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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-09 08:10:35 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-09 08:10:35 +0100 |
commit | 03c543aba6440c25c5d349791b5a6b33914cb74c (patch) | |
tree | 2c84a299c31c4fda28c5cd07683b7151a35d07ac /src/modules/mavlink/orb_listener.c | |
parent | 55eaa38c651be41eee31b86330edbf27869385f8 (diff) | |
download | px4-firmware-03c543aba6440c25c5d349791b5a6b33914cb74c.tar.gz px4-firmware-03c543aba6440c25c5d349791b5a6b33914cb74c.tar.bz2 px4-firmware-03c543aba6440c25c5d349791b5a6b33914cb74c.zip |
MAVLink multi-port WIP, not compiling yet
Diffstat (limited to 'src/modules/mavlink/orb_listener.c')
-rw-r--r-- | src/modules/mavlink/orb_listener.c | 875 |
1 files changed, 0 insertions, 875 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c deleted file mode 100644 index 6e177bc4d..000000000 --- a/src/modules/mavlink/orb_listener.c +++ /dev/null @@ -1,875 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * 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 orb_listener.c - * Monitors ORB topics and sends update messages as appropriate. - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -// XXX trim includes -#include <nuttx/config.h> -#include <stdio.h> -#include <math.h> -#include <stdbool.h> -#include <fcntl.h> -#include <string.h> -#include "mavlink_bridge_header.h" -#include <drivers/drv_hrt.h> -#include <time.h> -#include <float.h> -#include <unistd.h> -#include <sys/prctl.h> -#include <stdlib.h> -#include <poll.h> -#include <lib/geo/geo.h> - -#include <mavlink/mavlink_log.h> - -#include "waypoints.h" -#include "orb_topics.h" -#include "mavlink_hil.h" -#include "util.h" - -extern bool gcs_link; - -struct vehicle_global_position_s global_pos; -struct vehicle_local_position_s local_pos; -struct navigation_capabilities_s nav_cap; -struct vehicle_status_s v_status; -struct vehicle_control_mode_s control_mode; -struct rc_channels_s rc; -struct rc_input_values rc_raw; -struct actuator_armed_s armed; -struct actuator_controls_s actuators_0; -struct vehicle_attitude_s att; -struct airspeed_s airspeed; - -struct mavlink_subscriptions mavlink_subs; - -static int status_sub; -static int rc_sub; - -static unsigned int sensors_raw_counter; -static unsigned int attitude_counter; -static unsigned int gps_counter; - -/* - * Last sensor loop time - * some outputs are better timestamped - * with this "global" reference. - */ -static uint64_t last_sensor_timestamp; - -static hrt_abstime last_sent_vfr = 0; - -static void *uorb_receive_thread(void *arg); - -struct listener { - void (*callback)(const struct listener *l); - int *subp; - uintptr_t arg; -}; - -uint16_t cm_uint16_from_m_float(float m); - -static void l_sensor_combined(const struct listener *l); -static void l_vehicle_attitude(const struct listener *l); -static void l_vehicle_gps_position(const struct listener *l); -static void l_vehicle_status(const struct listener *l); -static void l_rc_channels(const struct listener *l); -static void l_input_rc(const struct listener *l); -static void l_global_position(const struct listener *l); -static void l_local_position(const struct listener *l); -static void l_global_position_setpoint(const struct listener *l); -static void l_local_position_setpoint(const struct listener *l); -static void l_attitude_setpoint(const struct listener *l); -static void l_actuator_outputs(const struct listener *l); -static void l_actuator_armed(const struct listener *l); -static void l_manual_control_setpoint(const struct listener *l); -static void l_vehicle_attitude_controls(const struct listener *l); -static void l_debug_key_value(const struct listener *l); -static void l_optical_flow(const struct listener *l); -static void l_vehicle_rates_setpoint(const struct listener *l); -static void l_home(const struct listener *l); -static void l_airspeed(const struct listener *l); -static void l_nav_cap(const struct listener *l); -static void l_control_mode(const struct listener *l); - -static const struct listener listeners[] = { - {l_sensor_combined, &mavlink_subs.sensor_sub, 0}, - {l_vehicle_attitude, &mavlink_subs.att_sub, 0}, - {l_vehicle_gps_position, &mavlink_subs.gps_sub, 0}, - {l_vehicle_status, &status_sub, 0}, - {l_rc_channels, &rc_sub, 0}, - {l_input_rc, &mavlink_subs.input_rc_sub, 0}, - {l_global_position, &mavlink_subs.global_pos_sub, 0}, - {l_local_position, &mavlink_subs.local_pos_sub, 0}, - {l_global_position_setpoint, &mavlink_subs.triplet_sub, 0}, - {l_local_position_setpoint, &mavlink_subs.spl_sub, 