diff options
25 files changed, 3594 insertions, 2934 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 0cd8a0e04..3d8be089e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -5,38 +5,7 @@ echo "Starting MAVLink on this USB console" -# Stop tone alarm -tone_alarm stop - -# -# Check for UORB -# -if uorb start -then - echo "uORB started" -fi - -# Tell MAVLink that this link is "fast" -if mavlink stop -then - echo "stopped other MAVLink instance" -fi mavlink start -b 230400 -d /dev/ttyACM0 -# Stop commander -if commander stop -then - echo "Commander stopped" -fi -sleep 1 - -# Start the commander -if commander start -then - echo "Commander started" -fi - -echo "MAVLink started, exiting shell.." - # Exit shell to make it available to MAVLink exit diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index 1dc96b3c3..7aa71f182 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -405,7 +405,7 @@ CONFIG_SIG_SIGWORK=4 CONFIG_MAX_TASKS=32 CONFIG_MAX_TASK_ARGS=10 CONFIG_NPTHREAD_KEYS=4 -CONFIG_NFILE_DESCRIPTORS=32 +CONFIG_NFILE_DESCRIPTORS=64 CONFIG_NFILE_STREAMS=8 CONFIG_NAME_MAX=32 CONFIG_PREALLOC_MQ_MSGS=4 @@ -720,11 +720,11 @@ CONFIG_SCHED_WORKQUEUE=y CONFIG_SCHED_HPWORK=y CONFIG_SCHED_WORKPRIORITY=192 CONFIG_SCHED_WORKPERIOD=5000 -CONFIG_SCHED_WORKSTACKSIZE=4000 +CONFIG_SCHED_WORKSTACKSIZE=2000 CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKPERIOD=50000 -CONFIG_SCHED_LPWORKSTACKSIZE=4000 +CONFIG_SCHED_LPWORKSTACKSIZE=2000 # CONFIG_LIB_KBDCODEC is not set # CONFIG_LIB_SLCDCODEC is not set diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig index 2a734c27e..d42b23ab0 100644 --- a/nuttx-configs/px4fmu-v2/nsh/defconfig +++ b/nuttx-configs/px4fmu-v2/nsh/defconfig @@ -439,7 +439,7 @@ CONFIG_SIG_SIGWORK=4 CONFIG_MAX_TASKS=32 CONFIG_MAX_TASK_ARGS=10 CONFIG_NPTHREAD_KEYS=4 -CONFIG_NFILE_DESCRIPTORS=32 +CONFIG_NFILE_DESCRIPTORS=64 CONFIG_NFILE_STREAMS=8 CONFIG_NAME_MAX=32 CONFIG_PREALLOC_MQ_MSGS=4 @@ -796,11 +796,11 @@ CONFIG_SCHED_WORKQUEUE=y CONFIG_SCHED_HPWORK=y CONFIG_SCHED_WORKPRIORITY=192 CONFIG_SCHED_WORKPERIOD=5000 -CONFIG_SCHED_WORKSTACKSIZE=4000 +CONFIG_SCHED_WORKSTACKSIZE=2000 CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKPERIOD=50000 -CONFIG_SCHED_LPWORKSTACKSIZE=4000 +CONFIG_SCHED_LPWORKSTACKSIZE=2000 # CONFIG_LIB_KBDCODEC is not set # CONFIG_LIB_SLCDCODEC is not set diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h index 5054937e0..0ea655cac 100644 --- a/src/include/mavlink/mavlink_log.h +++ b/src/include/mavlink/mavlink_log.h @@ -100,6 +100,7 @@ __EXPORT void mavlink_vasprintf(int _fd, int severity, const char *fmt, ...); */ #define mavlink_log_info(_fd, _text, ...) mavlink_vasprintf(_fd, MAVLINK_IOC_SEND_TEXT_INFO, _text, ##__VA_ARGS__); + struct mavlink_logmessage { char text[MAVLINK_LOG_MAXLEN + 1]; unsigned char severity; @@ -112,6 +113,7 @@ struct mavlink_logbuffer { struct mavlink_logmessage *elems; }; +__BEGIN_DECLS void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size); void mavlink_logbuffer_destroy(struct mavlink_logbuffer *lb); @@ -125,6 +127,7 @@ void mavlink_logbuffer_write(struct mavlink_logbuffer *lb, const struct mavlink_ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessage *elem); void mavlink_logbuffer_vasprintf(struct mavlink_logbuffer *lb, int severity, const char *fmt, ...); +__END_DECLS #endif diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index ade4469c5..542bf0d7e 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -34,46 +33,43 @@ /** * @file mavlink.c - * MAVLink 1.0 protocol implementation. + * Adapter functions expected by the protocol library * * @author Lorenz Meier <lm@inf.ethz.ch> */ #include <nuttx/config.h> #include <unistd.h> -#include <pthread.h> #include <stdio.h> -#include <math.h> #include <stdbool.h> -#include <fcntl.h> -#include <mqueue.h> #include <string.h> #include "mavlink_bridge_header.h" -#include <drivers/drv_hrt.h> -#include <time.h> -#include <float.h> -#include <unistd.h> -#include <nuttx/sched.h> -#include <sys/prctl.h> -#include <termios.h> -#include <errno.h> -#include <stdlib.h> -#include <poll.h> - #include <systemlib/param/param.h> -#include <systemlib/systemlib.h> -#include <systemlib/err.h> -#include <mavlink/mavlink_log.h> -#include <commander/px4_custom_mode.h> - -#include "waypoints.h" -#include "orb_topics.h" -#include "mavlink_hil.h" -#include "util.h" -#include "waypoints.h" -#include "mavlink_parameters.h" - -#include <uORB/topics/mission_result.h> +// #include <drivers/drv_hrt.h> +// #include <time.h> +// #include <float.h> +// #include <unistd.h> +// #include <nuttx/sched.h> +// #include <sys/prctl.h> +// #include <termios.h> +// #include <errno.h> +// #include <stdlib.h> +// #include <poll.h> + +// +// #include <systemlib/systemlib.h> +// #include <systemlib/err.h> +// #include <mavlink/mavlink_log.h> +// #include <commander/px4_custom_mode.h> + +// #include "waypoints.h" +// #include "orb_topics.h" +// #include "mavlink_hil.h" +// #include "util.h" +// #include "waypoints.h" +// #include "mavlink_parameters.h" + +// #include <uORB/topics/mission_result.h> /* define MAVLink specific parameters */ /** @@ -92,22 +88,6 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50); */ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); -__EXPORT int mavlink_main(int argc, char *argv[]); - -static int mavlink_thread_main(int argc, char *argv[]); - -/* thread state */ -volatile bool thread_should_exit = false; -static volatile bool thread_running = false; -static int mavlink_task; - -/* pthreads */ -static pthread_t receive_thread; -static pthread_t uorb_receive_thread; - -/* terminate MAVLink on user request - disabled by default */ -static bool mavlink_link_termination_allowed = false; - mavlink_system_t mavlink_system = { 100, 50, @@ -117,362 +97,6 @@ mavlink_system_t mavlink_system = { 0 }; // System ID, 1-255, Component/Subsystem ID, 1-255 -/* XXX not widely used */ -uint8_t chan = MAVLINK_COMM_0; - -/* XXX probably should be in a header... */ -extern pthread_t receive_start(int uart); - -/* Allocate storage space for waypoints */ -static mavlink_wpm_storage wpm_s; -mavlink_wpm_storage *wpm = &wpm_s; - -bool mavlink_hil_enabled = false; - -/* protocol interface */ -static int uart; -static int baudrate; -bool gcs_link = true; - -/* interface mode */ -static enum { - MAVLINK_INTERFACE_MODE_OFFBOARD, - MAVLINK_INTERFACE_MODE_ONBOARD -} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; - -static struct mavlink_logbuffer lb; - -static void mavlink_update_system(void); -static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); -static void usage(void); -int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval); - - - -int -set_hil_on_off(bool hil_enabled) -{ - int ret = OK; - - /* Enable HIL */ - if (hil_enabled && !mavlink_hil_enabled) { - - mavlink_hil_enabled = true; - - /* ramp up some HIL-related subscriptions */ - unsigned hil_rate_interval; - - if (baudrate < 19200) { - /* 10 Hz */ - hil_rate_interval = 100; - - } else if (baudrate < 38400) { - /* 10 Hz */ - hil_rate_interval = 100; - - } else if (baudrate < 115200) { - /* 20 Hz */ - hil_rate_interval = 50; - - } else { - /* 200 Hz */ - hil_rate_interval = 5; - } - - orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval); - } - - if (!hil_enabled && mavlink_hil_enabled) { - mavlink_hil_enabled = false; - orb_set_interval(mavlink_subs.spa_sub, 200); - - } else { - ret = ERROR; - } - - return ret; -} - -void -get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) -{ - /* reset MAVLink mode bitfield */ - *mavlink_base_mode = 0; - *mavlink_custom_mode = 0; - - /** - * Set mode flags - **/ - - /* HIL */ - if (v_status.hil_state == HIL_STATE_ON) { - *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; - } - - /* arming state */ - if (armed.armed) { - *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; - } - - /* main state */ - *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; - 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 (v_status.main_state == MAIN_STATE_MANUAL) { - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - } else if (v_status.main_state == MAIN_STATE_SEATBELT) { - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; - } else if (v_status.main_state == MAIN_STATE_EASY) { - *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_EASY; - } else if (v_status.main_state == MAIN_STATE_AUTO) { - *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 { - /* 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; - } else if (pos_sp_triplet.nav_state == NAV_STATE_LOITER) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; - } 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) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; - } else if (pos_sp_triplet.nav_state == NAV_STATE_LAND) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; - } - } - *mavlink_custom_mode = custom_mode.data; - - /** - * Set mavlink state - **/ - - /* set calibration state */ - if (v_status.arming_state == ARMING_STATE_INIT - || v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE - || v_status.arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review - *mavlink_state = MAV_STATE_UNINIT; - } else if (v_status.arming_state == ARMING_STATE_ARMED) { - *mavlink_state = MAV_STATE_ACTIVE; - } else if (v_status.arming_state == ARMING_STATE_ARMED_ERROR) { - *mavlink_state = MAV_STATE_CRITICAL; - } else if (v_status.arming_state == ARMING_STATE_STANDBY) { - *mavlink_state = MAV_STATE_STANDBY; - } else if (v_status.arming_state == ARMING_STATE_REBOOT) { - *mavlink_state = MAV_STATE_POWEROFF; - } else { - warnx("Unknown mavlink state"); - *mavlink_state = MAV_STATE_CRITICAL; - } -} - - -int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval) -{ - int ret = OK; - - switch (mavlink_msg_id) { - case MAVLINK_MSG_ID_SCALED_IMU: - /* sensor sub triggers scaled IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_HIGHRES_IMU: - /* sensor sub triggers highres IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_RAW_IMU: - /* sensor sub triggers RAW IMU */ - orb_set_interval(subs->sensor_sub, min_interval); - break; - - case MAVLINK_MSG_ID_ATTITUDE: - /* attitude sub triggers attitude */ - orb_set_interval(subs->att_sub, min_interval); - break; - - case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: - /* actuator_outputs triggers this message */ - orb_set_interval(subs->act_0_sub, min_interval); - orb_set_interval(subs->act_1_sub, min_interval); - orb_set_interval(subs->act_2_sub, min_interval); - orb_set_interval(subs->act_3_sub, min_interval); - orb_set_interval(subs->actuators_sub, min_interval); - orb_set_interval(subs->actuators_effective_sub, min_interval); - orb_set_interval(subs->spa_sub, min_interval); - orb_set_interval(mavlink_subs.rates_setpoint_sub, min_interval); - break; - - case MAVLINK_MSG_ID_MANUAL_CONTROL: - /* manual_control_setpoint triggers this message */ - orb_set_interval(subs->man_control_sp_sub, min_interval); - break; - - case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: - orb_set_interval(subs->debug_key_value, min_interval); - break; - - default: - /* not found */ - ret = ERROR; - break; - } - - return ret; -} - - -/**************************************************************************** - * MAVLink text message logger - ****************************************************************************/ - -static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); - -static const struct file_operations mavlink_fops = { - .ioctl = mavlink_dev_ioctl -}; - -static int -mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) -{ - static unsigned int total_counter = 0; - - switch (cmd) { - case (int)MAVLINK_IOC_SEND_TEXT_INFO: - case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: - case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { - const char *txt = (const char *)arg; - struct mavlink_logmessage msg; - strncpy(msg.text, txt, sizeof(msg.text)); - mavlink_logbuffer_write(&lb, &msg); - total_counter++; - return OK; - } - - default: - return ENOTTY; - } -} - -#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10 - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 0: speed = B0; break; - - case 50: speed = B50; break; - - case 75: speed = B75; break; - - case 110: speed = B110; break; - - case 134: speed = B134; break; - - case 150: speed = B150; break; - - case 200: speed = B200; break; - - case 300: speed = B300; break; - - case 600: speed = B600; break; - - case 1200: speed = B1200; break; - - case 1800: speed = B1800; break; - - case 2400: speed = B2400; break; - - case 4800: speed = B4800; break; - - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - case 230400: speed = B230400; break; - - case 460800: speed = B460800; break; - - case 921600: speed = B921600; break; - - default: - warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); - return -EINVAL; - } - - /* open uart */ - warnx("UART is %s, baudrate is %d\n", uart_name, baud); - uart = open(uart_name, O_RDWR | O_NOCTTY); - - /* Try to set baud rate */ - struct termios uart_config; - int termios_state; - *is_usb = false; - - /* Back up the original uart configuration to restore it after exit */ - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); - close(uart); - return -1; - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* USB serial is indicated by /dev/ttyACM0*/ - if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) { - - /* Set baud rate */ - if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); - close(uart); - return -1; - } - - } - - if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); - close(uart); - return -1; - } - - return uart; -} - -void -mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) -{ - write(uart, ch, (size_t)(sizeof(uint8_t) * length)); -} - /* * Internal function to give access to the channel status for each channel */ @@ -490,362 +114,3 @@ extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel) static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; return &m_mavlink_buffer[channel]; } - -void mavlink_update_system(void) -{ - static bool initialized = false; - static param_t param_system_id; - static param_t param_component_id; - static param_t param_system_type; - - 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"); - initialized = true; - } - - /* update system and component id */ - int32_t system_id; - param_get(param_system_id, &system_id); - - if (system_id > 0 && system_id < 255) { - mavlink_system.sysid = system_id; - } - - int32_t component_id; - param_get(param_component_id, &component_id); - - if (component_id > 0 && component_id < 255) { - mavlink_system.compid = component_id; - } - - int32_t system_type; - param_get(param_system_type, &system_type); - - if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { - mavlink_system.type = system_type; - } -} - -/** - * MAVLink Protocol main function. - */ -int mavlink_thread_main(int argc, char *argv[]) -{ - /* initialize mavlink text message buffering */ - mavlink_logbuffer_init(&lb, 10); - - int ch; - char *device_name = "/dev/ttyS1"; - baudrate = 57600; - - /* work around some stupidity in task_create's argv handling */ - argc -= 2; - argv += 2; - - while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { - switch (ch) { - case 'b': - baudrate = strtoul(optarg, NULL, 10); - - if (baudrate < 9600 || baudrate > 921600) - errx(1, "invalid baud rate '%s'", optarg); - - break; - - case 'd': - device_name = optarg; - break; - - case 'e': - mavlink_link_termination_allowed = true; - break; - - case 'o': - mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; - break; - - default: - usage(); - break; - } - } - - struct termios uart_config_original; - - bool usb_uart; - - /* print welcome text */ - warnx("MAVLink v1.0 serial interface starting..."); - - /* inform about mode */ - warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); - - /* Flush stdout in case MAVLink is about to take it over */ - fflush(stdout); - - /* default values for arguments */ - uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); - - if (uart < 0) - err(1, "could not open %s", device_name); - - /* create the device node that's used for sending text log messages, etc. */ - register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL); - - /* Initialize system properties */ - mavlink_update_system(); - - /* start the MAVLink receiver */ - receive_thread = receive_start(uart); - - /* start the ORB receiver */ - uorb_receive_thread = uorb_receive_start(); - - /* initialize waypoint manager */ - mavlink_wpm_init(wpm); - - /* all subscriptions are now active, set up initial guess about rate limits */ - if (baudrate >= 230400) { - /* 200 Hz / 5 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); - /* 50 Hz / 20 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30); - /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); - /* 10 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100); - /* 10 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); - - } else if (baudrate >= 115200) { - /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); - - } else if (baudrate >= 57600) { - /* 10 Hz / 100 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300); - /* 10 Hz / 100 ms ATTITUDE */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); - /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); - /* 2 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500); - - } else { - /* very low baud rate, limit to 1 Hz / 1000 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000); - /* 1 Hz / 1000 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000); - /* 0.5 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000); - /* 0.1 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000); - } - - int mission_result_sub = orb_subscribe(ORB_ID(mission_result)); - struct mission_result_s mission_result; - memset(&mission_result, 0, sizeof(mission_result)); - - thread_running = true; - - /* arm counter to go off immediately */ - unsigned lowspeed_counter = 10; - - while (!thread_should_exit) { - - /* 1 Hz */ - if (lowspeed_counter == 10) { - mavlink_update_system(); - - /* translate the current system state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_base_mode, mavlink_custom_mode, mavlink_state); - - /* switch HIL mode if required */ - if (v_status.hil_state == HIL_STATE_ON) - set_hil_on_off(true); - else if (v_status.hil_state == HIL_STATE_OFF) - set_hil_on_off(false); - - /* send status (values already copied in the section above) */ - mavlink_msg_sys_status_send(chan, - v_status.onboard_control_sensors_present, - v_status.onboard_control_sensors_enabled, - v_status.onboard_control_sensors_health, - v_status.load * 1000.0f, - v_status.battery_voltage * 1000.0f, - v_status.battery_current * 100.0f, - v_status.battery_remaining * 100.0f, - v_status.drop_rate_comm, - v_status.errors_comm, - v_status.errors_count1, - v_status.errors_count2, - v_status.errors_count3, - v_status.errors_count4); - lowspeed_counter = 0; - } - - lowspeed_counter++; - - bool updated; - orb_check(mission_result_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); - - if (mission_result.mission_reached) { - mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index); - } - } - - mavlink_waypoint_eventloop(hrt_absolute_time()); - - /* sleep quarter the time */ - usleep(25000); - - /* check if waypoint