Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

3 files changed, 52 insertions, 3 deletions

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index f1cffb986..0017b4332 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -120,7 +120,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 	union px4_custom_mode custom_mode;
 	custom_mode.data = 0;
 
-	switch (status->set_nav_state) {
+	switch (status->nav_state) {
 
 		case NAVIGATION_STATE_MANUAL:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
@@ -163,8 +163,6 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			break;
 
 		case NAVIGATION_STATE_AUTO_RTL:
-		case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
-		case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
 			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
 			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
 					      | MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -180,6 +178,14 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
 			break;
 
+		case NAVIGATION_STATE_AUTO_RTGS:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
+			break;
+
 		case NAVIGATION_STATE_TERMINATION:
 			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 834852d6f..d6e852772 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -105,6 +105,8 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_telemetry_status_pub(-1),
 	_rc_pub(-1),
 	_manual_pub(-1),
+	_telemetry_heartbeat_time(0),
+	_radio_status_available(false),
 	_hil_frames(0),
 	_old_timestamp(0),
 	_hil_local_proj_inited(0),
@@ -149,6 +151,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_manual_control(msg);
 		break;
 
+	case MAVLINK_MSG_ID_HEARTBEAT:
+		handle_message_heartbeat(msg);
+		break;
+
 	default:
 		break;
 	}
@@ -410,6 +416,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 	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;
@@ -425,6 +432,9 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 	} else {
 		orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
 	}
+
+	/* this means that heartbeats alone won't be published to the radio status no more */
+	_radio_status_available = true;
 }
 
 void
@@ -451,6 +461,36 @@ 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);
+
+	/* 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) {
+
+			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;
+
+			if (_telemetry_status_pub < 0) {
+				_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
+
+			} else {
+				orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
+			}
+		}
+	}
+}
+
+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 df5d037f8..444b57a1d 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -110,6 +110,7 @@ private:
 	void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
 	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_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);
@@ -136,6 +137,8 @@ private:
 	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 _hil_frames;
 	uint64_t _old_timestamp;
 	bool _hil_local_proj_inited;