0}, - {l_attitude_setpoint, &mavlink_subs.spa_sub, 0}, - {l_actuator_outputs, &mavlink_subs.act_0_sub, 0}, - {l_actuator_outputs, &mavlink_subs.act_1_sub, 1}, - {l_actuator_outputs, &mavlink_subs.act_2_sub, 2}, - {l_actuator_outputs, &mavlink_subs.act_3_sub, 3}, - {l_actuator_armed, &mavlink_subs.armed_sub, 0}, - {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, - {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, - {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, - {l_optical_flow, &mavlink_subs.optical_flow, 0}, - {l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0}, - {l_home, &mavlink_subs.home_sub, 0}, - {l_airspeed, &mavlink_subs.airspeed_sub, 0}, - {l_nav_cap, &mavlink_subs.navigation_capabilities_sub, 0}, - {l_control_mode, &mavlink_subs.control_mode_sub, 0}, -}; - -static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]); - -uint16_t -cm_uint16_from_m_float(float m) -{ - if (m < 0.0f) { - return 0; - - } else if (m > 655.35f) { - return 65535; - } - - return (uint16_t)(m * 100.0f); -} - -void -l_sensor_combined(const struct listener *l) -{ - struct sensor_combined_s raw; - - /* copy sensors raw data into local buffer */ - orb_copy(ORB_ID(sensor_combined), mavlink_subs.sensor_sub, &raw); - - last_sensor_timestamp = raw.timestamp; - - /* mark individual fields as changed */ - uint16_t fields_updated = 0; - static unsigned accel_counter = 0; - static unsigned gyro_counter = 0; - static unsigned mag_counter = 0; - static unsigned baro_counter = 0; - - if (accel_counter != raw.accelerometer_counter) { - /* mark first three dimensions as changed */ - fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); - accel_counter = raw.accelerometer_counter; - } - - if (gyro_counter != raw.gyro_counter) { - /* mark second group dimensions as changed */ - fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); - gyro_counter = raw.gyro_counter; - } - - if (mag_counter != raw.magnetometer_counter) { - /* mark third group dimensions as changed */ - fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); - mag_counter = raw.magnetometer_counter; - } - - if (baro_counter != raw.baro_counter) { - /* mark last group dimensions as changed */ - fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); - baro_counter = raw.baro_counter; - } - - if (gcs_link) - mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, - raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1], - raw.accelerometer_m_s2[2], raw.gyro_rad_s[0], - raw.gyro_rad_s[1], raw.gyro_rad_s[2], - raw.magnetometer_ga[0], - raw.magnetometer_ga[1], raw.magnetometer_ga[2], - raw.baro_pres_mbar, raw.differential_pressure_pa, - raw.baro_alt_meter, raw.baro_temp_celcius, - fields_updated); - - sensors_raw_counter++; -} - -void -l_vehicle_attitude(const struct listener *l) -{ - /* copy attitude data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att); - - if (gcs_link) { - /* send sensor values */ - mavlink_msg_attitude_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - att.roll, - att.pitch, - att.yaw, - att.rollspeed, - att.pitchspeed, - att.yawspeed); - - /* limit VFR message rate to 10Hz */ - hrt_abstime t = hrt_absolute_time(); - if (t >= last_sent_vfr + 100000) { - last_sent_vfr = t; - float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy); - uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F; - float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f; - mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz); - } - - /* send quaternion values if it exists */ - if(att.q_valid) { - mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - att.q[0], - att.q[1], - att.q[2], - att.q[3], - att.rollspeed, - att.pitchspeed, - att.yawspeed); - } - } - - attitude_counter++; -} - -void -l_vehicle_gps_position(const struct listener *l) -{ - struct vehicle_gps_position_s gps; - - /* copy gps data into local buffer */ - orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps); - - /* GPS COG is 0..2PI in degrees * 1e2 */ - float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F; - - /* GPS position */ - mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, - gps.timestamp_position, - gps.fix_type, - gps.lat, - gps.lon, - gps.alt, - cm_uint16_from_m_float(gps.eph_m), - cm_uint16_from_m_float(gps.epv_m), - gps.vel_m_s * 1e2f, // from m/s to cm/s - cog_deg * 1e2f, // from deg to deg * 100 - gps.satellites_visible); - - /* update SAT info every 10 seconds */ - if (gps.satellite_info_available && (gps_counter % 50 == 