has been reached against the last positions */ - mavlink_waypoint_eventloop(hrt_absolute_time()); - - /* sleep quarter the time */ - usleep(25000); - - /* send parameters at 20 Hz (if queued for sending) */ - mavlink_pm_queued_send(); - mavlink_waypoint_eventloop(hrt_absolute_time()); - - /* sleep quarter the time */ - usleep(25000); - - mavlink_waypoint_eventloop(hrt_absolute_time()); - - if (baudrate > 57600) { - mavlink_pm_queued_send(); - } - - /* sleep 10 ms */ - usleep(10000); - - /* send one string at 10 Hz */ - if (!mavlink_logbuffer_is_empty(&lb)) { - struct mavlink_logmessage msg; - int lb_ret = mavlink_logbuffer_read(&lb, &msg); - - if (lb_ret == OK) { - mavlink_missionlib_send_gcs_string(msg.text); - } - } - - /* sleep 15 ms */ - usleep(15000); - } - - /* wait for threads to complete */ - pthread_join(receive_thread, NULL); - pthread_join(uorb_receive_thread, NULL); - - /* Reset the UART flags to original state */ - tcsetattr(uart, TCSANOW, &uart_config_original); - - /* destroy log buffer */ - //mavlink_logbuffer_destroy(&lb); - - thread_running = false; - - return 0; -} - -static void -usage() -{ - fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n" - " mavlink stop\n" - " mavlink status\n"); - exit(1); -} - -int mavlink_main(int argc, char *argv[]) -{ - - if (argc < 2) { - warnx("missing command"); - usage(); - } - - if (!strcmp(argv[1], "start")) { - - /* this is not an error */ - if (thread_running) - errx(0, "mavlink already running"); - - thread_should_exit = false; - mavlink_task = task_spawn_cmd("mavlink", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - mavlink_thread_main, - (const char **)argv); - - while (!thread_running) { - usleep(200); - } - - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - - /* this is not an error */ - if (!thread_running) - errx(0, "mavlink already stopped"); - - thread_should_exit = true; - - while (thread_running) { - usleep(200000); - warnx("."); - } - - warnx("terminated."); - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - errx(0, "running"); - - } else { - errx(1, "not running"); - } - } - - warnx("unrecognized command"); - usage(); - /* not getting here */ - return 0; -} - diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h index 149efda60..374d1511c 100644 --- a/src/modules/mavlink/mavlink_bridge_header.h +++ b/src/modules/mavlink/mavlink_bridge_header.h @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -43,6 +42,8 @@ #ifndef MAVLINK_BRIDGE_HEADER_H #define MAVLINK_BRIDGE_HEADER_H +__BEGIN_DECLS + #define MAVLINK_USE_CONVENIENCE_FUNCTIONS /* use efficient approach, see mavlink_helpers.h */ @@ -73,11 +74,13 @@ extern mavlink_system_t mavlink_system; * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 * @param ch Character to send */ -extern void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length); +void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length); extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan); extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan); #include <v1.0/common/mavlink.h> +__END_DECLS + #endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/src/modules/mavlink/mavlink_hil.h b/src/modules/mavlink/mavlink_hil.h deleted file mode 100644 index 744ed7d94..000000000 --- a/src/modules/mavlink/mavlink_hil.h +++ /dev/null @@ -1,52 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_hil.h - * Hardware-in-the-loop simulation support. - */ - -#pragma once - -extern bool mavlink_hil_enabled; - -/** - * Enable / disable Hardware in the Loop simulation mode. - * - * @param hil_enabled The new HIL enable/disable state. - * @return OK if the HIL state changed, ERROR if the - * requested change could not be made or was - * redundant. - */ -extern int set_hil_on_off(bool hil_enabled); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp new file mode 100644 index 000000000..42504dea9 --- /dev/null +++ b/src/modules/mavlink/mavlink_main.cpp @@ -0,0 +1,1921 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_main.cpp + * MAVLink 1.0 protocol implementation. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ + +#include <nuttx/config.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdbool.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <assert.h> +#include <math.h> +#include <poll.h> +#include <termios.h> +#include <time.h> +#include <math.h> /* isinf / isnan checks */ + +#include <sys/ioctl.h> +#include <sys/types.h> +#include <sys/stat.h> + +#include <drivers/device/device.h> +#include <drivers/drv_hrt.h> +#include <arch/board/board.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/home_position.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/position_setpoint_triplet.h> +#include <uORB/topics/parameter_update.h> +#include <uORB/topics/mission.h> +#include <uORB/topics/mission_result.h> + +#include <systemlib/param/param.h> +#include <systemlib/err.h> +#include <systemlib/perf_counter.h> +#include <systemlib/systemlib.h> +#include <geo/geo.h> +#include <dataman/dataman.h> +#include <mathlib/mathlib.h> +#include <mavlink/mavlink_log.h> + +#include <commander/px4_custom_mode.h> + +#include "mavlink_bridge_header.h" +#include "mavlink_main.h" +#include "mavlink_orb_listener.h" +#include "mavlink_receiver.h" + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +static Mavlink* _head = nullptr; + +/* TODO: if this is a class member it crashes */ +static struct file_operations fops; + +/** + * mavlink app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); + +/* + * Internal function to send the bytes through the right serial port + */ +void +mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) +{ + int uart = -1; + + switch (channel) { + case MAVLINK_COMM_0: + uart = Mavlink::get_uart_fd(0); + break; + case MAVLINK_COMM_1: + uart = Mavlink::get_uart_fd(1); + break; + case MAVLINK_COMM_2: + uart = Mavlink::get_uart_fd(2); + break; + case MAVLINK_COMM_3: + uart = Mavlink::get_uart_fd(3); + break; + #ifdef MAVLINK_COMM_4 + case MAVLINK_COMM_4: + uart = Mavlink::get_uart_fd(4); + break; + #endif + #ifdef MAVLINK_COMM_5 + case MAVLINK_COMM_5: + uart = Mavlink::get_uart_fd(5); + break; + #endif + #ifdef MAVLINK_COMM_6 + case MAVLINK_COMM_6: + uart = Mavlink::get_uart_fd(6); + break; + #endif + } + + ssize_t desired = (sizeof(uint8_t) * length); + ssize_t ret = write(uart, ch, desired); + + if (ret != desired) + warn("write err"); + +} + +static void usage(void); + +namespace mavlink +{ + + Mavlink *g_mavlink; +} + +Mavlink::Mavlink() : + device_name("/dev/ttyS1"), + _task_should_exit(false), + _next(nullptr), + _mavlink_fd(-1), + thread_running(false), + _mavlink_task(-1), + _mavlink_incoming_fd(-1), + +/* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "mavlink")), + _mavlink_hil_enabled(false) + // _params_sub(-1) +{ + wpm = &wpm_s; + fops.ioctl = (int (*)(file*, int, long unsigned int))&mavlink_dev_ioctl; + // _parameter_handles.min_altitude = param_find("NAV_MIN_ALT"); + +} + +Mavlink::~Mavlink() +{ + if (_mavlink_task != -1) { + + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_mavlink_task); + break; + } + } while (_mavlink_task != -1); + } +} + +void Mavlink::set_mode(enum MAVLINK_MODE mode) +{ + _mode = mode; +} + +int Mavlink::instance_count() +{ + /* note: a local buffer count will help if this ever is called often */ + Mavlink* inst = ::_head; + unsigned inst_index = 0; + while (inst != nullptr) { + inst = inst->_next; + inst_index++; + } + + return inst_index; +} + +Mavlink* Mavlink::new_instance() +{ + Mavlink* inst = new Mavlink(); + Mavlink* next = ::_head; + + /* create the first instance at _head */ + if (::_head == nullptr) { + ::_head = inst; + /* afterwards follow the next and append the instance */ + } else { + while (next->_next != nullptr) { + next = next->_next; + } + /* now parent has a null pointer, fill it */ + next->_next = inst; + } + return inst; +} + +Mavlink* Mavlink::get_instance(unsigned instance) +{ + Mavlink* inst = ::_head; + unsigned inst_index = 0; + while (inst->_next != nullptr && inst_index < instance) { + inst = inst->_next; + inst_index++; + } + + if (inst_index < instance) { + inst = nullptr; + } + + return inst; +} + +int Mavlink::destroy_all_instances() +{ + /* start deleting from the end */ + Mavlink *inst_to_del = nullptr; + Mavlink *next_inst = ::_head; + + unsigned iterations = 0; + + warnx("waiting for instances to stop"); + while (next_inst != nullptr) { + + inst_to_del = next_inst; + next_inst = inst_to_del->_next; + + /* set flag to stop thread and wait for all threads to finish */ + inst_to_del->_task_should_exit = true; + while (inst_to_del->thread_running) { + printf("."); + usleep(10000); + iterations++; + + if (iterations > 10000) { + warnx("ERROR: Couldn't stop all mavlink instances."); + return ERROR; + } + } + delete inst_to_del; + } + + /* reset head */ + ::_head = nullptr; + + printf("\n"); + warnx("all instances stopped"); + return OK; +} + +bool Mavlink::instance_exists(const char *device_name, Mavlink *self) +{ + Mavlink* inst = ::_head; + while (inst != nullptr) { + + /* don't compare with itself */ + if (inst != self && !strcmp(device_name, inst->device_name)) + return true; + inst = inst->_next; + } + return false; +} + +int Mavlink::get_uart_fd(unsigned index) +{ + Mavlink* inst = get_instance(index); + if (inst) + return inst->get_uart_fd(); + + return -1; +} + +int Mavlink::get_uart_fd() +{ + return _uart; +} + +int Mavlink::get_channel() +{ + return (int)_chan; +} + +void +Mavlink::parameters_update() +{ + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), _params_sub, &update); + + // param_get(_parameter_handles.min_altitude, &(_parameters.min_altitude)); + +} + +/**************************************************************************** + * MAVLink