 200 /**< minimum width of a valid first pulse */ +# define PPM_MAX_PULSE_WIDTH 600 /**< maximum width of a valid first pulse */ +# define PPM_MIN_CHANNEL_VALUE 800 /**< shortest valid channel signal */ +# define PPM_MAX_CHANNEL_VALUE 2200 /**< longest valid channel signal */ +# define PPM_MIN_START 2300 /**< shortest valid start gap (only 2nd part of pulse) */ /* decoded PPM buffer */ #define PPM_MIN_CHANNELS 5 #define PPM_MAX_CHANNELS 20 -/* Number of same-sized frames required to 'lock' */ -#define PPM_CHANNEL_LOCK 4 /* should be less than the input timeout */ +/** Number of same-sized frames required to 'lock' */ +#define PPM_CHANNEL_LOCK 4 /**< should be less than the input timeout */ __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS]; __EXPORT uint16_t ppm_frame_length = 0; @@ -363,12 +364,12 @@ unsigned ppm_pulse_next; static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS]; -/* PPM decoder state machine */ +/** PPM decoder state machine */ struct { - uint16_t last_edge; /* last capture time */ - uint16_t last_mark; /* last significant edge */ - uint16_t frame_start; /* the frame width */ - unsigned next_channel; /* next channel index */ + uint16_t last_edge; /**< last capture time */ + uint16_t last_mark; /**< last significant edge */ + uint16_t frame_start; /**< the frame width */ + unsigned next_channel; /**< next channel index */ enum { UNSYNCH = 0, ARM, @@ -390,7 +391,7 @@ static void hrt_ppm_decode(uint32_t status); # define CCER_PPM 0 #endif /* HRT_PPM_CHANNEL */ -/* +/** * Initialise the timer we are going to use. * * We expect that we'll own one of the reduced-function STM32 general @@ -436,7 +437,7 @@ hrt_tim_init(void) } #ifdef HRT_PPM_CHANNEL -/* +/** * Handle the PPM decoder state machine. */ static void @@ -518,8 +519,8 @@ hrt_ppm_decode(uint32_t status) case ARM: /* we expect a pulse giving us the first mark */ - if (width > PPM_MAX_PULSE_WIDTH) - goto error; /* pulse was too long */ + if (width < PPM_MIN_PULSE_WIDTH || width > PPM_MAX_PULSE_WIDTH) + goto error; /* pulse was too short or too long */ /* record the mark timing, expect an inactive edge */ ppm.last_mark = ppm.last_edge; @@ -533,8 +534,8 @@ hrt_ppm_decode(uint32_t status) case INACTIVE: /* we expect a short pulse */ - if (width > PPM_MAX_PULSE_WIDTH) - goto error; /* pulse was too long */ + if (width < PPM_MIN_PULSE_WIDTH || width > PPM_MAX_PULSE_WIDTH) + goto error; /* pulse was too short or too long */ /* this edge is not interesting, but now we are ready for the next mark */ ppm.phase = ACTIVE; @@ -576,7 +577,7 @@ error: } #endif /* HRT_PPM_CHANNEL */ -/* +/** * Handle the compare interupt by calling the callout dispatcher * and then re-scheduling the next deadline. */ @@ -605,6 +606,7 @@ hrt_tim_isr(int irq, void *context) hrt_ppm_decode(status); } + #endif /* was this a timer tick? */ @@ -623,7 +625,7 @@ hrt_tim_isr(int irq, void *context) return OK; } -/* +/** * Fetch a never-wrapping absolute time value in microseconds from * some arbitrary epoch shortly after system start. */ @@ -670,7 +672,7 @@ hrt_absolute_time(void) return abstime; } -/* +/** * Convert a timespec to absolute time */ hrt_abstime @@ -684,7 +686,7 @@ ts_to_abstime(struct timespec *ts) return result; } -/* +/** * Convert absolute time to a timespec. */ void @@ -695,7 +697,7 @@ abstime_to_ts(struct timespec *ts, hrt_abstime abstime) ts->tv_nsec = abstime * 1000; } -/* +/** * Compare a time value with the current time. */ hrt_abstime @@ -710,7 +712,7 @@ hrt_elapsed_time(const volatile hrt_abstime *then) return delta; } -/* +/** * Store the absolute time in an interrupt-safe fashion */ hrt_abstime @@ -725,7 +727,7 @@ hrt_store_absolute_time(volatile hrt_abstime *now) return ts; } -/* +/** * Initalise the high-resolution timing module. */ void @@ -740,7 +742,7 @@ hrt_init(void) #endif } -/* +/** * Call callout(arg) after interval has elapsed. */ void @@ -753,7 +755,7 @@ hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, v arg); } -/* +/** * Call callout(arg) at calltime. */ void @@ -762,7 +764,7 @@ hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, v hrt_call_internal(entry, calltime, 0, callout, arg); } -/* +/** * Call callout(arg) every period. */ void @@ -781,13 +783,13 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte irqstate_t flags = irqsave(); /* if the entry is currently queued, remove it */ - /* note that we are using a potentially uninitialised - entry->link here, but it is safe as sq_rem() doesn't - dereference the passed node unless it is found in the - list. So we potentially waste a bit of time searching the - queue for the uninitialised entry->link but we don't do - anything actually unsafe. - */ + /* note that we are using a potentially uninitialised + entry->link here, but it is safe as sq_rem() doesn't + dereference the passed node unless it is found in the + list. So we potentially waste a bit of time searching the + queue for the uninitialised entry->link but we don't do + anything actually unsafe. + */ if (entry->deadline != 0) sq_rem(&entry->link, &callout_queue); @@ -801,7 +803,7 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte irqrestore(flags); } -/* +/** * If this returns true, the call has been invoked and removed from the callout list. * * Always returns false for repeating callouts. @@ -812,7 +814,7 @@ hrt_called(struct hrt_call *entry) return (entry->deadline == 0); } -/* +/** * Remove the entry from the callout list. */ void @@ -895,17 +897,18 @@ hrt_call_invoke(void) /* if the callout has a non-zero period, it has to be re-entered */ if (call->period != 0) { // re-check call->deadline to allow for - // callouts to re-schedule themselves + // callouts to re-schedule themselves // using hrt_call_delay() if (call->deadline <= now) { call->deadline = deadline + call->period; } + hrt_call_enter(call); } } } -/* +/** * Reschedule the next timer interrupt. * * This routine must be called with interrupts disabled. diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 52dac652b..3cfddf28e 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f); /* gyro measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f); -/* accelerometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f); +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f); +/* accel measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); +/* mag measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); +/* offset estimation - UNUSED */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f); /* offsets in roll, pitch and yaw of sensor plane and body */ PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); @@ -72,10 +74,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->q3 = param_find("EKF_ATT_V3_Q3"); h->q4 = param_find("EKF_ATT_V3_Q4"); - h->r0 = param_find("EKF_ATT_V3_R0"); - h->r1 = param_find("EKF_ATT_V3_R1"); - h->r2 = param_find("EKF_ATT_V3_R2"); - h->r3 = param_find("EKF_ATT_V3_R3"); + h->r0 = param_find("EKF_ATT_V4_R0"); + h->r1 = param_find("EKF_ATT_V4_R1"); + h->r2 = param_find("EKF_ATT_V4_R2"); + h->r3 = param_find("EKF_ATT_V4_R3"); h->roll_off = param_find("ATT_ROLL_OFF3"); h->pitch_off = param_find("ATT_PITCH_OFF3"); diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index eec6c567c..4c38cf35a 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -68,7 +68,6 @@ #include "waypoints.h" #include "orb_topics.h" -#include "missionlib.h" #include "mavlink_hil.h" #include "util.h" #include "waypoints.h" @@ -710,25 +709,25 @@ int mavlink_thread_main(int argc, char *argv[]) } } - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); /* check