Merge pull request #1110 from PX4/offboard2_merge

Offboard2 merge

2 files changed, 28 insertions, 42 deletions

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 60da9c47d..81966caf8 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -102,18 +102,25 @@ 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),
 	_telemetry_status_pub(-1),
 	_rc_pub(-1),
 	_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();
@@ -359,53 +366,21 @@ MavlinkReceiver::handle_message_vicon_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();
 
@@ -467,6 +442,8 @@ 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", manual.x, manual.y, manual.r, manual.z);
+
 	if (_manual_pub < 0) {
 		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
 
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 040a07480..65ef884a2 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -36,6 +36,7 @@
  * MAVLink 1.0 uORB listener definition
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #pragma once
@@ -44,6 +45,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/rc_channels.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -53,6 +55,7 @@
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <uORB/topics/vehicle_global_velocity_setpoint.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -124,6 +127,7 @@ private:
 
 	mavlink_status_t status;
 	struct vehicle_local_position_s hil_local_pos;
+	struct vehicle_control_mode_s _control_mode;
 	orb_advert_t _global_pos_pub;
 	orb_advert_t _local_pos_pub;
 	orb_advert_t _attitude_pub;
@@ -138,12 +142,17 @@ private:
 	orb_advert_t _cmd_pub;
 	orb_advert_t _flow_pub;
 	orb_advert_t _offboard_control_sp_pub;
+	orb_advert_t _local_pos_sp_pub;
+	orb_advert_t _global_vel_sp_pub;
+	orb_advert_t _att_sp_pub;
+	orb_advert_t _rates_sp_pub;
 	orb_advert_t _vicon_position_pub;
 	orb_advert_t _telemetry_status_pub;
 	orb_advert_t _rc_pub;
 	orb_advert_t _manual_pub;
 	hrt_abstime _telemetry_heartbeat_time;
 	bool _radio_status_available;
+	int _control_mode_sub;
 	int _hil_frames;
 	uint64_t _old_timestamp;
 	bool _hil_local_proj_inited;