Merge pull request #1089 from PX4/navigator_rewrite

Navigator rewrite

4 files changed, 119 insertions, 37 deletions

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index c77f3c6ca..69b1a4284 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -915,7 +915,11 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
 	case MAV_CMD_NAV_TAKEOFF:
 		mission_item->pitch_min = mavlink_mission_item->param1;
 		break;
-
+	case MAV_CMD_DO_JUMP:
+		mission_item->do_jump_mission_index = mavlink_mission_item->param1;
+		mission_item->do_jump_current_count = 0;
+		mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
+		break;
 	default:
 		mission_item->acceptance_radius = mavlink_mission_item->param2;
 		mission_item->time_inside = mavlink_mission_item->param1;
@@ -931,6 +935,9 @@ int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item
 	// mission_item->index = mavlink_mission_item->seq;
 	mission_item->origin = ORIGIN_MAVLINK;
 
+	/* reset DO_JUMP count */
+	mission_item->do_jump_current_count = 0;
+
 	return OK;
 }
 
@@ -948,6 +955,11 @@ int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_
 		mavlink_mission_item->param1 = mission_item->pitch_min;
 		break;
 
+	case NAV_CMD_DO_JUMP:
+		mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
+		mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
+		break;
+
 	default:
 		mavlink_mission_item->param2 = mission_item->acceptance_radius;
 		mavlink_mission_item->param1 = mission_item->time_inside;
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index ef9039a6a..884713479 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -120,50 +120,77 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 	union px4_custom_mode custom_mode;
 	custom_mode.data = 0;
 
-	if (pos_sp_triplet->nav_state == NAV_STATE_NONE) {
-		/* use main state when navigator is not active */
-		if (status->main_state == MAIN_STATE_MANUAL) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
+	switch (status->nav_state) {
+
+		case NAVIGATION_STATE_MANUAL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
+			break;
+
+		case NAVIGATION_STATE_ACRO:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
+			break;
 
-		} else if (status->main_state == MAIN_STATE_ALTCTL) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
+		case NAVIGATION_STATE_ALTCTL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
+			break;
 
-		} else if (status->main_state == MAIN_STATE_POSCTL) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
+		case NAVIGATION_STATE_POSCTL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
+			break;
 
-		} else if (status->main_state == MAIN_STATE_AUTO) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
+		case NAVIGATION_STATE_AUTO_MISSION:
+			*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_READY;
-
-		} else if (status->main_state == MAIN_STATE_ACRO) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
-		}
-
-	} else {
-		/* use navigation state when navigator is active */
-		*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;
-
-		if (pos_sp_triplet->nav_state == NAV_STATE_READY) {
-			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
+			break;
 
-		} else if (pos_sp_triplet->nav_state == NAV_STATE_LOITER) {
+		case NAVIGATION_STATE_AUTO_LOITER:
+			*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_LOITER;
+			break;
 
-		} else if (pos_sp_triplet->nav_state == NAV_STATE_MISSION) {
-			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
-
-		} else if (pos_sp_triplet->nav_state == NAV_STATE_RTL) {
+		case NAVIGATION_STATE_AUTO_RTL:
+			*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_RTL;
+			break;
 
-		} else if (pos_sp_triplet->nav_state == NAV_STATE_LAND) {
+		case NAVIGATION_STATE_LAND:
+			*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_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;
+			break;
+
 	}
 
 	*mavlink_custom_mode = custom_mode.data;
@@ -612,8 +639,8 @@ protected:
 						     gps.lat,
 						     gps.lon,
 						     gps.alt,
-						     cm_uint16_from_m_float(gps.eph_m),
-						     cm_uint16_from_m_float(gps.epv_m),
+						     cm_uint16_from_m_float(gps.eph),
+						     cm_uint16_from_m_float(gps.epv),
 						     gps.vel_m_s * 100.0f,
 						     _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
 						     gps.satellites_visible);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 251d862e3..59dc79b26 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -106,6 +106,8 @@ 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),
@@ -153,6 +155,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_manual_control(msg);
 		break;
 
+	case MAVLINK_MSG_ID_HEARTBEAT:
+		handle_message_heartbeat(msg);
+		break;
+
 	case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
 		MavlinkFTP::getServer()->handle_message(_mavlink, msg);
 		break;
@@ -418,6 +424,7 @@ 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;
@@ -433,6 +440,9 @@ 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
@@ -459,6 +469,36 @@ 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;
@@ -674,12 +714,12 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	hil_gps.lat = gps.lat;
 	hil_gps.lon = gps.lon;
 	hil_gps.alt = gps.alt;
-	hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
-	hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
+	hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
+	hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
 
 	hil_gps.timestamp_variance = timestamp;
 	hil_gps.s_variance_m_s = 5.0f;
-	hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
+	hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
 
 	hil_gps.timestamp_velocity = timestamp;
 	hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 36e6143ac..8e258fec2 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -114,6 +114,7 @@ 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);
@@ -140,6 +141,8 @@ 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;