if waypoint has been reached against the last positions */ - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); /* send parameters at 20 Hz (if queued for sending) */ mavlink_pm_queued_send(); - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); /* sleep quarter the time */ usleep(25000); - mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos, &nav_cap); + mavlink_waypoint_eventloop(hrt_absolute_time()); if (baudrate > 57600) { mavlink_pm_queued_send(); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7b6fad658..771989430 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -79,7 +79,6 @@ __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" @@ -844,7 +843,7 @@ receive_thread(void *arg) handle_message(&msg); /* handle packet with waypoint component */ - mavlink_wpm_message_handler(&msg, &global_pos, &local_pos); + mavlink_wpm_message_handler(&msg); /* handle packet with parameter component */ mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c deleted file mode 100644 index 318dcf08c..000000000 --- a/src/modules/mavlink/missionlib.c +++ /dev/null @@ -1,399 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @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 missionlib.h - * MAVLink missionlib components - */ - -// 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 "mavlink_bridge_header.h" -#include <drivers/drv_hrt.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 <systemlib/err.h> -#include <systemlib/param/param.h> -#include <systemlib/systemlib.h> -#include <mavlink/mavlink_log.h> - -#include "geo/geo.h" -#include "waypoints.h" -#include "orb_topics.h" -#include "missionlib.h" -#include "mavlink_hil.h" -#include "util.h" -#include "waypoints.h" -#include "mavlink_parameters.h" - - - -static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; -static uint64_t loiter_start_time; - -#if 0 -static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command, - struct vehicle_global_position_setpoint_s *sp); -#endif - -int -mavlink_missionlib_send_message(mavlink_message_t *msg) -{ - uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); - - mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); - return 0; -} - - - -int -mavlink_missionlib_send_gcs_string(const char *string) -{ - const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; - mavlink_statustext_t statustext; - int i = 0; - - while (i < len - 1) { - statustext.text[i] = string[i]; - - if (string[i] == '\0') - break; - - i++; - } - - if (i > 1) { - /* Enforce null termination */ - statustext.text[i] = '\0'; - mavlink_message_t msg; - - mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); - return mavlink_missionlib_send_message(&msg); - - } else { - return 1; - } -} - -/** - * Get system time since boot in microseconds - * - * @return the system time since boot in microseconds - */ -uint64_t mavlink_missionlib_get_system_timestamp() -{ - return hrt_absolute_time(); -} - -#if 0 -/** - * Set special vehicle setpoint fields based on current mission item. - * - * @return true if the mission item could be interpreted - * successfully, it return false on failure. - */ -bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command, - struct vehicle_global_position_setpoint_s *sp) -{ - switch (command) { - case MAV_CMD_NAV_LOITER_UNLIM: - sp->nav_cmd = NAV_CMD_LOITER_UNLIMITED; - break; - case MAV_CMD_NAV_LOITER_TIME: - sp->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; - loiter_start_time = hrt_absolute_time(); - break; - // case MAV_CMD_NAV_LOITER_TURNS: - // sp->nav_cmd = NAV_CMD_LOITER_TURN_COUNT; - // break; - case MAV_CMD_NAV_WAYPOINT: - sp->nav_cmd = NAV_CMD_WAYPOINT; - break; - case MAV_CMD_NAV_RETURN_TO_LAUNCH: - sp->nav_cmd = NAV_CMD_RETURN_TO_LAUNCH; - break; - case MAV_CMD_NAV_LAND: - sp->nav_cmd = NAV_CMD_LAND; - break; - case MAV_CMD_NAV_TAKEOFF: - sp->nav_cmd = NAV_CMD_TAKEOFF; - break; - default: - /* abort */ - return false; - } - - sp->loiter_radius = param3; - sp->loiter_direction = (param3 >= 0) ? 1 : -1; - - sp->param1 = param1; - sp->param2 = param2; - sp->param3 = param3; - sp->param4 = param4; - - - /* define the turn distance */ - float orbit = 15.0f; - - if (command == (int)MAV_CMD_NAV_WAYPOINT) { - - orbit = param2; - - } else if (command == (int)MAV_CMD_NAV_LOITER_TURNS || - command == (int)MAV_CMD_NAV_LOITER_TIME || - command == (int)MAV_CMD_NAV_LOITER_UNLIM) { - - orbit = param3; - } else { - - // XXX set default orbit via param - // 15 initialized above - } - - sp->turn_distance_xy = orbit; - sp->turn_distance_z = orbit; -} - -/** - * This callback is executed each time a waypoint changes. - * - * It publishes the vehicle_global_position_setpoint_s or the - * vehicle_local_position_setpoint_s topic, depending on the type of waypoint - */ -void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command) -{ - static orb_advert_t global_position_setpoint_pub = -1; - // static orb_advert_t global_position_set_triplet_pub = -1; - static orb_advert_t local_position_setpoint_pub = -1; - static unsigned last_waypoint_index = -1; - char buf[50] = {0}; - - // XXX include check if WP is supported, jump to next if not - - /* Update controller setpoints */ - if (frame == (int)MAV_FRAME_GLOBAL) { - /* global, absolute waypoint */ - struct vehicle_global_position_setpoint_s sp; - sp.lat = param5_lat_x * 1e7f; - sp.lon = param6_lon_y * 1e7f; - sp.altitude = param7_alt_z; - sp.altitude_is_relative = false; - sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); - set_special_fields(param1, param2, param3, param4, command, &sp); - - /* Initialize setpoint publication if necessary */ - if (global_position_setpoint_pub < 0) { - global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); - } - - - /* fill triplet: previous, current, next waypoint */ - // struct vehicle_global_position_set_triplet_s triplet; - - /* current waypoint is same as sp */ - // memcpy(&(triplet.current), &sp, sizeof(sp)); - - /* - * Check if previous WP (in mission, not in execution order) - * is available and identify correct index - */ - int last_setpoint_index = -1; - bool last_setpoint_valid = false; - - if (index > 0) { - last_setpoint_index = index - 1; - } - - while (last_setpoint_index >= 0) { - - if (wpm->waypoints[last_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && - (wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT || - wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS || - wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME || - wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) { - last_setpoint_valid = true; - break; - } - - last_setpoint_index--; - } - - /* - * Check if next WP (in mission, not in execution order) - * is available and identify correct index - */ - int next_setpoint_index = -1; - bool next_setpoint_valid = false; - - /* next waypoint */ - if (wpm->size > 1) { - next_setpoint_index = index + 1; - } - - while (next_setpoint_index < wpm->size) { - - if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT || - wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS || - wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME || - wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) { - next_setpoint_valid = true; - break; - } - - next_setpoint_index++; - } - - /* populate last and next */ - - // triplet.previous_valid = false; - // triplet.next_valid = false; - - // if (last_setpoint_valid) { - // triplet.previous_valid = true; - // struct vehicle_global_position_setpoint_s sp; - // sp.lat = wpm->waypoints[last_setpoint_index].x * 1e7f; - // sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f; - // sp.altitude = wpm->waypoints[last_setpoint_index].z; - // sp.altitude_is_relative = false; - // sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F); - // set_special_fields(wpm->waypoints[last_setpoint_index].param1, - // wpm->waypoints[last_setpoint_index].param2, - // wpm->waypoints[last_setpoint_index].param3, - // wpm->waypoints[last_setpoint_index].param4, - // wpm->waypoints[last_setpoint_index].command, &sp); - // memcpy(&(triplet.previous), &sp, sizeof(sp)); - // } - - // if (next_setpoint_valid) { - // triplet.next_valid = true; - // struct vehicle_global_position_setpoint_s sp; - // sp.lat = wpm->waypoints[next_setpoint_index].x * 1e7f; - // sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f; - // sp.altitude = wpm->waypoints[next_setpoint_index].z; - // sp.altitude_is_relative = false; - // sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F); - // set_special_fields(wpm->waypoints[next_setpoint_index].param1, - // wpm->waypoints[next_setpoint_index].param2, - // wpm->waypoints[next_setpoint_index].param3, - // wpm->waypoints[next_setpoint_index].param4, - // wpm->waypoints[next_setpoint_index].command, &sp); - // memcpy(&(triplet.next), &sp, sizeof(sp)); - // } - - /* Initialize triplet publication if necessary */ - // if (global_position_set_triplet_pub < 0) { - // global_position_set_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &triplet); - - // } else { - // orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet); - // } - - sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - - } else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { - /* global, relative alt (in relation to HOME) waypoint */ - struct vehicle_global_position_setpoint_s sp; - sp.lat = param5_lat_x * 1e7f; - sp.lon = param6_lon_y * 1e7f; - sp.altitude = param7_alt_z; - sp.altitude_is_relative = true; - sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); - set_special_fields(param1, param2, param3, param4, command, &sp); - - /* Initialize publication if necessary */ - if (global_position_setpoint_pub < 0) { - global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); - } - - - - sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - - } else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) { - /* local, absolute waypoint */ - struct vehicle_local_position_setpoint_s sp; - sp.x = param5_lat_x; - sp.y = param6_lon_y; - sp.z = param7_alt_z; - sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); - - /* Initialize publication if necessary */ - if (local_position_setpoint_pub < 0) { - local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp); - - } else { - orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp); - } - - sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); - } else { - warnx("non-navigation WP, ignoring"); - mavlink_missionlib_send_gcs_string("[mp] Unknown waypoint type, ignoring."); - return; - } - - /* only set this for known waypoint types (non-navigation types would have returned earlier) */ - last_waypoint_index = index; - - mavlink_missionlib_send_gcs_string(buf); - printf("%s\n", buf); - //printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000); -} - -#endif
\ No newline at end of file diff --git a/src/modules/mavlink/missionlib.h b/src/modules/mavlink/missionlib.h deleted file mode 100644 index c7d8f90c5..000000000 --- a/src/modules/mavlink/missionlib.h +++ /dev/null @@ -1,52 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @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 missionlib.h - * MAVLink mission helper library - */ - -#pragma once - -#include "mavlink_bridge_header.h" - -//extern void mavlink_wpm_send_message(mavlink_message_t *msg); -//extern void mavlink_wpm_send_gcs_string(const char *string); -//extern uint64_t mavlink_wpm_get_system_timestamp(void); -extern int mavlink_missionlib_send_message(mavlink_message_t *msg); -extern int mavlink_missionlib_send_gcs_string(const char *string); -extern uint64_t mavlink_missionlib_get_system_timestamp(void); -extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, - float param2, float param3, float param4, float param5_lat_x, - float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index 5d3d6a73c..89a097c24 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -37,7 +37,6 @@ MODULE_COMMAND = mavlink SRCS += mavlink.c \ - missionlib.c \ mavlink_parameters.c \ mavlink_receiver.cpp \ orb_listener.c \ diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 17978615f..28478a803 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -60,7 +60,6 @@ #include "waypoints.h" #include "orb_topics.h" -#include "missionlib.h" #include "mavlink_hil.h" #include "util.h" diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h index 7d24b8f93..9000728cb 100644 --- a/src/modules/mavlink/orb_topics.h +++ b/src/modules/mavlink/orb_topics.h @@ -45,6 +45,7 @@ #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> diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c index 59db898b9..2ff11e813 100644 --- a/src/modules/mavlink/waypoints.c +++ b/src/modules/mavlink/waypoints.c @@ -44,28 +44,63 @@ #include <sys/prctl.h> #include <unistd.h> #include <stdio.h> - #include "mavlink_bridge_header.h" -#include "missionlib.h" #include "waypoints.h" #include "util.h" #include <uORB/uORB.h> #include <uORB/topics/mission.h> - #include <geo/geo.h> #include <dataman/dataman.h> +#include <drivers/drv_hrt.h> +#include <systemlib/err.h> -bool debug = false; -bool verbose = false; +bool verbose = true; orb_advert_t mission_pub = -1; struct mission_s mission; -//#define MAVLINK_WPM_NO_PRINTF -#define MAVLINK_WPM_VERBOSE 0 - uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; +void +mavlink_missionlib_send_message(mavlink_message_t *msg) +{ + uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); + + mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); +} + + + +int +mavlink_missionlib_send_gcs_string(const char *string) +{ + const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; + mavlink_statustext_t statustext; + int i = 0; + + while (i < len - 1) { + statustext.text[i] = string[i]; + + if (string[i] == '\0') + break; + + i++; + } + + if (i > 1) { + /* Enforce null termination */ + statustext.text[i] = '\0'; + mavlink_message_t msg; + + mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); + mavlink_missionlib_send_message(&msg); + return OK; + + } else { + return 1; + } +} + void publish_mission() { /* Initialize mission publication if necessary */ @@ -119,7 +154,7 @@ int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavli mission_item->time_inside = mavlink_mission_item->param1 / 1e3f; /* from milliseconds to seconds */ mission_item->autocontinue = mavlink_mission_item->autocontinue; - mission_item->index = mavlink_mission_item->seq; + // mission_item->index = mavlink_mission_item->seq; mission_item->origin = ORIGIN_MAVLINK; return OK; @@ -151,33 +186,22 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->param1 = mission_item->time_inside * 1e3f; /* from seconds to milliseconds */ mavlink_mission_item->autocontinue = mission_item->autocontinue; - mavlink_mission_item->seq = mission_item->index; + // mavlink_mission_item->seq = mission_item->index; return OK; } void mavlink_wpm_init(mavlink_wpm_storage *state) { - // Set all waypoints to zero - - // Set count to zero state->size = 0; state->max_size = MAVLINK_WPM_MAX_WP_COUNT; state->current_state = MAVLINK_WPM_STATE_IDLE; state->current_partner_sysid = 0; state->current_partner_compid = 0; state->timestamp_lastaction = 0; - // state->timestamp_last_send_setpoint = 0; + state->timestamp_last_send_setpoint = 0; state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; - state->current_dataman_id = 0; - // state->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT; - // state->idle = false; ///< indicates if the system is following the waypoints or is waiting - // state->current_active_wp_id = -1; ///< id of current waypoint - // state->yaw_reached = false; ///< boolean for yaw attitude reached - // state->pos_reached = false; ///< boolean for position reached - // state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value - // state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value } /* @@ -188,24 +212,14 @@ void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) mavlink_message_t msg; mavlink_mission_ack_t wpa; - wpa.target_system = wpm->current_partner_sysid; - wpa.target_component = wpm->current_partner_compid; + wpa.target_system = sysid; + wpa.target_component = compid; wpa.type = type; mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); mavlink_missionlib_send_message(&msg); - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - -// if (MAVLINK_WPM_TEXT_FEEDBACK) { -// #ifdef MAVLINK_WPM_NO_PRINTF -// mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); -// #else - -// if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); - -// #endif -// } + if (verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } /* @@ -220,45 +234,19 @@ void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) void mavlink_wpm_send_waypoint_current(uint16_t seq) { if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); - mavlink_message_t msg; mavlink_mission_current_t wpc; - wpc.seq = cur->seq; + wpc.seq = seq; mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); mavlink_missionlib_send_message(&msg); - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); - - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Set current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); - - } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds\n"); - } -} - -/* - * @brief Directs the MAV to fly to a position - * - * Sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void mavlink_wpm_send_setpoint(uint16_t seq) -{ - if (seq < wpm->size) { - mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); - mavlink_missionlib_current_waypoint_changed(cur->seq, cur->param1, - cur->param2, cur->param3, cur->param4, cur->x, - cur->y, cur->z, cur->frame, cur->command); - - // wpm->timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); + if (verbose) warnx("Broadcasted new current waypoint %u", wpc.seq); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); + mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); + if (verbose) warnx("ERROR: index out of bounds"); } } @@ -267,36 +255,48 @@ void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t cou mavlink_message_t msg; mavlink_mission_count_t wpc; - wpc.target_system = wpm->current_partner_sysid; - wpc.target_component = wpm->current_partner_compid; + wpc.target_system = sysid; + wpc.target_component = compid; wpc.count = mission.count; mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + if (verbose) warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); } -void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, mavlink_mission_item_t *wp) +void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) { - // if (seq < wpm->size) { - mavlink_message_t msg; - // mavlink_mission_item_t *wp = &(wpm->waypoints[seq]); - wp->target_system = wpm->current_partner_sysid; - wp->target_component = wpm->current_partner_compid; - mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp); - mavlink_missionlib_send_message(&msg); + struct mission_item_s mission_item; + ssize_t len = sizeof(struct mission_item_s); + + dm_item_t dm_current; + + if (wpm->current_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); + if (dm_read(dm_current, seq, &mission_item, len) == len) { - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + /* create mission_item_s from mavlink_mission_item_t */ + mavlink_mission_item_t wp; + map_mission_item_to_mavlink_mission_item(&mission_item, &wp); - // } else { - // if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); - // } + mavlink_message_t msg; + wp.target_system = sysid; + wp.target_component = compid; + wp.seq = seq; + mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp); + mavlink_missionlib_send_message(&msg); + + if (verbose) warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + if (verbose) warnx("ERROR: could not read WP%u", seq); + } } void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) @@ -304,18 +304,17 @@ void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t s if (seq < wpm->max_size) { mavlink_message_t msg; mavlink_mission_request_t wpr; - wpr.target_system = wpm->current_partner_sysid; - wpr.target_component = wpm->current_partner_compid; + wpr.target_system = sysid; + wpr.target_component = compid; wpr.seq = seq; mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + if (verbose) warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); } else { - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); + mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); + if (verbose) warnx("ERROR: Waypoint index exceeds list capacity"); } } @@ -336,234 +335,33 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq) mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); mavlink_missionlib_send_message(&msg); - if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); - - // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + if (verbose) warnx("Sent waypoint %u reached message", wp_reached.seq); } -// void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos, float turn_distance) -// { -// static uint16_t counter; - -// if ((!global_pos->valid && !local_pos->xy_valid) || -// /* no waypoint */ -// wpm->size == 0) { -// /* nothing to check here, return */ -// return; -// } - -// if (wpm->current_active_wp_id < wpm->size) { - -// float orbit; -// if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT) { - -// orbit = wpm->waypoints[wpm->current_active_wp_id].param2; - -// } else if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) { - -// orbit = wpm->waypoints[wpm->current_active_wp_id].param3; -// } else { - -// // XXX set default orbit via param -// orbit = 15.0f; -// } - -// /* keep vertical orbit */ -// float vertical_switch_distance = orbit; - -// /* Take the larger turn distance - orbit or turn_distance */ -// if (orbit < turn_distance) -// orbit = turn_distance; - -// int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame; -// float dist = -1.0f; - -// float dist_xy = -1.0f; -// float dist_z = -1.0f; - -// if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { -// dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->alt, &dist_xy, &dist_z); - -// } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { -// dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, (float)global_pos->lat * 1e-7f, (float)global_pos->lon * 1e-7f, global_pos->relative_alt, &dist_xy, &dist_z); - -// } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { -// dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z, &dist_xy, &dist_z); - -// } else if (coordinate_frame == (int)MAV_FRAME_MISSION) { -// /* Check if conditions of mission item are satisfied */ -// // XXX TODO -// } - -// if (dist >= 0.f && dist_xy <= orbit && dist_z >= 0.0f && dist_z <= vertical_switch_distance) { -// wpm->pos_reached = true; -// } - -// // check if required yaw reached -// float yaw_sp = _wrap_pi(wpm->waypoints[wpm->current_active_wp_id].param4 / 180.0f * FM_PI); -// float yaw_err = _wrap_pi(yaw_sp - local_pos->yaw); -// if (fabsf(yaw_err) < 0.05f) { -// wpm->yaw_reached = true; -// } -// } - -// //check if the current waypoint was reached -// if (wpm->pos_reached && /*wpm->yaw_reached &&*/ !wpm->idle) { -// if (wpm->current_active_wp_id < wpm->size) { -// mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]); - -// if (wpm->timestamp_firstinside_orbit == 0) { -// // Announce that last waypoint was reached -// mavlink_wpm_send_waypoint_reached(cur_wp->seq); -// wpm->timestamp_firstinside_orbit = now; -// } - -// // check if the MAV was long enough inside the waypoint orbit -// //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000)) - -// bool time_elapsed = false; - -// if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) { -// time_elapsed = true; -// } else if (cur_wp->command == (int)MAV_CMD_NAV_TAKEOFF) { -// time_elapsed = true; -// } - -// if (time_elapsed) { - -// /* safeguard against invalid missions with last wp autocontinue on */ -// if (wpm->current_active_wp_id == wpm->size - 1) { -// /* stop handling missions here */ -// cur_wp->autocontinue = false; -// } - -// if (cur_wp->autocontinue) { - -// cur_wp->current = 0; - -// float navigation_lat = -1.0f; -// float navigation_lon = -1.0f; -// float navigation_alt = -1.0f; -// int navigation_frame = -1; - -// /* initialize to current position in case we don't find a suitable navigation waypoint */ -// if (global_pos->valid) { -// navigation_lat = global_pos->lat/1e7; -// navigation_lon = global_pos->lon/1e7; -// navigation_alt = global_pos->alt; -// navigation_frame = MAV_FRAME_GLOBAL; -// } else if (local_pos->xy_valid && local_pos->z_valid) { -// navigation_lat = local_pos->x; -// navigation_lon = local_pos->y; -// navigation_alt = local_pos->z; -// navigation_frame = MAV_FRAME_LOCAL_NED; -// } - -// /* guard against missions without final land waypoint */ -// /* only accept supported navigation waypoints, skip unknown ones */ -// do { - -// /* pick up the last valid navigation waypoint, this will be one we hold on to after the mission */ -// if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_TAKEOFF) { - -// /* this is a navigation waypoint */ -// navigation_frame = cur_wp->frame; -// navigation_lat = cur_wp->x; -// navigation_lon = cur_wp->y; -// navigation_alt = cur_wp->z; -// } - -// if (wpm->current_active_wp_id == wpm->size - 1) { - -// /* if we're not landing at the last nav waypoint, we're falling back to loiter */ -// if (wpm->waypoints[wpm->current_active_wp_id].command != (int)MAV_CMD_NAV_LAND) { -// /* the last waypoint was reached, if auto continue is -// * activated AND it is NOT a land waypoint, keep the system loitering there. -// */ -// cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM; -// cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius -// cur_wp->frame = navigation_frame; -// cur_wp->x = navigation_lat; -// cur_wp->y = navigation_lon; -// cur_wp->z = navigation_alt; -// } - -// /* we risk an endless loop for missions without navigation waypoints, abort. */ -// break; - -// } else { -// if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size) -// wpm->current_active_wp_id++; -// } - -// } while (!(wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME || -// wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM)); - -// // Fly to next waypoint -// wpm->timestamp_firstinside_orbit = 0; -// mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); -// mavlink_wpm_send_setpoint(wpm->current_active_wp_id); -// wpm->waypoints[wpm->current_active_wp_id].current = true; -// wpm->pos_reached = false; -// wpm->yaw_reached = false; -// printf("Set new waypoint (%u)\n", wpm->current_active_wp_id); -// } -// } -// } - -// } else { -// wpm->timestamp_lastoutside_orbit = now; -// } - -// counter++; -// } - - -int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position, struct navigation_capabilities_s *nav_cap) +void mavlink_waypoint_eventloop(uint64_t now) { /* check for timed-out operations */ if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE"); -#else + mavlink_missionlib_send_gcs_string("Operation timeout"); - if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_state); + if (verbose) warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_state); -#endif wpm->current_state = MAVLINK_WPM_STATE_IDLE; - // wpm->current_count = 0; wpm->current_partner_sysid = 0; wpm->current_partner_compid = 0; - // wpm->current_wp_id = -1; - - // if (wpm->size == 0) { - // wpm->current_active_wp_id = -1; - // } } - - // check_waypoints_reached(now, global_position, local_position, nav_cap->turn_distance); - - return OK; } -void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , struct vehicle_local_position_s *local_pos) +void mavlink_wpm_message_handler(const mavlink_message_t *msg) { - uint64_t now = mavlink_missionlib_get_system_timestamp(); + uint64_t now = hrt_absolute_time(); switch (msg->msgid) { - case MAVLINK_MSG_ID_MISSION_ACK: { + case MAVLINK_MSG_ID_MISSION_ACK: { mavlink_mission_ack_t wpa; mavlink_msg_mission_ack_decode(msg, &wpa); @@ -573,8 +371,6 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { if (wpm->current_wp_id == wpm->size - 1) { - // mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; wpm->current_wp_id = 0; } @@ -582,12 +378,13 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); + if (verbose) warnx("REJ. WP CMD: curr partner id mismatch"); } break; } - case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { mavlink_mission_set_current_t wpc; mavlink_msg_mission_set_current_decode(msg, &wpc); @@ -596,52 +393,32 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { if (wpc.seq < wpm->size) { - // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); - // wpm->current_active_wp_id = wpc.seq; - // uint32_t i; - - // for (i = 0; i < wpm->size; i++) { - // if (i == wpm->current_active_wp_id) { - // wpm->waypoints[i].current = true; - - // } else { - // wpm->waypoints[i].current = false; - // } - // } - - // mavlink_missionlib_send_gcs_string("NEW WP SET"); - - // wpm->yaw_reached = false; - // wpm->pos_reached = false; - mission.current_index = wpc.seq; - publish_mission(); - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - - //mavlink_wpm_send_waypoint_current(wpc.seq); - // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - // wpm->timestamp_firstinside_orbit = 0; + mavlink_wpm_send_waypoint_current(wpc.seq); } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); + if (verbose) warnx("IGN WP CURR CMD: Not in list"); } } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); + if (verbose) warnx("IGN WP CURR CMD: Busy"); } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (verbose) warnx("REJ. WP CMD: target id mismatch"); } break; } - case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { mavlink_mission_request_list_t wprl; mavlink_msg_mission_request_list_decode(msg, &wprl); @@ -650,532 +427,304 @@ void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehi if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { if (wpm->size > 0) { - //if (verbose && wpm->current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; wpm->current_wp_id = 0; wpm->current_partner_sysid = msg->sysid; wpm->current_partner_compid = msg->compid; } else { - // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); + if (verbose) warnx("No waypoints send"); } wpm->current_count = wpm->size; mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); } else { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm->current_state); + mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); + if (verbose) warnx("IGN REQUEST LIST: Busy"); } } else { - // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); + mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch"); + if (verbose) warnx("REJ. REQUEST LIST: target id mismatch"); } break; } - case MAVLINK_MSG_ID_MISSION_REQUEST: { + case MAVLINK_MSG_ID_MISSION_REQUEST: { mavlink_mission_request_t wpr; mavlink_msg_mission_request_decode(msg, &wpr); if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { wpm->timestamp_lastaction = now; - //ensure that we are in the correct state and that the first request has id 0 and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - if ((wpm->current_state == MAVLINK_WPM_STATE_SENDLIST && wpr.