text message logger + ****************************************************************************/ + +int +Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) +{ + switch (cmd) { + case (int)MAVLINK_IOC_SEND_TEXT_INFO: + case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: + case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { + + const char *txt = (const char *)arg; +// printf("logmsg: %s\n", txt); + struct mavlink_logmessage msg; + strncpy(msg.text, txt, sizeof(msg.text)); + + Mavlink* inst = ::_head; + while (inst != nullptr) { + + mavlink_logbuffer_write(&inst->lb, &msg); + inst->total_counter++; + inst = inst->_next; + + } + return OK; + } + + default: + return ENOTTY; + } +} + +void Mavlink::mavlink_update_system(void) +{ + static bool initialized = false; + static param_t param_system_id; + static param_t param_component_id; + static param_t param_system_type; + + 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"); + initialized = true; + } + + /* update system and component id */ + int32_t system_id; + param_get(param_system_id, &system_id); + + if (system_id > 0 && system_id < 255) { + mavlink_system.sysid = system_id; + } + + int32_t component_id; + param_get(param_component_id, &component_id); + + if (component_id > 0 && component_id < 255) { + mavlink_system.compid = component_id; + } + + int32_t system_type; + param_get(param_system_type, &system_type); + + if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { + mavlink_system.type = system_type; + } +} + +int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 0: speed = B0; break; + + case 50: speed = B50; break; + + case 75: speed = B75; break; + + case 110: speed = B110; break; + + case 134: speed = B134; break; + + case 150: speed = B150; break; + + case 200: speed = B200; break; + + case 300: speed = B300; break; + + case 600: speed = B600; break; + + case 1200: speed = B1200; break; + + case 1800: speed = B1800; break; + + case 2400: speed = B2400; break; + + case 4800: speed = B4800; break; + + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + + case 460800: speed = B460800; break; + + case 921600: speed = B921600; break; + + default: + warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n", baud); + return -EINVAL; + } + + /* open uart */ + warnx("UART is %s, baudrate is %d\n", uart_name, baud); + _uart = open(uart_name, O_RDWR | O_NOCTTY); + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + *is_usb = false; + + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(_uart, uart_config_original)) < 0) { + warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); + close(_uart); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(_uart, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* USB serial is indicated by /dev/ttyACM0*/ + if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) { + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + close(_uart); + return -1; + } + + } + + if ((termios_state = tcsetattr(_uart, TCSANOW, &uart_config)) < 0) { + warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + close(_uart); + return -1; + } + + return _uart; +} + +int +Mavlink::set_hil_enabled(bool hil_enabled) +{ + int ret = OK; + + /* Enable HIL */ + if (hil_enabled && !_mavlink_hil_enabled) { + + _mavlink_hil_enabled = true; + + /* ramp up some HIL-related subscriptions */ + unsigned hil_rate_interval; + + if (_baudrate < 19200) { + /* 10 Hz */ + hil_rate_interval = 100; + + } else if (_baudrate < 38400) { + /* 10 Hz */ + hil_rate_interval = 100; + + } else if (_baudrate < 115200) { + /* 20 Hz */ + hil_rate_interval = 50; + + } else { + /* 200 Hz */ + hil_rate_interval = 5; + } + + orb_set_interval(subs.spa_sub, hil_rate_interval); + set_mavlink_interval_limit(MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval); + } + + if (!hil_enabled && _mavlink_hil_enabled) { + _mavlink_hil_enabled = false; + orb_set_interval(subs.spa_sub, 200); + + } else { + ret = ERROR; + } + + return ret; +} + +void +Mavlink::get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) +{ + /* reset MAVLink mode bitfield */ + *mavlink_base_mode = 0; + *mavlink_custom_mode = 0; + + /** + * Set mode flags + **/ + + /* HIL */ + if (v_status.hil_state == HIL_STATE_ON) { + *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + /* arming state */ + if (v_status.arming_state == ARMING_STATE_ARMED + || v_status.arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + } + + /* main state */ + *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; + 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 (v_status.main_state == MAIN_STATE_MANUAL) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + } else if (v_status.main_state == MAIN_STATE_SEATBELT) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; + } else if (v_status.main_state == MAIN_STATE_EASY) { + *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_EASY; + } else if (v_status.main_state == MAIN_STATE_AUTO) { + *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 { + /* 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; + } else if (pos_sp_triplet.nav_state == NAV_STATE_LOITER) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; + } 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) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; + } else if (pos_sp_triplet.nav_state == NAV_STATE_LAND) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + } + } + *mavlink_custom_mode = custom_mode.data; + + /** + * Set mavlink state + **/ + + /* set calibration state */ + if (v_status.arming_state == ARMING_STATE_INIT + || v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE + || v_status.arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review + *mavlink_state = MAV_STATE_UNINIT; + } else if (v_status.arming_state == ARMING_STATE_ARMED) { + *mavlink_state = MAV_STATE_ACTIVE; + } else if (v_status.arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_state = MAV_STATE_CRITICAL; + } else if (v_status.arming_state == ARMING_STATE_STANDBY) { + *mavlink_state = MAV_STATE_STANDBY; + } else if (v_status.arming_state == ARMING_STATE_REBOOT) { + *mavlink_state = MAV_STATE_POWEROFF; + } else { + warnx("Unknown mavlink state"); + *mavlink_state = MAV_STATE_CRITICAL; + } +} + + +int Mavlink::set_mavlink_interval_limit(int mavlink_msg_id, int min_interval) +{ + int ret = OK; + + switch (mavlink_msg_id) { + case MAVLINK_MSG_ID_SCALED_IMU: + /* sensor sub triggers scaled IMU */ + orb_set_interval(subs.sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_HIGHRES_IMU: + /* sensor sub triggers highres IMU */ + orb_set_interval(subs.sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_RAW_IMU: + /* sensor sub triggers RAW IMU */ + orb_set_interval(subs.sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_ATTITUDE: + /* attitude sub triggers attitude */ + orb_set_interval(subs.att_sub, min_interval); + break; + + case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: + /* actuator_outputs triggers this message */ + orb_set_interval(subs.act_0_sub, min_interval); + orb_set_interval(subs.act_1_sub, min_interval); + orb_set_interval(subs.act_2_sub, min_interval); + orb_set_interval(subs.act_3_sub, min_interval); + orb_set_interval(subs.actuators_sub, min_interval); + orb_set_interval(subs.actuators_effective_sub, min_interval); + orb_set_interval(subs.spa_sub, min_interval); + orb_set_interval(subs.rates_setpoint_sub, min_interval); + break; + + case MAVLINK_MSG_ID_MANUAL_CONTROL: + /* manual_control_setpoint triggers this message */ + orb_set_interval(subs.man_control_sp_sub, min_interval); + break; + + case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: + orb_set_interval(subs.debug_key_value, min_interval); + break; + + default: + /* not found */ + ret = ERROR; + break; + } + + return ret; +} + +extern mavlink_system_t mavlink_system; + +void Mavlink::mavlink_pm_callback(void *arg, param_t param) +{ + //mavlink_pm_send_param(param); + usleep(*(unsigned int *)arg); +} + +void Mavlink::mavlink_pm_send_all_params(unsigned int delay) +{ + unsigned int dbuf = delay; + param_foreach(&mavlink_pm_callback, &dbuf, false); +} + +int Mavlink::mavlink_pm_queued_send() +{ + if (mavlink_param_queue_index < param_count()) { + mavlink_pm_send_param(param_for_index(mavlink_param_queue_index)); + mavlink_param_queue_index++; + return 0; + + } else { + return 1; + } +} + +void Mavlink::mavlink_pm_start_queued_send() +{ + mavlink_param_queue_index = 0; +} + +int Mavlink::mavlink_pm_send_param_for_index(uint16_t index) +{ + return mavlink_pm_send_param(param_for_index(index)); +} + +int Mavlink::mavlink_pm_send_param_for_name(const char *name) +{ + return mavlink_pm_send_param(param_find(name)); +} + +int Mavlink::mavlink_pm_send_param(param_t param) +{ + if (param == PARAM_INVALID) return 1; + + /* buffers for param transmission */ + static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; + float val_buf; + static mavlink_message_t tx_msg; + + /* query parameter type */ + param_type_t type = param_type(param); + /* copy parameter name */ + strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + + /* + * Map onboard parameter type to MAVLink type, + * endianess matches (both little endian) + */ + uint8_t mavlink_type; + + if (type == PARAM_TYPE_INT32) { + mavlink_type = MAVLINK_TYPE_INT32_T; + + } else if (type == PARAM_TYPE_FLOAT) { + mavlink_type = MAVLINK_TYPE_FLOAT; + + } else { + mavlink_type = MAVLINK_TYPE_FLOAT; + } + + /* + * get param value, since MAVLink encodes float and int params in the same + * space during transmission, copy param onto float val_buf + */ + + int ret; + + if ((ret = param_get(param, &val_buf)) != OK) { + return ret; + } + + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, + mavlink_system.compid, + MAVLINK_COMM_0, + &tx_msg, + name_buf, + val_buf, + mavlink_type, + param_count(), + param_get_index(param)); + mavlink_missionlib_send_message(&tx_msg); + return OK; +} + +void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) +{ + switch (msg->msgid) { + case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { + /* Start sending parameters */ + mavlink_pm_start_queued_send(); + mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); + } break; + + case MAVLINK_MSG_ID_PARAM_SET: { + + /* Handle parameter setting */ + + if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { + mavlink_param_set_t mavlink_param_set; + mavlink_msg_param_set_decode(msg, &mavlink_param_set); + + if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { + /* local name buffer to enforce null-terminated string */ + char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; + strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; + /* attempt to find parameter, set and send it */ + param_t param = param_find(name); + + if (param == PARAM_INVALID) { + char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; + sprintf(buf, "[mavlink pm] unknown: %s", name); + mavlink_missionlib_send_gcs_string(buf); + + } else { + /* set and send parameter */ + param_set(param, &(mavlink_param_set.param_value)); + mavlink_pm_send_param(param); + } + } + } + } break; + + case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { + mavlink_param_request_read_t mavlink_param_request_read; + mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); + + if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { + /* when no index is given, loop through string ids and compare them */ + if (mavlink_param_request_read.param_index == -1) { + /* local name buffer to enforce null-terminated string */ + char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; + strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; + /* attempt to find parameter and send it */ + mavlink_pm_send_param_for_name(name); + + } else { + /* when index is >= 0, send this parameter again */ + mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); + } + } + + } break; + } +} + +void Mavlink::publish_mission() +{ + /* Initialize mission publication if necessary */ + if (mission_pub < 0) { + mission_pub = orb_advertise(ORB_ID(mission), &mission); + + } else { + orb_publish(ORB_ID(mission), mission_pub, &mission); + } +} + +int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) +{ + /* only support global waypoints for now */ + switch (mavlink_mission_item->frame) { + case MAV_FRAME_GLOBAL: + mission_item->lat = (double)mavlink_mission_item->x; + mission_item->lon = (double)mavlink_mission_item->y; + mission_item->altitude = mavlink_mission_item->z; + mission_item->altitude_is_relative = false; + break; + + case MAV_FRAME_GLOBAL_RELATIVE_ALT: + mission_item->lat = (double)mavlink_mission_item->x; + mission_item->lon = (double)mavlink_mission_item->y; + mission_item->altitude = mavlink_mission_item->z; + mission_item->altitude_is_relative = true; + break; + + case MAV_FRAME_LOCAL_NED: + case MAV_FRAME_LOCAL_ENU: + return MAV_MISSION_UNSUPPORTED_FRAME; + case MAV_FRAME_MISSION: + default: + return MAV_MISSION_ERROR; + } + + switch (mavlink_mission_item->command) { + case MAV_CMD_NAV_TAKEOFF: + mission_item->pitch_min = mavlink_mission_item->param2; + break; + default: + mission_item->acceptance_radius = mavlink_mission_item->param2; + break; + } + + mission_item->yaw = _wrap_pi(mavlink_mission_item->param4*M_DEG_TO_RAD_F); + mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); + mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ + mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; + + mission_item->time_inside = mavlink_mission_item->param1; + mission_item->autocontinue = mavlink_mission_item->autocontinue; + // mission_item->index = mavlink_mission_item->seq; + mission_item->origin = ORIGIN_MAVLINK; + + return OK; +} + +int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) +{ + if (mission_item->altitude_is_relative) { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL; + } else { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + } + + switch (mission_item->nav_cmd) { + case NAV_CMD_TAKEOFF: + mavlink_mission_item->param2 = mission_item->pitch_min; + break; + default: + mavlink_mission_item->param2 = mission_item->acceptance_radius; + break; + } + + mavlink_mission_item->x = (float)mission_item->lat; + mavlink_mission_item->y = (float)mission_item->lon; + mavlink_mission_item->z = mission_item->altitude; + + mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F; + mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction; + mavlink_mission_item->command = mission_item->nav_cmd; + mavlink_mission_item->param1 = mission_item->time_inside; + mavlink_mission_item->autocontinue = mission_item->autocontinue; + // mavlink_mission_item->seq = mission_item->index; + + return OK; +} + +void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state) +{ + state->size = 0; + state->max_size = MAVLINK_WPM_MAX_WP_COUNT; + state->current_state = MAVLINK_WPM_STATE_IDLE; + state->current_partner_sysid = 0; + state->current_partner_compid = 0; + state->timestamp_lastaction = 0; + state->timestamp_last_send_setpoint = 0; + state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; + state->current_dataman_id = 0; +} + +/* + * @brief Sends an waypoint ack message + */ +void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) +{ + mavlink_message_t msg; + mavlink_mission_ack_t wpa; + + wpa.target_system = sysid; + wpa.target_component = compid; + wpa.type = type; + + mavlink_msg_mission_ack_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpa); + mavlink_missionlib_send_message(&msg); + + if (_verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); +} + +/* + * @brief Broadcasts the new target waypoint and directs the MAV to fly there + * + * This function broadcasts its new active waypoint sequence number and + * sends a message to the controller, advising it to fly to the coordinates + * of the waypoint with a given orientation + * + * @param seq The waypoint sequence number the MAV should fly to. + */ +void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq) +{ + if (seq < wpm->size) { + mavlink_message_t msg; + mavlink_mission_current_t wpc; + + wpc.seq = seq; + + mavlink_msg_mission_current_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + if (_verbose) warnx("Broadcasted new current waypoint %u", wpc.seq); + + } else { + mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); + if (_verbose) warnx("ERROR: index out of bounds"); + } +} + +void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) +{ + mavlink_message_t msg; + mavlink_mission_count_t wpc; + + wpc.target_system = sysid; + wpc.target_component = compid; + wpc.count = mission.count; + + mavlink_msg_mission_count_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + if (_verbose) warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); +} + +void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + + struct mission_item_s mission_item; + ssize_t len = sizeof(struct mission_item_s); + + dm_item_t dm_current; + + if (wpm->current_dataman_id == 0) { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; + } else { + dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; + } + + if (dm_read(dm_current, seq, &mission_item, len) == len) { + + /* create mission_item_s from mavlink_mission_item_t */ + mavlink_mission_item_t wp; + map_mission_item_to_mavlink_mission_item(&mission_item, &wp); + + mavlink_message_t msg; + wp.target_system = sysid; + wp.target_component = compid; + wp.seq = seq; + mavlink_msg_mission_item_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wp); + mavlink_missionlib_send_message(&msg); + + if (_verbose) warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + if (_verbose) warnx("ERROR: could not read WP%u", seq); + } +} + +void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + if (seq < wpm->max_size) { + mavlink_message_t msg; + mavlink_mission_request_t wpr; + wpr.target_system = sysid; + wpr.target_component = compid; + wpr.seq = seq; + mavlink_msg_mission_request_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wpr); + mavlink_missionlib_send_message(&msg); + + if (_verbose) warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); + + } else { + mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); + if (_verbose) warnx("ERROR: Waypoint index exceeds list capacity"); + } +} + +/* + * @brief emits a message that a waypoint reached + * + * This function broadcasts a message that a waypoint is reached. + * + * @param seq The waypoint sequence number the MAV has reached. + */ +void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq) +{ + mavlink_message_t msg; + mavlink_mission_item_reached_t wp_reached; + + wp_reached.seq = seq; + + mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, _mavlink_wpm_comp_id, &msg, &wp_reached); + mavlink_missionlib_send_message(&msg); + + if (_verbose) warnx("Sent waypoint %u reached message", wp_reached.seq); +} + +void Mavlink::mavlink_waypoint_eventloop(uint64_t now) +{ + /* check for timed-out operations */ + if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + + mavlink_missionlib_send_gcs_string("Operation timeout"); + + if (_verbose) warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_state); + + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + wpm->current_partner_sysid = 0; + wpm->current_partner_compid = 