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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-18 18:28:49 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-18 18:28:49 +0200 |
commit | b0b72b11eb6c112d3fb58385f5681af55dd5605a (patch) | |
tree | b5c9548cc4619919fab7015df2a390de70578ac3 /apps/mavlink/mavlink.c | |
parent | 3816327977166cbb68ba94aae4b316651cd70ba3 (diff) | |
parent | df034330340aa1f938adbc1ed8840689ead41d89 (diff) | |
download | px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.tar.gz px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.tar.bz2 px4-firmware-b0b72b11eb6c112d3fb58385f5681af55dd5605a.zip |
Reworking control infrastructure for inner rate loop, preparing offboard interface
Diffstat (limited to 'apps/mavlink/mavlink.c')
-rw-r--r-- | apps/mavlink/mavlink.c | 53 |
1 files changed, 33 insertions, 20 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index ee3879b41..fb96866b0 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -83,7 +83,7 @@ /* define MAVLink specific parameters */ PARAM_DEFINE_INT32(MAV_SYS_ID, 1); PARAM_DEFINE_INT32(MAV_COMP_ID, 50); -PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_GENERIC); +PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_QUADROTOR); __EXPORT int mavlink_main(int argc, char *argv[]); int mavlink_thread_main(int argc, char *argv[]); @@ -95,7 +95,7 @@ static int mavlink_task; /* terminate MAVLink on user request - disabled by default */ static bool mavlink_link_termination_allowed = false; -mavlink_system_t mavlink_system = {100, 50, MAV_TYPE_FIXED_WING, 0, 0, 0}; // System ID, 1-255, Component/Subsystem ID, 1-255 +mavlink_system_t mavlink_system = {100, 50, MAV_TYPE_QUADROTOR, 0, 0, 0}; // System ID, 1-255, Component/Subsystem ID, 1-255 static uint8_t chan = MAVLINK_COMM_0; static mavlink_status_t status; @@ -1093,6 +1093,8 @@ static void *uorb_receiveloop(void *arg) /* --- DEBUG KEY/VALUE --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(debug_key_value), subs->debug_key_value, &buf.debug); + /* Enforce null termination */ + buf.debug.key[sizeof(buf.debug.key) - 1] = '\0'; mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, buf.debug.key, buf.debug.value); } } @@ -1234,26 +1236,36 @@ void handleMessage(mavlink_message_t *msg) /* Handle quadrotor motor setpoints */ - if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT) { - mavlink_set_quad_motors_setpoint_t quad_motors_setpoint; - mavlink_msg_set_quad_motors_setpoint_decode(msg, &quad_motors_setpoint); + if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) { + mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; + mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); // printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", quad_motors_setpoint.target_system, mavlink_system.sysid); - if (quad_motors_setpoint.target_system == mavlink_system.sysid) { - ardrone_motors.motor_front_nw = quad_motors_setpoint.motor_front_nw; - ardrone_motors.motor_right_ne = quad_motors_setpoint.motor_right_ne; - ardrone_motors.motor_back_se = quad_motors_setpoint.motor_back_se; - ardrone_motors.motor_left_sw = quad_motors_setpoint.motor_left_sw; + if (mavlink_system.sysid < 4) { + ardrone_motors.p1 = quad_motors_setpoint.roll[mavlink_system.sysid]; + ardrone_motors.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid]; + ardrone_motors.p3 = quad_motors_setpoint.yaw[mavlink_system.sysid]; + ardrone_motors.p4 = quad_motors_setpoint.thrust[mavlink_system.sysid]; - ardrone_motors.counter++; ardrone_motors.timestamp = hrt_absolute_time(); - /* check if topic has to be advertised */ - if (ardrone_motors_pub <= 0) { - ardrone_motors_pub = orb_advertise(ORB_ID(ardrone_motors_setpoint), &ardrone_motors); + /* only send if RC is off */ + if (v_status.rc_signal_lost) { + /* check if input has to be enabled */ + if (!v_status.flag_control_offboard_enabled) { + /* XXX Enable offboard control */ + } + + /* XXX decode mode and set flags */ + // if (mode == abc) xxx flag_control_rates_enabled; + + /* check if topic has to be advertised */ + if (ardrone_motors_pub <= 0) { + ardrone_motors_pub = orb_advertise(ORB_ID(ardrone_motors_setpoint), &ardrone_motors); + } + /* Publish */ + orb_publish(ORB_ID(ardrone_motors_setpoint), ardrone_motors_pub, &ardrone_motors); } - /* Publish */ - orb_publish(ORB_ID(ardrone_motors_setpoint), ardrone_motors_pub, &ardrone_motors); } } @@ -1557,8 +1569,6 @@ int mavlink_thread_main(int argc, char *argv[]) mavlink_wpm_init(wpm); uint16_t counter = 0; - /* arm counter to go off immediately */ - int lowspeed_counter = 10; /* make sure all threads have registered their subscriptions */ while (!mavlink_subs.initialized) { @@ -1625,6 +1635,9 @@ int mavlink_thread_main(int argc, char *argv[]) thread_running = true; + /* arm counter to go off immediately */ + int lowspeed_counter = 10; + while (!thread_should_exit) { /* get local and global position */ @@ -1649,7 +1662,7 @@ int mavlink_thread_main(int argc, char *argv[]) int32_t system_type; param_get(param_system_type, &system_type); - if (system_type >= 0 && system_type < MAV_AUTOPILOT_ENUM_END) { + if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { mavlink_system.type = system_type; } @@ -1659,7 +1672,7 @@ int mavlink_thread_main(int argc, char *argv[]) get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); /* switch HIL mode if required */ set_hil_on_off(v_status.flag_hil_enabled); |