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm->current_wp_id || wpr.seq == wpm->current_wp_id + 1) && wpr.seq < wpm->size)) { - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - -#endif - } + if (wpr.seq >= wpm->size) { - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id + 1) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); - -#endif - } - - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); -#else + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); + break; + } - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + /* + * Ensure that we are in the correct state and that the first request has id 0 + * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) + */ + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { -#endif + if (wpr.seq == 0) { + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); + if (verbose) warnx("REJ. WP CMD: First id != 0"); + break; } - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - wpm->current_wp_id = wpr.seq; + } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - mavlink_mission_item_t wp; + if (wpr.seq == wpm->current_wp_id) { - struct mission_item_s mission_item; - ssize_t len = sizeof(struct mission_item_s); - - dm_item_t dm_current; + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - if (wpm->current_dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; - } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } + } else if (wpr.seq == wpm->current_wp_id + 1) { - if (dm_read(dm_current, wpr.seq, &mission_item, len) == len) { + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - if (mission.current_index == wpr.seq) { - wp.current = true; - } else { - wp.current = false; - } - - map_mission_item_to_mavlink_mission_item(&mission_item, &wp); - mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, &wp); } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); + break; } } else { - // if (verbose) - { - if (!(wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm->current_state); - -#endif - break; - - } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - if (wpr.seq != 0) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); - -#endif - } - - } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - if (wpr.seq != wpm->current_wp_id && wpr.seq != wpm->current_wp_id + 1) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); - -#endif - - } else if (wpr.seq >= wpm->size) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", wpm->current_state); + break; + } -#endif - } + wpm->current_wp_id = wpr.seq; + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); -#else + if (wpr.seq < wpm->size) { - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); + mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid,wpm->current_wp_id); -#endif - } - } + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + if (verbose) warnx("ERROR: Waypoint %u out of bounds", wpr.seq); } + } else { //we we're target but already communicating with someone else if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm->current_partner_sysid); - -#endif + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, wpm->current_partner_sysid); } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); - -#endif + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } - } - break; } - case MAVLINK_MSG_ID_MISSION_COUNT: { + case MAVLINK_MSG_ID_MISSION_COUNT: { mavlink_mission_count_t wpc; mavlink_msg_mission_count_decode(msg, &wpc); if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { wpm->timestamp_lastaction = now; - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id == 0)) { -// printf("wpc count in: %d\n",wpc.count); -// printf("Comp id: %d\n",msg->compid); -// printf("Current partner sysid: %d\n",wpm->current_partner_sysid); - - if (wpc.count > 0) { - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); - -#endif - } - - if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); - -#endif - } - - wpm->current_state = MAVLINK_WPM_STATE_GETLIST; - wpm->current_wp_id = 0; - wpm->current_partner_sysid = msg->sysid; - wpm->current_partner_compid = msg->compid; - wpm->current_count = wpc.count; - - if (wpc.count > NUM_MISSIONS_SUPPORTED) { - warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); - } - -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); - -#endif - wpm->rcv_size = 0; - //while(waypoints_receive_buffer->size() > 0) -// { -// delete waypoints_receive_buffer->back(); -// waypoints_receive_buffer->pop_back(); -// } + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + if (wpc.count > NUM_MISSIONS_SUPPORTED) { + if (verbose) warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_NO_SPACE); + break; + } - } else if (wpc.count == 0) { -#ifdef MAVLINK_WPM_NO_PRINTF + if (wpc.count == 0) { mavlink_missionlib_send_gcs_string("COUNT 0"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); - -#endif - wpm->rcv_size = 0; - //while(waypoints_receive_buffer->size() > 0) -// { -// delete waypoints->back(); -// waypoints->pop_back(); -// } - // wpm->current_active_wp_id = -1; - // wpm->yaw_reached = false; - // wpm->pos_reached = false; + if (verbose) warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); break; - - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("IGN WP CMD"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); - -#endif } + + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); - } else { - if (!(wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_GETLIST)) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm->current_state); - -#endif - - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id != 0) { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); -#else + wpm->current_state = MAVLINK_WPM_STATE_GETLIST; + wpm->current_wp_id = 0; + wpm->current_partner_sysid = msg->sysid; + wpm->current_partner_compid = msg->compid; + wpm->current_count = wpc.count; - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm->current_wp_id); + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); -#endif + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + if (wpm->current_wp_id == 0) { + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); -#else - - if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); - -#endif + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", wpm->current_wp_id); } + } else { + mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); + if (verbose) warnx("IGN MISSION_COUNT CMD: Busy"); } - } else { -#ifdef MAVLINK_WPM_NO_PRINTF - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); -#else - if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); - -#endif + mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } - } break; - case MAVLINK_MSG_ID_MISSION_ITEM: { + case MAVLINK_MSG_ID_MISSION_ITEM: { mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); - // mavlink_missionlib_send_gcs_string("GOT WP"); -// printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid); -// printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid); - -// if((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { wpm->timestamp_lastaction = now; -// printf("wpm->current_state=%u, wp.seq = %d, wpm->current_wp_id=%d\n", wpm->current_state, wp.seq, wpm->current_wp_id); - -// wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO + /* + * ensure that we are in the correct state and that the first waypoint has id 0 + * and the following waypoints have the correct ids + */ - //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids - if ((wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || - (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && - wp.seq < wpm->current_count)) { - //mavlink_missionlib_send_gcs_string("DEBUG 2"); + if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); -// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); -// - wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - // mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]); - // memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); + if (wp.seq != 0) { + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq); + break; + } + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - struct mission_item_s mission_item; - - int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); - - if (ret != OK) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; + if (wp.seq >= wpm->current_count) { + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq); break; } - size_t len = sizeof(struct mission_item_s); - - dm_item_t dm_next; - - if (wpm->current_dataman_id == 0) { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; - mission.dataman_id = 1; - } else { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; - mission.dataman_id = 0; - } - - if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; + if (wp.seq != wpm->current_wp_id) { + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, wpm->current_wp_id); + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); break; } + } - if (wp.current) { - mission.current_index = wp.seq; - } + wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - wpm->current_wp_id = wp.seq + 1; + struct mission_item_s mission_item; - // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); -// printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); + int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); -// printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count); - if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - // mavlink_missionlib_send_gcs_string("GOT ALL WPS"); - // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count); + if (ret != OK) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret); + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); + ssize_t len = sizeof(struct mission_item_s); - // if (wpm->current_active_wp_id > wpm->rcv_size - 1) { - // wpm->current_active_wp_id = wpm->rcv_size - 1; - // } + dm_item_t dm_next; - // bool copy_error = false; + if (wpm->current_dataman_id == 0) { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; + mission.dataman_id = 1; + } else { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; + mission.dataman_id = 0; + } - // // switch the waypoints list - // // FIXME CHECK!!! - // uint32_t i; + if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } - // for (i = 0; i < wpm->current_count; ++i) { - // wpm->waypoints[i] = wpm->rcv_waypoints[i]; - // if (map_mavlink_mission_item_to_mission_item(&wpm->rcv_waypoints[i], &mission.items[i]) != OK) { - // copy_error = true; - // } + if (wp.current) { + mission.current_index = wp.seq; + } - // } - // TODO: update count? + wpm->current_wp_id = wp.seq + 1; + if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + + if (verbose) warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_count); - mission.count = wpm->current_count; - - publish_mission(); + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - wpm->current_dataman_id = mission.dataman_id; - wpm->size = wpm->current_count; - - //get the new current waypoint - - // for (i = 0; i < wpm->size; i++) { - // if (wpm->waypoints[i].current == 1) { - // wpm->current_active_wp_id = i; - // //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); - // // wpm->yaw_reached = false; - // // wpm->pos_reached = false; - // mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); - // // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - // // wpm->timestamp_firstinside_orbit = 0; - // break; - // } - // } - - // if (i == wpm->size) { - // wpm->current_active_wp_id = -1; - // wpm->yaw_reached = false; - // wpm->pos_reached = false; - // wpm->timestamp_firstinside_orbit = 0; - // } + mission.count = wpm->current_count; + + publish_mission(); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; + wpm->current_dataman_id = mission.dataman_id; + wpm->size = wpm->current_count; - } else { - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - } + wpm->current_state = MAVLINK_WPM_STATE_IDLE; } else { - - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_INVALID_SEQUENCE); - - // if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - // //we're done receiving waypoints, answer with ack. - // mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); - // printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); - // } - -// // if (verbose) -// { -// if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state); -// break; - -// } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { -// if (!(wp.seq == 0)) { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); -// } else { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); -// } -// } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { -// if (!(wp.seq == wpm->current_wp_id)) { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id); -// mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - -// } else if (!(wp.seq < wpm->current_count)) { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); -// } else { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); -// } -// } else { -// // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); -// } -// } + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); } + } else { - //we we're target but already communicating with someone else - if ((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm->current_partner_sysid); - } else if (wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); - } + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } break; } - case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { mavlink_mission_clear_all_t wpca; mavlink_msg_mission_clear_all_decode(msg, &wpca); - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - wpm->timestamp_lastaction = now; + if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { - // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); - // Delete all waypoints - wpm->size = 0; - // wpm->current_active_wp_id = -1; - // wpm->yaw_reached = false; - // wpm->pos_reached = false; + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + wpm->timestamp_lastaction = now; - /* prepare mission topic */ - mission.dataman_id = -1; - mission.count = 0; - mission.current_index = -1; + wpm->size = 0; - if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + /* prepare mission topic */ + mission.dataman_id = -1; + mission.count = 0; + mission.current_index = -1; + publish_mission(); + + if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + } + + } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); + if (verbose) warnx("IGN WP CLEAR CMD: Busy"); } - publish_mission(); - } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm->current_state); - warnx("not cleared"); + + mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } break; } default: { - // if (debug) // printf("Waypoint: received message of unknown type"); + /* other messages might should get caught by mavlink and others */ break; } } - - // check_waypoints_reached(now, global_pos, local_pos); } diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index 801bc0bcf..f8b58c7d9 100644 --- a/src/modules/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h @@ -46,19 +46,10 @@ or in the same folder as this source file */ #include <v1.0/mavlink_types.h> - -// #ifndef MAVLINK_SEND_UART_BYTES -// #define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) -// #endif -//extern mavlink_system_t mavlink_system; #include "mavlink_bridge_header.h" #include <stdbool.