0; + } +} + + +void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) +{ + uint64_t now = hrt_absolute_time(); + + switch (msg->msgid) { + + case MAVLINK_MSG_ID_MISSION_ACK: { + mavlink_mission_ack_t wpa; + mavlink_msg_mission_ack_decode(msg, &wpa); + + if ((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + if (wpm->current_wp_id == wpm->size - 1) { + + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + wpm->current_wp_id = 0; + } + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); + if (_verbose) warnx("REJ. WP CMD: curr partner id mismatch"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { + mavlink_mission_set_current_t wpc; + mavlink_msg_mission_set_current_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + if (wpc.seq < wpm->size) { + + mission.current_index = wpc.seq; + publish_mission(); + + mavlink_wpm_send_waypoint_current(wpc.seq); + + } else { + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); + if (_verbose) warnx("IGN WP CURR CMD: Not in list"); + } + + } else { + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); + if (_verbose) warnx("IGN WP CURR CMD: Busy"); + + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (_verbose) warnx("REJ. WP CMD: target id mismatch"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { + mavlink_mission_request_list_t wprl; + mavlink_msg_mission_request_list_decode(msg, &wprl); + + if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + if (wpm->size > 0) { + + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; + wpm->current_wp_id = 0; + wpm->current_partner_sysid = msg->sysid; + wpm->current_partner_compid = msg->compid; + + } else { + if (_verbose) warnx("No waypoints send"); + } + + wpm->current_count = wpm->size; + mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); + + } else { + mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); + if (_verbose) warnx("IGN REQUEST LIST: Busy"); + } + } else { + mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch"); + if (_verbose) warnx("REJ. REQUEST LIST: target id mismatch"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_REQUEST: { + mavlink_mission_request_t wpr; + mavlink_msg_mission_request_decode(msg, &wpr); + + if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + if (wpr.seq >= wpm->size) { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); + if (_verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); + break; + } + + /* + * Ensure that we are in the correct state and that the first request has id 0 + * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) + */ + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + + if (wpr.seq == 0) { + if (_verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); + if (_verbose) warnx("REJ. WP CMD: First id != 0"); + break; + } + + } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + + if (wpr.seq == wpm->current_wp_id) { + + if (_verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); + + } else if (wpr.seq == wpm->current_wp_id + 1) { + + if (_verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); + if (_verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); + break; + } + + } else { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (_verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", wpm->current_state); + break; + } + + wpm->current_wp_id = wpr.seq; + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + + if (wpr.seq < wpm->size) { + + mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid,wpm->current_wp_id); + + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + if (_verbose) warnx("ERROR: Waypoint %u out of bounds", wpr.seq); + } + + + } else { + //we we're target but already communicating with someone else + if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (_verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, wpm->current_partner_sysid); + + } else { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (_verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); + } + } + break; + } + + case MAVLINK_MSG_ID_MISSION_COUNT: { + mavlink_mission_count_t wpc; + mavlink_msg_mission_count_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + + if (wpc.count > NUM_MISSIONS_SUPPORTED) { + if (_verbose) warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_NO_SPACE); + break; + } + + if (wpc.count == 0) { + mavlink_missionlib_send_gcs_string("COUNT 0"); + if (_verbose) warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); + break; + } + + if (_verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); + + wpm->current_state = MAVLINK_WPM_STATE_GETLIST; + wpm->current_wp_id = 0; + wpm->current_partner_sysid = msg->sysid; + wpm->current_partner_compid = msg->compid; + wpm->current_count = wpc.count; + + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + + if (wpm->current_wp_id == 0) { + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); + if (_verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (_verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", wpm->current_wp_id); + } + } else { + mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); + if (_verbose) warnx("IGN MISSION_COUNT CMD: Busy"); + } + } else { + + mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch"); + if (_verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); + } + } + break; + + case MAVLINK_MSG_ID_MISSION_ITEM: { + mavlink_mission_item_t wp; + mavlink_msg_mission_item_decode(msg, &wp); + + if (wp.target_system == mavlink_system.sysid && wp.target_component == _mavlink_wpm_comp_id) { + + wpm->timestamp_lastaction = now; + + /* + * ensure that we are in the correct state and that the first waypoint has id 0 + * and the following waypoints have the correct ids + */ + + if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + + if (wp.seq != 0) { + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq); + break; + } + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + + if (wp.seq >= wpm->current_count) { + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq); + break; + } + + if (wp.seq != wpm->current_wp_id) { + warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, wpm->current_wp_id); + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + break; + } + } + + wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; + + struct mission_item_s mission_item; + + int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); + + if (ret != OK) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret); + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } + + ssize_t len = sizeof(struct mission_item_s); + + dm_item_t dm_next; + + if (wpm->current_dataman_id == 0) { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; + mission.dataman_id = 1; + } else { + dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; + mission.dataman_id = 0; + } + + if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } + +// if (wp.current) { +// warnx("current is: %d", wp.seq); +// mission.current_index = wp.seq; +// } + // XXX ignore current set + mission.current_index = -1; + + wpm->current_wp_id = wp.seq + 1; + + if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + + if (_verbose) warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_count); + + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + + mission.count = wpm->current_count; + + publish_mission(); + + wpm->current_dataman_id = mission.dataman_id; + wpm->size = wpm->current_count; + + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + + } else { + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (_verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { + mavlink_mission_clear_all_t wpca; + mavlink_msg_mission_clear_all_decode(msg, &wpca); + + if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { + + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + wpm->timestamp_lastaction = now; + + wpm->size = 0; + + /* prepare mission topic */ + mission.dataman_id = -1; + mission.count = 0; + mission.current_index = -1; + publish_mission(); + + if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + } else { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + } + + + } else { + mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); + if (_verbose) warnx("IGN WP CLEAR CMD: Busy"); + } + + + } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + + mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch"); + if (_verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); + } + + break; + } + + default: { + /* other messages might should get caught by mavlink and others */ + break; + } + } +} + +void +Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg) +{ + uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); + + mavlink_send_uart_bytes(_chan, missionlib_msg_buf, len); +} + + + +int +Mavlink::mavlink_missionlib_send_gcs_string(const char *string) +{ + const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; + mavlink_statustext_t statustext; + int i = 0; + + while (i < len - 1) { + statustext.text[i] = string[i]; + + if (string[i] == '\0') + break; + + i++; + } + + if (i > 1) { + /* Enforce null termination */ + statustext.text[i] = '\0'; + mavlink_message_t msg; + + mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); + mavlink_missionlib_send_message(&msg); + return OK; + + } else { + return 1; + } +} + +int +Mavlink::task_main(int argc, char *argv[]) +{ + /* inform about start */ + warnx("Initializing.."); + fflush(stdout); + + /* initialize mavlink text message buffering */ + mavlink_logbuffer_init(&lb, 5); + + int ch; + _baudrate = 57600; + _chan = MAVLINK_COMM_0; + + _mode = MODE_OFFBOARD; + + /* work around some stupidity in task_create's argv handling */ + argc -= 2; + argv += 