Merged estimator fixes and mavlink rate config bits

6 files changed, 178 insertions, 7 deletions

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 69b1a4284..9a5e31ef4 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -197,13 +197,14 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 
 			if (buf_free < desired) {
 				/* we don't want to send anything just in half, so return */
+				instance->count_txerr();
 				return;
 			}
 		}
 
 		ssize_t ret = write(uart, ch, desired);
 		if (ret != desired) {
-			// XXX overflow perf
+			instance->count_txerr();
 		} else {
 			last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel];
 		}
@@ -249,7 +250,8 @@ Mavlink::Mavlink() :
 	_param_use_hil_gps(0),
 
 /* performance counters */
-	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
+	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
+	_txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
 {
 	_wpm = &_wpm_s;
 	mission.count = 0;
@@ -302,6 +304,7 @@ Mavlink::Mavlink() :
 Mavlink::~Mavlink()
 {
 	perf_free(_loop_perf);
+	perf_free(_txerr_perf);
 
 	if (_task_running) {
 		/* task wakes up every 10ms or so at the longest */
@@ -327,6 +330,12 @@ Mavlink::~Mavlink()
 }
 
 void
+Mavlink::count_txerr()
+{
+	perf_count(_txerr_perf);
+}
+
+void
 Mavlink::set_mode(enum MAVLINK_MODE mode)
 {
 	_mode = mode;
@@ -2193,11 +2202,20 @@ int Mavlink::start_helper(int argc, char *argv[])
 	/* create the instance in task context */
 	Mavlink *instance = new Mavlink();
 
-	/* this will actually only return once MAVLink exits */
-	int res = instance->task_main(argc, argv);
+	int res;
 
-	/* delete instance on main thread end */
-	delete instance;
+	if (!instance) {
+
+		/* out of memory */
+		res = -ENOMEM;
+		warnx("OUT OF MEM");
+	} else {
+		/* this will actually only return once MAVLink exits */
+		res = instance->task_main(argc, argv);
+
+		/* delete instance on main thread end */
+		delete instance;
+	}
 
 	return res;
 }
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index d44db0819..6777d56c3 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -215,10 +215,14 @@ public:
 
 	const mavlink_channel_t	get_channel();
 
+	void configure_stream_threadsafe(const char *stream_name, const float rate);
+
 	bool			_task_should_exit;	/**< if true, mavlink task should exit */
 
 	int			get_mavlink_fd() { return _mavlink_fd; }
 
+	MavlinkStream * get_streams() { return _streams; } const
+
 
 	/* Functions for waiting to start transmission until message received. */
 	void			set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
@@ -232,6 +236,11 @@ public:
     void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
     void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
 
+	/**
+	 * Count a transmision error
+	 */
+	void count_txerr();
+
 protected:
 	Mavlink			*next;
 
@@ -303,6 +312,7 @@ private:
 	pthread_mutex_t		_message_buffer_mutex;
 
 	perf_counter_t		_loop_perf;			/**< loop performance counter */
+	perf_counter_t		_txerr_perf;			/**< TX error counter */
 
 	bool			_param_initialized;
 	param_t			_param_system_id;
@@ -371,7 +381,6 @@ private:
 	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
 	int configure_stream(const char *stream_name, const float rate);
-	void configure_stream_threadsafe(const char *stream_name, const float rate);
 