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_local_position.h> -#include <uORB/topics/navigation_capabilities.h> #include <uORB/topics/mission.h> -// FIXME XXX - TO BE MOVED TO XML enum MAVLINK_WPM_STATES { MAVLINK_WPM_STATE_IDLE = 0, MAVLINK_WPM_STATE_SENDLIST, @@ -79,44 +70,24 @@ enum MAVLINK_WPM_CODES { }; -/* WAYPOINT MANAGER - MISSION LIB */ - -#define MAVLINK_WPM_MAX_WP_COUNT 15 -// #define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates -#ifndef MAVLINK_WPM_TEXT_FEEDBACK -#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text -#endif +#define MAVLINK_WPM_MAX_WP_COUNT 255 #define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds #define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint #define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 struct mavlink_wpm_storage { - mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints -// #ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE - // mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints -// #endif uint16_t size; uint16_t max_size; - uint16_t rcv_size; enum MAVLINK_WPM_STATES current_state; int16_t current_wp_id; ///< Waypoint in current transmission - // int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards uint16_t current_count; uint8_t current_partner_sysid; uint8_t current_partner_compid; uint64_t timestamp_lastaction; - // uint64_t timestamp_last_send_setpoint; - // uint64_t timestamp_firstinside_orbit; - // uint64_t timestamp_lastoutside_orbit; + uint64_t timestamp_last_send_setpoint; uint32_t timeout; int current_dataman_id; - // uint32_t delay_setpoint; - // float accept_range_yaw; - // float accept_range_distance; - // bool yaw_reached; - // bool pos_reached; - // bool idle; }; typedef struct mavlink_wpm_storage mavlink_wpm_storage; @@ -126,13 +97,16 @@ int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *missio void mavlink_wpm_init(mavlink_wpm_storage *state); -int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, - struct vehicle_local_position_s *local_pos, struct navigation_capabilities_s *nav_cap); -void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , - struct vehicle_local_position_s *local_pos); +void mavlink_waypoint_eventloop(uint64_t now); +void mavlink_wpm_message_handler(const mavlink_message_t *msg); extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, float param2, float param3, float param4, float param5_lat_x, float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); +static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; + +void mavlink_missionlib_send_message(mavlink_message_t *msg); +int mavlink_missionlib_send_gcs_string(const char *string); + #endif /* WAYPOINTS_H_ */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 37c2a0389..0a0ee2541 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -977,9 +977,8 @@ Navigator::start_mission() mavlink_log_info(_mavlink_fd, "[navigator] heading to offboard WP %d", index); } } else { - /* since a mission is not started without WPs available, this is not supposed to happen */ + /* since a mission is started without knowledge if there are more mission items available, this can fail */ _mission_item_triplet.current_valid = false; - warnx("ERROR: current WP can't be set"); } ret = _mission.get_next_mission_item(&_mission_item_triplet.next); @@ -1308,11 +1307,9 @@ bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const fabsf(a.nav_cmd - b.nav_cmd) < FLT_EPSILON && fabsf(a.radius - b.radius) < FLT_EPSILON && fabsf(a.time_inside - b.time_inside) < FLT_EPSILON && - fabsf(a.autocontinue - b.autocontinue) < FLT_EPSILON && - fabsf(a.index - b.index) < FLT_EPSILON) { + fabsf(a.autocontinue - b.autocontinue) < FLT_EPSILON) { return true; } else { - warnx("a.index %d, b.index %d", a.index, b.index); return false; } } diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 7ef1aa309..0358725db 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -584,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) /* this option is normally set last */ if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { uint8_t count = 0; + bool disabled = false; /* assert min..center..max ordering */ if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) { @@ -602,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) { + disabled = true; + } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { count++; } @@ -610,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (count) { isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1)); r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK; - } else { + } else if (!disabled) { conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; } } diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index c54128cb5..763723554 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -104,49 +104,49 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC2_MIN, 1000); PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); PARAM_DEFINE_FLOAT(RC2_MAX, 2000); PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC3_MIN, 1000); PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); PARAM_DEFINE_FLOAT(RC3_MAX, 2000); PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC4_MIN, 1000); PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); PARAM_DEFINE_FLOAT(RC4_MAX, 2000); PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f); +PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC5_MIN, 1000); PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); PARAM_DEFINE_FLOAT(RC5_MAX, 2000); PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC6_MIN, 1000); PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); PARAM_DEFINE_FLOAT(RC6_MAX, 2000); PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC7_MIN, 1000); PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); PARAM_DEFINE_FLOAT(RC7_MAX, 2000); PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC8_MIN, 1000); PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); PARAM_DEFINE_FLOAT(RC8_MAX, 2000); PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f); PARAM_DEFINE_FLOAT(RC9_MIN, 1000); PARAM_DEFINE_FLOAT(RC9_TRIM, 1500); diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index dcdb234fa..9b4250115 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -91,7 +91,6 @@ struct mission_item_s float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ bool autocontinue; /**< true if next waypoint should follow after this one */ - int index; /**< index matching the mavlink waypoint */ enum ORIGIN origin; /**< where the waypoint has been generated */ }; |