2; + + while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { + switch (ch) { + case 'b': + _baudrate = strtoul(optarg, NULL, 10); + + if (_baudrate < 9600 || _baudrate > 921600) + errx(1, "invalid baud rate '%s'", optarg); + + break; + + case 'd': + device_name = optarg; + break; + +// case 'e': +// mavlink_link_termination_allowed = true; +// break; + + case 'o': + _mode = MODE_ONBOARD; + break; + + case 'v': + _verbose = true; + + default: + usage(); + break; + } + } + + if (Mavlink::instance_exists(device_name, this)) { + errx(1, "mavlink instance for %s already running", device_name); + } + + struct termios uart_config_original; + + bool usb_uart; + + /* print welcome text */ + warnx("MAVLink v1.0 serial interface starting..."); + + /* inform about mode */ + switch (_mode) { + case MODE_TX_HEARTBEAT_ONLY: + warnx("MODE_TX_HEARTBEAT_ONLY"); + break; + case MODE_OFFBOARD: + warnx("MODE_OFFBOARD"); + break; + case MODE_ONBOARD: + warnx("MODE_ONBOARD"); + break; + case MODE_HIL: + warnx("MODE_HIL"); + break; + default: + warnx("Error: Unknown mode"); + break; + } + + switch(_mode) { + case MODE_OFFBOARD: + case MODE_HIL: + _mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; + break; + case MODE_ONBOARD: + _mavlink_wpm_comp_id = MAV_COMP_ID_CAMERA; + break; + case MODE_TX_HEARTBEAT_ONLY: + default: + _mavlink_wpm_comp_id = MAV_COMP_ID_ALL; + warnx("Error: Unknown mode"); + break; + } + + /* Flush stdout in case MAVLink is about to take it over */ + fflush(stdout); + + /* default values for arguments */ + _uart = mavlink_open_uart(_baudrate, device_name, &uart_config_original, &usb_uart); + + if (_uart < 0) + err(1, "could not open %s", device_name); + + /* create the device node that's used for sending text log messages, etc. */ + register_driver(MAVLINK_LOG_DEVICE, &fops, 0666, NULL); + + /* initialize logging device */ + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + mavlink_log_info(_mavlink_fd, "[mavlink] started"); + + /* Initialize system properties */ + mavlink_update_system(); + + /* start the MAVLink receiver */ + receive_thread = MavlinkReceiver::receive_start(this); + + /* start the ORB receiver */ + uorb_receive_thread = MavlinkOrbListener::uorb_receive_start(this); + + /* initialize waypoint manager */ + mavlink_wpm_init(wpm); + + /* all subscriptions are now active, set up initial guess about rate limits */ + if (_baudrate >= 230400) { + /* 200 Hz / 5 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_HIGHRES_IMU, 20); + set_mavlink_interval_limit(MAVLINK_MSG_ID_RAW_IMU, 20); + /* 50 Hz / 20 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 30); + /* 20 Hz / 50 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); + set_mavlink_interval_limit(MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); + /* 10 Hz */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_GPS_RAW_INT, 100); + /* 10 Hz */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_MANUAL_CONTROL, 100); + + } else if (_baudrate >= 115200) { + /* 20 Hz / 50 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_HIGHRES_IMU, 50); + set_mavlink_interval_limit(MAVLINK_MSG_ID_RAW_IMU, 50); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 50); + set_mavlink_interval_limit(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_GPS_RAW_INT, 200); + /* 2 Hz */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + + } else if (_baudrate >= 57600) { + /* 10 Hz / 100 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_RAW_IMU, 300); + set_mavlink_interval_limit(MAVLINK_MSG_ID_HIGHRES_IMU, 300); + /* 10 Hz / 100 ms ATTITUDE */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); + /* 2 Hz */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + /* 2 Hz */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_GPS_RAW_INT, 500); + + } else { + /* very low baud rate, limit to 1 Hz / 1000 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_RAW_IMU, 1000); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 1000); + set_mavlink_interval_limit(MAVLINK_MSG_ID_HIGHRES_IMU, 1000); + /* 1 Hz / 1000 ms */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000); + /* 0.5 Hz */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000); + /* 0.1 Hz */ + set_mavlink_interval_limit(MAVLINK_MSG_ID_MANUAL_CONTROL, 10000); + } + + int mission_result_sub = orb_subscribe(ORB_ID(mission_result)); + struct mission_result_s mission_result; + memset(&mission_result, 0, sizeof(mission_result)); + + thread_running = true; + + /* arm counter to go off immediately */ + unsigned lowspeed_counter = 10; + + /* wakeup source(s) */ + struct pollfd fds[1]; + + _params_sub = orb_subscribe(ORB_ID(parameter_update)); + + /* Setup of loop */ + fds[0].fd = _params_sub; + fds[0].events = POLLIN; + + while (!_task_should_exit) { + + /* wait for up to 100ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + perf_begin(_loop_perf); + + /* parameters updated */ + if (fds[0].revents & POLLIN) { + parameters_update(); + } + + /* 1 Hz */ + if (lowspeed_counter == 10) { + mavlink_update_system(); + + /* translate the current system state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(_chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_base_mode, mavlink_custom_mode, mavlink_state); + + /* switch HIL mode if required */ + if (v_status.hil_state == HIL_STATE_ON) + set_hil_enabled(true); + else if (v_status.hil_state == HIL_STATE_OFF) + set_hil_enabled(false); + + /* send status (values already copied in the section above) */ + mavlink_msg_sys_status_send(_chan, + v_status.onboard_control_sensors_present, + v_status.onboard_control_sensors_enabled, + v_status.onboard_control_sensors_health, + v_status.load * 1000.0f, + v_status.battery_voltage * 1000.0f, + v_status.battery_current * 1000.0f, + v_status.battery_remaining, + v_status.drop_rate_comm, + v_status.errors_comm, + v_status.errors_count1, + v_status.errors_count2, + v_status.errors_count3, + v_status.errors_count4); + lowspeed_counter = 0; + } + + lowspeed_counter++; + + bool updated; + orb_check(mission_result_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); + + if (_verbose) warnx("Got mission result"); + + if (mission_result.mission_reached) + mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached); + + mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); + } + + mavlink_waypoint_eventloop(hrt_absolute_time()); + + /* check if waypoint has been reached against the last positions */ + mavlink_waypoint_eventloop(hrt_absolute_time()); + + + /* send parameters at 20 Hz (if queued for sending) */ + mavlink_pm_queued_send(); + mavlink_waypoint_eventloop(hrt_absolute_time()); + + mavlink_waypoint_eventloop(hrt_absolute_time()); + + if (_baudrate > 57600) { + mavlink_pm_queued_send(); + } + + /* send one string at 10 Hz */ + if (!mavlink_logbuffer_is_empty(&lb)) { + struct mavlink_logmessage msg; + int lb_ret = mavlink_logbuffer_read(&lb, &msg); + + if (lb_ret == OK) { + mavlink_missionlib_send_gcs_string(msg.text); + } + } + + perf_end(_loop_perf); + } + + /* wait for threads to complete */ + pthread_join(receive_thread, NULL); + pthread_join(uorb_receive_thread, NULL); + + /* Reset the UART flags to original state */ + tcsetattr(_uart, TCSANOW, &uart_config_original); + + /* destroy log buffer */ + mavlink_logbuffer_destroy(&lb); + + thread_running = false; + + warnx("exiting."); + + _mavlink_task = -1; + _exit(0); +} + +int Mavlink::start_helper(int argc, char *argv[]) +{ + // Create the instance in task context + Mavlink *instance = Mavlink::new_instance(); + // This will actually only return once MAVLink exits + return instance->task_main(argc, argv); +} + +int +Mavlink::start() +{ + + return OK; +} + +void +Mavlink::status() +{ + warnx("Running"); +} + +static void usage() +{ + errx(1, "usage: mavlink {start|stop-all} [-d device] [-b baudrate] [-o] [-v]"); +} + +int mavlink_main(int argc, char *argv[]) +{ + if (argc < 2) { + usage(); + } + + if (!strcmp(argv[1], "start")) { + + // Instantiate thread + char buf[32]; + sprintf(buf, "mavlink if%d", Mavlink::instance_count()); + + /*mavlink->_mavlink_task = */task_spawn_cmd(buf, + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + (main_t)&Mavlink::start_helper, + (const char **)argv); + + // while (!this->is_running()) { + // usleep(200); + // } + + // if (mavlink->_mavlink_task < 0) { + // warn("task start failed"); + // return -errno; + // } + + // if (mavlink::g_mavlink != nullptr) { + // errx(1, "already running"); + // } + + // mavlink::g_mavlink = new Mavlink; + + // if (mavlink::g_mavlink == nullptr) { + // errx(1, "alloc failed"); + // } + + // if (OK != mavlink::g_mavlink->start()) { + // delete mavlink::g_mavlink; + // mavlink::g_mavlink = nullptr; + // err(1, "start failed"); + // } + + return 0; + + } else if (!strcmp(argv[1], "stop")) { + warnx("mavlink stop is deprecated, use stop-all instead"); + usage(); + + } else if (!strcmp(argv[1], "stop-all")) { + return Mavlink::destroy_all_instances(); + + // } else if (!strcmp(argv[1], "status")) { + // mavlink::g_mavlink->status(); + + } else { + usage(); + } + + return 0; +} diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h new file mode 100644 index 000000000..9461a51f8 --- /dev/null +++ b/src/modules/mavlink/mavlink_main.h @@ -0,0 +1,398 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_main.h + * MAVLink 1.0 protocol interface definition. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#pragma once + +#include <stdbool.h> + +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/home_position.h> +#include <uORB/topics/vehicle_status.h> +#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_vicon_position.