 	int message_buffer_init(int size);
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 884713479..e1ebc16cc 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -232,6 +232,11 @@ public:
 		return "HEARTBEAT";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_HEARTBEAT;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamHeartbeat();
@@ -292,6 +297,11 @@ public:
 		return "SYS_STATUS";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_SYS_STATUS;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamSysStatus();
@@ -343,6 +353,11 @@ public:
 		return "HIGHRES_IMU";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_HIGHRES_IMU;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamHighresIMU();
@@ -428,6 +443,11 @@ public:
 		return "ATTITUDE";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_ATTITUDE;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamAttitude();
@@ -474,6 +494,11 @@ public:
 		return "ATTITUDE_QUATERNION";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamAttitudeQuaternion();
@@ -526,6 +551,11 @@ public:
 		return "VFR_HUD";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_VFR_HUD;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamVFRHUD();
@@ -609,6 +639,11 @@ public:
 		return "GPS_RAW_INT";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_GPS_RAW_INT;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamGPSRawInt();
@@ -662,6 +697,11 @@ public:
 		return "GLOBAL_POSITION_INT";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamGlobalPositionInt();
@@ -723,6 +763,11 @@ public:
 		return "LOCAL_POSITION_NED";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_LOCAL_POSITION_NED;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamLocalPositionNED();
@@ -774,6 +819,11 @@ public:
 		return "VICON_POSITION_ESTIMATE";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamViconPositionEstimate();
@@ -824,6 +874,11 @@ public:
 		return "GPS_GLOBAL_ORIGIN";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamGPSGlobalOrigin();
@@ -864,6 +919,11 @@ public:
 		return MavlinkStreamServoOutputRaw<N>::get_name_static();
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
+	}
+
 	static const char *get_name_static()
 	{
 		switch (N) {
@@ -941,6 +1001,11 @@ public:
 		return "HIL_CONTROLS";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_HIL_CONTROLS;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamHILControls();
@@ -1078,6 +1143,11 @@ public:
 		return "GLOBAL_POSITION_SETPOINT_INT";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamGlobalPositionSetpointInt();
@@ -1121,6 +1191,11 @@ public:
 		return "LOCAL_POSITION_SETPOINT";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamLocalPositionSetpoint();
@@ -1169,6 +1244,11 @@ public:
 		return "ROLL_PITCH_YAW_THRUST_SETPOINT";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamRollPitchYawThrustSetpoint();
@@ -1217,6 +1297,11 @@ public:
 		return "ROLL_PITCH_YAW_RATES_THRUST_SETPOINT";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamRollPitchYawRatesThrustSetpoint();
@@ -1265,6 +1350,11 @@ public:
 		return "RC_CHANNELS_RAW";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_RC_CHANNELS_RAW;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamRCChannelsRaw();
@@ -1349,6 +1439,11 @@ public:
 		return "MANUAL_CONTROL";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_MANUAL_CONTROL;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamManualControl();
@@ -1398,6 +1493,11 @@ public:
 		return "OPTICAL_FLOW";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_OPTICAL_FLOW;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamOpticalFlow();
@@ -1446,6 +1546,11 @@ public:
 		return "ATTITUDE_CONTROLS";
 	}
 
+	uint8_t get_id()
+	{
+		return 0;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamAttitudeControls();
@@ -1504,6 +1609,11 @@ public:
 		return "NAMED_VALUE_FLOAT";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamNamedValueFloat();
@@ -1552,6 +1662,11 @@ public:
 		return "CAMERA_CAPTURE";
 	}
 
+	uint8_t get_id()
+	{
+		return 0;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamCameraCapture();
@@ -1597,6 +1712,11 @@ public:
 		return "DISTANCE_SENSOR";
 	}
 
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_DISTANCE_SENSOR;
+	}
+
 	static MavlinkStream *new_instance()
 	{
 		return new MavlinkStreamDistanceSensor();
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 59dc79b26..bb977d277 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -159,6 +159,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_heartbeat(msg);
 		break;
 
+	case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
+		handle_message_request_data_stream(msg);
+		break;
+
 	case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
 		MavlinkFTP::getServer()->handle_message(_mavlink, msg);
 		break;
@@ -499,6 +503,24 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 }
 
 void
+MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
+{
+	mavlink_request_data_stream_t req;
+	mavlink_msg_request_data_stream_decode(msg, &req);
+
+	if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid) {
+		float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
+
+		MavlinkStream *stream;
+		LL_FOREACH(_mavlink->get_streams(), stream) {
+			if (req.req_stream_id == stream->get_id()) {
+				_mavlink->configure_stream_threadsafe(stream->get_name(), rate);
+			}
+		}
+	}
+}
+
+void
 MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 {
 	mavlink_hil_sensor_t imu;
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 8e258fec2..040a07480 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -115,6 +115,7 @@ private:
 	void handle_message_radio_status(mavlink_message_t *msg);
 	void handle_message_manual_control(mavlink_message_t *msg);
 	void handle_message_heartbeat(mavlink_message_t *msg);
+	void handle_message_request_data_stream(mavlink_message_t *msg);
 	void handle_message_hil_sensor(mavlink_message_t *msg);
 	void handle_message_hil_gps(mavlink_message_t *msg);
 	void handle_message_hil_state_quaternion(mavlink_message_t *msg);
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index a41ace48e..69809a386 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -67,6 +67,7 @@ public:
 	static const char *get_name_static();
 	virtual void subscribe(Mavlink *mavlink) = 0;
 	virtual const char *get_name() const = 0;
+	virtual uint8_t get_id() = 0;
 
 protected:
 	mavlink_channel_t _channel;