Merge branch master into dataman_state_nav_rewrite

4 files changed, 59 insertions, 64 deletions

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index 55a472bf6..675a6870e 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -117,10 +117,10 @@ MavlinkFTP::_worker(Request *req)
 	if (crc32(req->rawData(), req->dataSize()) != messageCRC) {
 		errorCode = kErrNoRequest;
 		goto out;
-		printf("ftp: bad crc\n");
+		warnx("ftp: bad crc");
 	}
 
-	printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset);
+	//printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset);
 
 	switch (hdr->opcode) {
 	case kCmdNone:
@@ -167,9 +167,9 @@ out:
 	// handle success vs. error
 	if (errorCode == kErrNone) {
 		hdr->opcode = kRspAck;
-		printf("FTP: ack\n");
+		//warnx("FTP: ack\n");
 	} else {
-		printf("FTP: nak %u\n", errorCode);
+		warnx("FTP: nak %u", errorCode);
 		hdr->opcode = kRspNak;
 		hdr->size = 1;
 		hdr->data[0] = errorCode;
@@ -199,12 +199,18 @@ MavlinkFTP::ErrorCode
 MavlinkFTP::_workList(Request *req)
 {
 	auto hdr = req->header();
-	DIR *dp = opendir(req->dataAsCString());
+    
+    char dirPath[kMaxDataLength];
+    strncpy(dirPath, req->dataAsCString(), kMaxDataLength);
+    
+	DIR *dp = opendir(dirPath);
 
 	if (dp == nullptr) {
-		printf("FTP: can't open path '%s'\n", req->dataAsCString());
+		warnx("FTP: can't open path '%s'", dirPath);
 		return kErrNotDir;
 	}
+    
+	//warnx("FTP: list %s offset %d", dirPath, hdr->offset);
 
 	ErrorCode errorCode = kErrNone;
 	struct dirent entry, *result = nullptr;
@@ -216,6 +222,7 @@ MavlinkFTP::_workList(Request *req)
 	for (;;) {
 		// read the directory entry
 		if (readdir_r(dp, &entry, &result)) {
+			warnx("FTP: list %s readdir_r failure\n", dirPath);
 			errorCode = kErrIO;
 			break;
 		}
@@ -251,8 +258,8 @@ MavlinkFTP::_workList(Request *req)
 
 		// copy the name, which we know will fit
 		strcpy((char *)&hdr->data[offset], entry.d_name);
+		//printf("FTP: list %s %s\n", dirPath, (char *)&hdr->data[offset-1]);
 		offset += strlen(entry.d_name) + 1;
-		printf("FTP: list %s\n", entry.d_name);
 	}
 
 	closedir(dp);
@@ -297,19 +304,20 @@ MavlinkFTP::_workRead(Request *req)
 	}
 
 	// Seek to the specified position
-	printf("Seek %d\n", hdr->offset);
+	//warnx("seek %d", hdr->offset);
 	if (lseek(_session_fds[session_index], hdr->offset, SEEK_SET) < 0) {
 		// Unable to see to the specified location
+		warnx("seek fail");
 		return kErrEOF;
 	}
 
 	int bytes_read = ::read(_session_fds[session_index], &hdr->data[0], kMaxDataLength);
 	if (bytes_read < 0) {
 		// Negative return indicates error other than eof
+		warnx("read fail %d", bytes_read);
 		return kErrIO;
 	}
 
-	printf("Read success %d\n", bytes_read);
 	hdr->size = bytes_read;
 
 	return kErrNone;
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index e22e61553..59237a4c4 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -147,20 +147,21 @@ private:
 			unsigned len = mavlink_msg_encapsulated_data_pack_chan(_mavlink->get_system_id(), _mavlink->get_component_id(),
 				_mavlink->get_channel(), &msg, sequence(), rawData());
 
-            _mavlink->lockMessageBufferMutex();
-            bool fError = _mavlink->message_buffer_write(&msg, len);
-            _mavlink->unlockMessageBufferMutex();
-            
-            if (!fError) {
+			_mavlink->lockMessageBufferMutex();
+			bool success = _mavlink->message_buffer_write(&msg, len);
+			_mavlink->unlockMessageBufferMutex();
+
+			if (!success) {
 				warnx("FTP TX ERR");
-			} else {
-				warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d",
-					_mavlink->get_system_id(),
-					_mavlink->get_component_id(),
-					_mavlink->get_channel(),
-					len,
-					msg.checksum);
-			}
+			} 
+			// else {
+				// warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d",
+				// 	_mavlink->get_system_id(),
+				// 	_mavlink->get_component_id(),
+				// 	_mavlink->get_channel(),
+				// 	len,
+				// 	msg.checksum);
+			// }
 		}
 
 		uint8_t		*rawData() { return &_message.data[0]; }
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index f3fb34bba..99ec98ee9 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -101,18 +101,25 @@ 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();
@@ -358,53 +365,21 @@ 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();
 
@@ -466,6 +441,8 @@ 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", (double)manual.x, (double)manual.y, (double)manual.r, (double)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 80e0ea813..8d38b9973 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>
@@ -122,6 +125,7 @@ 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;
@@ -136,12 +140,17 @@ 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;