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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-09 11:21:39 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-09 11:21:39 +0200 |
commit | 629e73bcf44f820f1936521d6c65cc481792ce5a (patch) | |
tree | af754381c45f00a56395cb5eede91e9d3280c43b /src/modules/mavlink/mavlink_receiver.cpp | |
parent | 4b9f9281f5d2b425f0de83801eb38224395c0f12 (diff) | |
parent | 0054eb23d857844ebae34a7d198fc60e538ccd3c (diff) | |
download | px4-firmware-629e73bcf44f820f1936521d6c65cc481792ce5a.tar.gz px4-firmware-629e73bcf44f820f1936521d6c65cc481792ce5a.tar.bz2 px4-firmware-629e73bcf44f820f1936521d6c65cc481792ce5a.zip |
Merged master into vision_estimate
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 151 |
1 files changed, 66 insertions, 85 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 77226cd20..a0a953f72 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -102,6 +102,10 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _cmd_pub(-1), _flow_pub(-1), _offboard_control_sp_pub(-1), + _local_pos_sp_pub(-1), + _global_vel_sp_pub(-1), + _att_sp_pub(-1), + _rates_sp_pub(-1), _vicon_position_pub(-1), _vision_position_pub(-1), _telemetry_status_pub(-1), @@ -109,12 +113,15 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _manual_pub(-1), _telemetry_heartbeat_time(0), _radio_status_available(false), + _control_mode_sub(-1), _hil_frames(0), _old_timestamp(0), _hil_local_proj_inited(0), _hil_local_alt0(0.0) { + _control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); memset(&hil_local_pos, 0, sizeof(hil_local_pos)); + memset(&_control_mode, 0, sizeof(_control_mode)); // make sure the FTP server is started (void)MavlinkFTP::getServer(); @@ -403,53 +410,21 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) void MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg) { - 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); + mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t swarm_offboard_control; + mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &swarm_offboard_control); - if (mavlink_system.sysid < 4) { + /* Only accept system IDs from 1 to 4 */ + if (mavlink_system.sysid >= 1 && mavlink_system.sysid <= 4) { struct offboard_control_setpoint_s offboard_control_sp; memset(&offboard_control_sp, 0, sizeof(offboard_control_sp)); - uint8_t ml_mode = 0; - bool ml_armed = false; + /* Convert values * 1000 back */ + offboard_control_sp.p1 = (float)swarm_offboard_control.roll[mavlink_system.sysid - 1] / 1000.0f; + offboard_control_sp.p2 = (float)swarm_offboard_control.pitch[mavlink_system.sysid - 1] / 1000.0f; + offboard_control_sp.p3 = (float)swarm_offboard_control.yaw[mavlink_system.sysid - 1] / 1000.0f; + offboard_control_sp.p4 = (float)swarm_offboard_control.thrust[mavlink_system.sysid - 1] / 1000.0f; - switch (quad_motors_setpoint.mode) { - case 0: - ml_armed = false; - break; - - case 1: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; - ml_armed = true; - - break; - - case 2: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; - ml_armed = true; - - break; - - case 3: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; - break; - - case 4: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; - break; - } - - offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; - - if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) { - ml_armed = false; - } - - offboard_control_sp.armed = ml_armed; - offboard_control_sp.mode = static_cast<enum OFFBOARD_CONTROL_MODE>(ml_mode); + offboard_control_sp.mode = (enum OFFBOARD_CONTROL_MODE)swarm_offboard_control.mode; offboard_control_sp.timestamp = hrt_absolute_time(); @@ -465,32 +440,35 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message void MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) { - mavlink_radio_status_t rstatus; - mavlink_msg_radio_status_decode(msg, &rstatus); - - struct telemetry_status_s tstatus; - memset(&tstatus, 0, sizeof(tstatus)); - - tstatus.timestamp = hrt_absolute_time(); - tstatus.heartbeat_time = _telemetry_heartbeat_time; - tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; - tstatus.rssi = rstatus.rssi; - tstatus.remote_rssi = rstatus.remrssi; - tstatus.txbuf = rstatus.txbuf; - tstatus.noise = rstatus.noise; - tstatus.remote_noise = rstatus.remnoise; - tstatus.rxerrors = rstatus.rxerrors; - tstatus.fixed = rstatus.fixed; - - if (_telemetry_status_pub < 0) { - _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); + /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */ + if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) { + mavlink_radio_status_t rstatus; + mavlink_msg_radio_status_decode(msg, &rstatus); + + struct telemetry_status_s tstatus; + memset(&tstatus, 0, sizeof(tstatus)); + + tstatus.timestamp = hrt_absolute_time(); + tstatus.heartbeat_time = _telemetry_heartbeat_time; + tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; + tstatus.rssi = rstatus.rssi; + tstatus.remote_rssi = rstatus.remrssi; + tstatus.txbuf = rstatus.txbuf; + tstatus.noise = rstatus.noise; + tstatus.remote_noise = rstatus.remnoise; + tstatus.rxerrors = rstatus.rxerrors; + tstatus.fixed = rstatus.fixed; + + if (_telemetry_status_pub < 0) { + _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus); - } else { - orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); - } + } else { + orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus); + } - /* this means that heartbeats alone won't be published to the radio status no more */ - _radio_status_available = true; + /* this means that heartbeats alone won't be published to the radio status no more */ + _radio_status_available = true; + } } void @@ -508,6 +486,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) manual.r = man.r / 1000.0f; manual.z = man.z / 1000.0f; + warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z); + if (_manual_pub < 0) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); @@ -519,28 +499,31 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) void MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) { - mavlink_heartbeat_t hb; - mavlink_msg_heartbeat_decode(msg, &hb); + /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */ + if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) { + mavlink_heartbeat_t hb; + mavlink_msg_heartbeat_decode(msg, &hb); - /* ignore own heartbeats, accept only heartbeats from GCS */ - if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) { - _telemetry_heartbeat_time = hrt_absolute_time(); + /* ignore own heartbeats, accept only heartbeats from GCS */ + if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) { + _telemetry_heartbeat_time = hrt_absolute_time(); - /* if no radio status messages arrive, lets at least publish that heartbeats were received */ - if (!_radio_status_available) { + /* if no radio status messages arrive, lets at least publish that heartbeats were received */ + if (!_radio_status_available) { - struct telemetry_status_s tstatus; - memset(&tstatus, 0, sizeof(tstatus)); + struct telemetry_status_s tstatus; + memset(&tstatus, 0, sizeof(tstatus)); - tstatus.timestamp = _telemetry_heartbeat_time; - tstatus.heartbeat_time = _telemetry_heartbeat_time; - tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; + tstatus.timestamp = _telemetry_heartbeat_time; + tstatus.heartbeat_time = _telemetry_heartbeat_time; + tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; - if (_telemetry_status_pub < 0) { - _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); + if (_telemetry_status_pub < 0) { + _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus); - } else { - orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); + } else { + orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus); + } } } } @@ -785,7 +768,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.timestamp_variance = timestamp; hil_gps.s_variance_m_s = 5.0f; - hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph; hil_gps.timestamp_velocity = timestamp; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s @@ -795,9 +777,8 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.vel_ned_valid = true; hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f); - hil_gps.timestamp_satellites = timestamp; hil_gps.fix_type = gps.fix_type; - hil_gps.satellites_visible = gps.satellites_visible; + hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used? if (_gps_pub < 0) { _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); |