Merged in upstream master

6 files changed, 89 insertions, 7 deletions

diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index ad435b251..e49288a74 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -62,6 +62,12 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
+/**
+ * Use/Accept HIL GPS message (even if not in HIL mode)
+ * If set to 1 incomming HIL GPS messages are parsed.
+ * @group MAVLink
+ */
+PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
 
 mavlink_system_t mavlink_system = {
 	100,
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 2416a1264..7ecca0d65 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -208,6 +208,7 @@ Mavlink::Mavlink() :
 	_mavlink_fd(-1),
 	_task_running(false),
 	_hil_enabled(false),
+	_use_hil_gps(false),
 	_is_usb_uart(false),
 	_wait_to_transmit(false),
 	_received_messages(false),
@@ -487,11 +488,13 @@ void Mavlink::mavlink_update_system(void)
 	static param_t param_system_id;
 	static param_t param_component_id;
 	static param_t param_system_type;
+	static param_t param_use_hil_gps;
 
 	if (!initialized) {
 		param_system_id = param_find("MAV_SYS_ID");
 		param_component_id = param_find("MAV_COMP_ID");
 		param_system_type = param_find("MAV_TYPE");
+		param_use_hil_gps = param_find("MAV_USEHILGPS");
 		initialized = true;
 	}
 
@@ -516,6 +519,11 @@ void Mavlink::mavlink_update_system(void)
 	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
 		mavlink_system.type = system_type;
 	}
+
+	int32_t use_hil_gps;
+	param_get(param_use_hil_gps, &use_hil_gps);
+
+	_use_hil_gps = (bool)use_hil_gps;
 }
 
 int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
@@ -574,6 +582,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
 	/* open uart */
 	_uart_fd = open(uart_name, O_RDWR | O_NOCTTY);
 
+	if (_uart_fd < 0) {
+		return _uart_fd;
+	}
+
+
 	/* Try to set baud rate */
 	struct termios uart_config;
 	int termios_state;
@@ -1953,6 +1966,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult);
 		configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult);
 		configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult);
+		configure_stream("DISTANCE_SENSOR", 0.5f);
 		break;
 
 	case MAVLINK_MODE_CAMERA:
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 66d82b471..1bf51fd31 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -157,6 +157,8 @@ public:
 
 	bool		get_hil_enabled() { return _hil_enabled; }
 
+	bool		get_use_hil_gps() { return _use_hil_gps; }
+
 	bool		get_flow_control_enabled() { return _flow_control_enabled; }
 
 	bool		get_forwarding_on() { return _forwarding_on; }
@@ -223,6 +225,7 @@ private:
 
 	/* states */
 	bool		_hil_enabled;		/**< Hardware In the Loop mode */
+	bool		_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
 	bool		_is_usb_uart;		/**< Port is USB */
 	bool        _wait_to_transmit;  /**< Wait to transmit until received messages. */
 	bool        _received_messages; /**< Whether we've received valid mavlink messages. */
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 648228e3b..678ce1645 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -72,6 +72,7 @@
 #include <uORB/topics/navigation_capabilities.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_range_finder.h>
 
 #include "mavlink_messages.h"
 
@@ -270,7 +271,7 @@ protected:
 						status->load * 1000.0f,
 						status->battery_voltage * 1000.0f,
 						status->battery_current * 1000.0f,
-						status->battery_remaining,
+						status->battery_remaining * 100.0f,
 						status->drop_rate_comm,
 						status->errors_comm,
 						status->errors_count1,
@@ -1312,6 +1313,51 @@ protected:
 	}
 };
 
+class MavlinkStreamDistanceSensor : public MavlinkStream
+{
+public:
+	const char *get_name()
+	{
+		return "DISTANCE_SENSOR";
+	}
+
+	MavlinkStream *new_instance()
+	{
+		return new MavlinkStreamDistanceSensor();
+	}
+
+private:
+	MavlinkOrbSubscription *range_sub;
+	struct range_finder_report *range;
+
+protected:
+	void subscribe(Mavlink *mavlink)
+	{
+		range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder));
+		range = (struct range_finder_report *)range_sub->get_data();
+	}
+
+	void send(const hrt_abstime t)
+	{
+		(void)range_sub->update(t);
+
+		uint8_t type;
+
+		switch (range->type) {
+			case RANGE_FINDER_TYPE_LASER:
+			type = MAV_DISTANCE_SENSOR_LASER;
+			break;
+		}
+
+		uint8_t id = 0;
+		uint8_t orientation = 0;
+		uint8_t covariance = 20;
+
+		mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, 
+			range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
+	}
+};
+
 MavlinkStream *streams_list[] = {
 	new MavlinkStreamHeartbeat(),
 	new MavlinkStreamSysStatus(),
@@ -1338,6 +1384,7 @@ MavlinkStream *streams_list[] = {
 	new MavlinkStreamAttitudeControls(),
 	new MavlinkStreamNamedValueFloat(),
 	new MavlinkStreamCameraCapture(),
+	new MavlinkStreamDistanceSensor(),
 	new MavlinkStreamViconPositionEstimate(),
 	nullptr
 };
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 0762b76f2..33a4fef12 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -160,6 +160,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 	 * The HIL mode is enabled by the HIL bit flag
 	 * in the system mode. Either send a set mode
 	 * COMMAND_LONG message or a SET_MODE message
+	 *
+	 * Accept HIL GPS messages if use_hil_gps flag is true.
+	 * This allows to provide fake gps measurements to the system.
 	 */
 	if (_mavlink->get_hil_enabled()) {
 		switch (msg->msgid) {
@@ -167,10 +170,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			handle_message_hil_sensor(msg);
 			break;
 
-		case MAVLINK_MSG_ID_HIL_GPS:
-			handle_message_hil_gps(msg);
-			break;
-
 		case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
 			handle_message_hil_state_quaternion(msg);
 			break;
@@ -180,7 +179,20 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		}
 	}
 
-	/* If we've received a valid message, mark the flag indicating so.
+
+   	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
+		switch (msg->msgid) {
+		case MAVLINK_MSG_ID_HIL_GPS:
+			handle_message_hil_gps(msg);
+			break;
+
+		default:
+			break;
+		}
+
+	}
+	
+    /* If we've received a valid message, mark the flag indicating so.
 	   This is used in the '-w' command-line flag. */
 	_mavlink->set_has_received_messages(true);
 }
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index c44354ff0..dcca11977 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -47,4 +47,4 @@ SRCS		 += mavlink_main.cpp \
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
-MAXOPTIMIZATION		 = -Os
+MAXOPTIMIZATION	 = -Os