0)) { - mavlink_msg_gps_status_send(MAVLINK_COMM_0, - gps.satellites_visible, - gps.satellite_prn, - gps.satellite_used, - gps.satellite_elevation, - gps.satellite_azimuth, - gps.satellite_snr); - } - - gps_counter++; -} - -void -l_vehicle_status(const struct listener *l) -{ - /* immediately communicate state changes back to user */ - orb_copy(ORB_ID(vehicle_status), status_sub, &v_status); - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); - - /* enable or disable HIL */ - if (v_status.hil_state == HIL_STATE_ON) - set_hil_on_off(true); - else if (v_status.hil_state == HIL_STATE_OFF) - set_hil_on_off(false); - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, - mavlink_system.type, - MAV_AUTOPILOT_PX4, - mavlink_base_mode, - mavlink_custom_mode, - mavlink_state); -} - -void -l_rc_channels(const struct listener *l) -{ - /* copy rc channels into local buffer */ - orb_copy(ORB_ID(rc_channels), rc_sub, &rc); - // XXX Add RC channels scaled message here -} - -void -l_input_rc(const struct listener *l) -{ - /* copy rc channels into local buffer */ - orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw); - - if (gcs_link) { - - const unsigned port_width = 8; - - for (unsigned i = 0; (i * port_width) < (rc_raw.channel_count + port_width); i++) { - /* Channels are sent in MAVLink main loop at a fixed interval */ - mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp / 1000, - i, - (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX, - rc_raw.rssi); - } - } -} - -void -l_global_position(const struct listener *l) -{ - /* copy global position data into local buffer */ - orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos); - - mavlink_msg_global_position_int_send(MAVLINK_COMM_0, - global_pos.timestamp / 1000, - global_pos.lat, - global_pos.lon, - global_pos.alt * 1000.0f, - global_pos.relative_alt * 1000.0f, - global_pos.vx * 100.0f, - global_pos.vy * 100.0f, - global_pos.vz * 100.0f, - _wrap_2pi(global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f); -} - -void -l_local_position(const struct listener *l) -{ - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos); - - if (gcs_link) - mavlink_msg_local_position_ned_send(MAVLINK_COMM_0, - local_pos.timestamp / 1000, - local_pos.x, - local_pos.y, - local_pos.z, - local_pos.vx, - local_pos.vy, - local_pos.vz); -} - -void -l_global_position_setpoint(const struct listener *l) -{ - struct mission_item_triplet_s triplet; - orb_copy(ORB_ID(mission_item_triplet), mavlink_subs.triplet_sub, &triplet); - - uint8_t coordinate_frame = MAV_FRAME_GLOBAL; - - if (!triplet.current_valid) - return; - - if (triplet.current.altitude_is_relative) - coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; - - if (gcs_link) - mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, - coordinate_frame, - (int32_t)(triplet.current.lat * 1e7d), - (int32_t)(triplet.current.lon * 1e7d), - (int32_t)(triplet.current.altitude * 1e3f), - (int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f)); -} - -void -l_local_position_setpoint(const struct listener *l) -{ - struct vehicle_local_position_setpoint_s local_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_local_position_setpoint), mavlink_subs.spl_sub, &local_sp); - - if (gcs_link) - mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0, - MAV_FRAME_LOCAL_NED, - local_sp.x, - local_sp.y, - local_sp.z, - local_sp.yaw); -} - -void -l_attitude_setpoint(const struct listener *l) -{ - struct vehicle_attitude_setpoint_s att_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude_setpoint), mavlink_subs.spa_sub, &att_sp); - - if (gcs_link) - mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, - att_sp.timestamp / 1000, - att_sp.roll_body, - att_sp.pitch_body, - att_sp.yaw_body, - att_sp.thrust); -} - -void -l_vehicle_rates_setpoint(const struct listener *l) -{ - struct vehicle_rates_setpoint_s rates_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_rates_setpoint), mavlink_subs.rates_setpoint_sub, &rates_sp); - - if (gcs_link) - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_0, - rates_sp.timestamp / 1000, - rates_sp.roll, - rates_sp.pitch, - rates_sp.yaw, - rates_sp.thrust); -} - -void -l_actuator_outputs(const struct listener *l) -{ - struct actuator_outputs_s act_outputs; - - orb_id_t ids[] = { - ORB_ID(actuator_outputs_0), - ORB_ID(actuator_outputs_1), - ORB_ID(actuator_outputs_2), - ORB_ID(actuator_outputs_3) - }; - - /* copy actuator data into local buffer */ - orb_copy(ids[l->arg], *l->subp, &act_outputs); - - if (gcs_link) { - mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - l->arg /* port number - needs GCS support */, - /* QGC has port number support already */ - act_outputs.output[0], - act_outputs.output[1], - act_outputs.output[2], - act_outputs.output[3], - act_outputs.output[4], - act_outputs.output[5], - act_outputs.output[6], - act_outputs.output[7]); - - /* only send in HIL mode and only send first group for HIL */ - if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* HIL message as per MAVLink spec */ - - /* scale / assign outputs depending on system type */ - - if (mavlink_system.type == MAV_TYPE_QUADROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - -1, - -1, - -1, - -1, - mavlink_base_mode, - 0); - - } else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, - -1, - -1, - mavlink_base_mode, - 0); - - } else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f, - mavlink_base_mode, - 0); - - } else { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - (act_outputs.output[0] - 1500.0f) / 500.0f, - (act_outputs.output[1] - 1500.0f) / 500.0f, - (act_outputs.output[2] - 1500.0f) / 500.0f, - (act_outputs.output[3] - 1000.0f) / 1000.0f, - (act_outputs.output[4] - 1500.0f) / 500.0f, - (act_outputs.output[5] - 1500.0f) / 500.0f, - (act_outputs.output[6] - 1500.0f) / 500.0f, - (act_outputs.output[7] - 1500.0f) / 500.0f, - mavlink_base_mode, - 0); - } - } - } -} - -void -l_actuator_armed(const struct listener *l) -{ - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); -} - -void -l_manual_control_setpoint(const struct listener *l) -{ - struct manual_control_setpoint_s man_control; - - /* copy manual control data into local buffer */ - orb_copy(ORB_ID(manual_control_setpoint), mavlink_subs.man_control_sp_sub, &man_control); - - if (gcs_link) - mavlink_msg_manual_control_send(MAVLINK_COMM_0, - mavlink_system.sysid, - man_control.roll * 1000, - man_control.pitch * 1000, - man_control.yaw * 1000, - man_control.throttle * 1000, - 0); -} - -void -l_vehicle_attitude_controls(const struct listener *l) -{ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators_0); - - if (gcs_link) { - /* send, add spaces so that string buffer is at least 10 chars long */ - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl0 ", - actuators_0.control[0]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl1 ", - actuators_0.control[1]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl2 ", - actuators_0.control[2]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl3 ", - actuators_0.control[3]); - } -} - -void -l_debug_key_value(const struct listener *l) -{ - struct debug_key_value_s debug; - - orb_copy(ORB_ID(debug_key_value), mavlink_subs.debug_key_value, &debug); - - /* Enforce null termination */ - debug.key[sizeof(debug.key) - 1] = '\0'; - - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - debug.key, - debug.value); -} - -void -l_optical_flow(const struct listener *l) -{ - struct optical_flow_s flow; - - orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow); - - mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y, - flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m); -} - -void -l_home(const struct listener *l) -{ - struct home_position_s home; - - orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home); - - mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, (int32_t)(home.lat*1e7d), (int32_t)(home.lon*1e7d), (int32_t)(home.altitude)*1e3f); -} - -void -l_airspeed(const struct listener *l) -{ - orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed); -} - -void -l_nav_cap(const struct listener *l) -{ - - orb_copy(ORB_ID(navigation_capabilities), mavlink_subs.navigation_capabilities_sub, &nav_cap); - - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - hrt_absolute_time() / 1000, - "turn dist", - nav_cap.turn_distance); - -} - -void -l_control_mode(const struct listener *l) -{ - orb_copy(ORB_ID(vehicle_control_mode), mavlink_subs.control_mode_sub, &control_mode); - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, - mavlink_system.type, - MAV_AUTOPILOT_PX4, - mavlink_base_mode, - mavlink_custom_mode, - mavlink_state); -} - -static void * -uorb_receive_thread(void *arg) -{ - /* Set thread name */ - prctl(PR_SET_NAME, "mavlink_orb_rcv", getpid()); - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms (1 second) - */ - const int timeout = 1000; - - /* - * Initialise listener array. - * - * Might want to invoke each listener once to set initial state. - */ - struct pollfd fds[n_listeners]; - - for (unsigned i = 0; i < n_listeners; i++) { - fds[i].fd = *listeners[i].subp; - fds[i].events = POLLIN; - - /* Invoke callback to set initial state */ - //listeners[i].callback(&listener[i]); - } - - while (!thread_should_exit) { - - int poll_ret = poll(fds, n_listeners, timeout); - - /* handle the poll result */ - if (poll_ret == 0) { - /* silent */ - - } else if (poll_ret < 0) { - mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); - - } else { - - for (unsigned i = 0; i < n_listeners; i++) { - if (fds[i].revents & POLLIN) - listeners[i].callback(&listeners[i]); - } - } - } - - return NULL; -} - -pthread_t -uorb_receive_start(void) -{ - /* --- SENSORS RAW VALUE --- */ - mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */ - - /* --- ATTITUDE VALUE --- */ - mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */ - - /* --- GPS VALUE --- */ - mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ - - /* --- HOME POSITION --- */ - mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); - orb_set_interval(mavlink_subs.home_sub, 1000); /* 1Hz updates */ - - /* --- SYSTEM STATE --- */ - status_sub = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */ - - /* --- CONTROL MODE --- */ - mavlink_subs.control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); - orb_set_interval(mavlink_subs.control_mode_sub, 300); /* max 3.33 Hz updates */ - - /* --- RC CHANNELS VALUE --- */ - rc_sub = orb_subscribe(ORB_ID(rc_channels)); - orb_set_interval(rc_sub, 100); /* 10Hz updates */ - - /* --- RC RAW VALUE --- */ - mavlink_subs.input_rc_sub = orb_subscribe(ORB_ID(input_rc)); - orb_set_interval(mavlink_subs.input_rc_sub, 100); - - /* --- GLOBAL POS VALUE --- */ - mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz active updates */ - - /* --- LOCAL POS VALUE --- */ - mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - orb_set_interval(mavlink_subs.local_pos_sub, 1000); /* 1Hz active updates */ - - /* --- GLOBAL SETPOINT VALUE --- */ - mavlink_subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet)); - orb_set_interval(mavlink_subs.triplet_sub, 2000); /* 0.5 Hz updates */ - - /* --- LOCAL SETPOINT VALUE --- */ - mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); - orb_set_interval(mavlink_subs.spl_sub, 2000); /* 0.5 Hz updates */ - - /* --- ATTITUDE SETPOINT VALUE --- */ - mavlink_subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - orb_set_interval(mavlink_subs.spa_sub, 2000); /* 0.5 Hz updates */ - - /* --- RATES SETPOINT VALUE --- */ - mavlink_subs.rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - orb_set_interval(mavlink_subs.rates_setpoint_sub, 2000); /* 0.5 Hz updates */ - - /* --- ACTUATOR OUTPUTS --- */ - mavlink_subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); - mavlink_subs.act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1)); - mavlink_subs.act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2)); - mavlink_subs.act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3)); - /* rate limits set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.act_0_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_1_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_2_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */ - - /* --- ACTUATOR ARMED VALUE --- */ - mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */ - - /* --- MAPPED MANUAL CONTROL INPUTS --- */ - mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - /* rate limits set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ - - /* --- ACTUATOR CONTROL VALUE --- */ - mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ - - /* --- DEBUG VALUE OUTPUT --- */ - mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value)); - orb_set_interval(mavlink_subs.debug_key_value, 100); /* 10Hz updates */ - - /* --- FLOW SENSOR --- */ - mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow)); - orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */ - - /* --- AIRSPEED --- */ - mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); - orb_set_interval(mavlink_subs.airspeed_sub, 200); /* 5Hz updates */ - - /* --- NAVIGATION CAPABILITIES --- */ - mavlink_subs.navigation_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); - orb_set_interval(mavlink_subs.navigation_capabilities_sub, 500); /* 2Hz updates */ - nav_cap.turn_distance = 0.0f; - - /* start the listener loop */ - pthread_attr_t uorb_attr; - pthread_attr_init(&uorb_attr); - - /* Set stack size, needs less than 2k */ - pthread_attr_setstacksize(&uorb_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); - - pthread_attr_destroy(&uorb_attr); - return thread; -} |