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/position_setpoint_triplet.h> +#include <uORB/topics/optical_flow.h> +#include <uORB/topics/actuator_outputs.h> +#include <uORB/topics/actuator_controls_effective.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/telemetry_status.h> +#include <uORB/topics/debug_key_value.h> +#include <uORB/topics/airspeed.h> +#include <uORB/topics/battery_status.h> +#include <drivers/drv_rc_input.h> +#include <uORB/topics/navigation_capabilities.h> +#include <uORB/topics/mission.h> +#include <systemlib/param/param.h> + +#include <nuttx/fs/fs.h> + + // FIXME XXX - TO BE MOVED TO XML +enum MAVLINK_WPM_STATES { + MAVLINK_WPM_STATE_IDLE = 0, + MAVLINK_WPM_STATE_SENDLIST, + MAVLINK_WPM_STATE_SENDLIST_SENDWPS, + MAVLINK_WPM_STATE_GETLIST, + MAVLINK_WPM_STATE_GETLIST_GETWPS, + MAVLINK_WPM_STATE_GETLIST_GOTALL, + MAVLINK_WPM_STATE_ENUM_END +}; + +enum MAVLINK_WPM_CODES { + MAVLINK_WPM_CODE_OK = 0, + MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, + MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, + MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, + MAVLINK_WPM_CODE_ENUM_END +}; + + +#define MAVLINK_WPM_MAX_WP_COUNT 255 +#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds +#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint +#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000 + + +struct mavlink_wpm_storage { + uint16_t size; + uint16_t max_size; + enum MAVLINK_WPM_STATES current_state; + int16_t current_wp_id; ///< Waypoint in current transmission + uint16_t current_count; + uint8_t current_partner_sysid; + uint8_t current_partner_compid; + uint64_t timestamp_lastaction; + uint64_t timestamp_last_send_setpoint; + uint32_t timeout; + int current_dataman_id; +}; + + +class Mavlink +{ + +public: + /** + * Constructor + */ + Mavlink(); + + /** + * Destructor, also kills the mavlinks task. + */ + ~Mavlink(); + + /** + * Start the mavlink task. + * + * @return OK on success. + */ + static int start(); + + /** + * Display the mavlink status. + */ + void status(); + + static int instance_count(); + + static Mavlink* new_instance(); + + static Mavlink* get_instance(unsigned instance); + + static int destroy_all_instances(); + + static bool instance_exists(const char *device_name, Mavlink *self); + + static int get_uart_fd(unsigned index); + + int get_uart_fd(); + + int get_channel(); + + const char *device_name; + + enum MAVLINK_MODE { + MODE_TX_HEARTBEAT_ONLY=0, + MODE_OFFBOARD, + MODE_ONBOARD, + MODE_HIL + }; + + void set_mode(enum MAVLINK_MODE); + enum MAVLINK_MODE get_mode() { return _mode; } + + bool get_hil_enabled() { return _mavlink_hil_enabled; }; + + /** + * Handle waypoint related messages. + */ + void mavlink_wpm_message_handler(const mavlink_message_t *msg); + + static int start_helper(int argc, char *argv[]); + + /** + * Handle parameter related messages. + */ + void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); + + void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode); + + /** + * Enable / disable Hardware in the Loop simulation mode. + * + * @param hil_enabled The new HIL enable/disable state. + * @return OK if the HIL state changed, ERROR if the + * requested change could not be made or was + * redundant. + */ + int set_hil_enabled(bool hil_enabled); + + struct mavlink_subscriptions { + int sensor_sub; + int att_sub; + int global_pos_sub; + int act_0_sub; + int act_1_sub; + int act_2_sub; + int act_3_sub; + int gps_sub; + int man_control_sp_sub; + int safety_sub; + int actuators_sub; + int armed_sub; + int actuators_effective_sub; + int local_pos_sub; + int spa_sub; + int spl_sub; + int triplet_sub; + int debug_key_value; + int input_rc_sub; + int optical_flow; + int rates_setpoint_sub; + int get_sub; + int airspeed_sub; + int navigation_capabilities_sub; + int position_setpoint_triplet_sub; + int rc_sub; + int status_sub; + int home_sub; + }; + + struct mavlink_subscriptions subs; + + struct mavlink_subscriptions* get_subs() { return &subs; } + mavlink_channel_t get_chan() { return _chan; } + + /** Global position */ + struct vehicle_global_position_s global_pos; + /** Local position */ + struct vehicle_local_position_s local_pos; + /** navigation capabilities */ + struct navigation_capabilities_s nav_cap; + /** Vehicle status */ + struct vehicle_status_s v_status; + /** RC channels */ + struct rc_channels_s rc; + /** Actuator armed state */ + struct actuator_armed_s armed; + /** Position setpoint triplet */ + struct position_setpoint_triplet_s pos_sp_triplet; + + bool _task_should_exit; /**< if true, mavlink task should exit */ + +protected: + /** + * Pointer to the default cdev file operations table; useful for + * registering clone devices etc. + */ + + Mavlink* _next; + +private: + int _mavlink_fd; + bool thread_running; + int _mavlink_task; /**< task handle for sensor task */ + + int _mavlink_incoming_fd; /**< file descriptor on which to receive incoming strings */ + + perf_counter_t _loop_perf; /**< loop performance counter */ + + /* states */ + bool _mavlink_hil_enabled; /**< Hardware in the loop mode */ + + int _params_sub; + + orb_advert_t mission_pub; + struct mission_s mission; + uint8_t missionlib_msg_buf[300]; //XXX MAGIC NUMBER + MAVLINK_MODE _mode; + + uint8_t _mavlink_wpm_comp_id; + mavlink_channel_t _chan; + +// XXX probably should be in a header... +// extern pthread_t receive_start(int uart); + + struct mavlink_logbuffer lb; + unsigned int total_counter; + + pthread_t receive_thread; + pthread_t uorb_receive_thread; + + /* Allocate storage space for waypoints */ + mavlink_wpm_storage wpm_s; + mavlink_wpm_storage *wpm; + + bool _verbose; + int _uart; + int _baudrate; + bool gcs_link; + /** + * If the queue index is not at 0, the queue sending + * logic will send parameters from the current index + * to len - 1, the end of the param list. + */ + unsigned int mavlink_param_queue_index; + + bool mavlink_link_termination_allowed; + + /** + * Update our local parameter cache. + */ + void parameters_update(); + + /** + * Send all parameters at once. + * + * This function blocks until all parameters have been sent. + * it delays each parameter by the passed amount of microseconds. + * + * @param delay The delay in us between sending all parameters. + */ + void mavlink_pm_send_all_params(unsigned int delay); + + /** + * Send one parameter. + * + * @param param The parameter id to send. + * @return zero on success, nonzero on failure. + */ + int mavlink_pm_send_param(param_t param); + + /** + * Send one parameter identified by index. + * + * @param index The index of the parameter to send. + * @return zero on success, nonzero else. + */ + int mavlink_pm_send_param_for_index(uint16_t index); + + /** + * Send one parameter identified by name. + * + * @param name The index of the parameter to send. + * @return zero on success, nonzero else. + */ + int mavlink_pm_send_param_for_name(const char *name); + + /** + * Send a queue of parameters, one parameter per function call. + * + * @return zero on success, nonzero on failure + */ + int mavlink_pm_queued_send(void); + + /** + * Start sending the parameter queue. + * + * This function will not directly send parameters, but instead + * activate the sending of one parameter on each call of + * mavlink_pm_queued_send(). + * @see mavlink_pm_queued_send() + */ + void mavlink_pm_start_queued_send(); + + void mavlink_update_system(); + + void mavlink_waypoint_eventloop(uint64_t now); + void mavlink_wpm_send_waypoint_reached(uint16_t seq); + void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq); + void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq); + void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count); + void mavlink_wpm_send_waypoint_current(uint16_t seq); + void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type); + void mavlink_wpm_init(mavlink_wpm_storage *state); + int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item); + int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item); + void publish_mission(); + + void mavlink_missionlib_send_message(mavlink_message_t *msg); + int mavlink_missionlib_send_gcs_string(const char *string); + + int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); + + int set_mavlink_interval_limit(int mavlink_msg_id, int min_interval); + + /** + * Callback for param interface. + */ + static void mavlink_pm_callback(void *arg, param_t param); + + static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); + + /** + * Main mavlink task. + */ + int task_main(int argc, char *argv[]) __attribute__((noreturn)); + +}; diff --git a/src/modules/mavlink/mavlink_orb_listener.cpp b/src/modules/mavlink/mavlink_orb_listener.cpp new file mode 100644 index 000000000..fdc196371 --- /dev/null +++ b/src/modules/mavlink/mavlink_orb_listener.cpp @@ -0,0 +1,829 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file orb_listener.cpp + * Monitors ORB topics and sends update messages as appropriate. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ + +// XXX trim includes +#include <nuttx/config.h> +#include <stdio.h> +#include <math.h> +#include <stdbool.h> +#include <fcntl.h> +#include <string.h> +#include "mavlink_bridge_header.h" +#include <drivers/drv_hrt.h> +#include <time.h> +#include <float.h> +#include <unistd.h> +#include <sys/prctl.h> +#include <stdlib.h> +#include <poll.h> +#include <lib/geo/geo.h> +#include <systemlib/err.h> + + +#include <mavlink/mavlink_log.h> + +#include "mavlink_orb_listener.h" +#include "mavlink_main.h" + + + +uint16_t cm_uint16_from_m_float(float m); + + +uint16_t +cm_uint16_from_m_float(float m) +{ + if (m < 0.0f) { + return 0; + + } else if (m > 655.35f) { + return 65535; + } + + return (uint16_t)(m * 100.0f); +} + +MavlinkOrbListener::MavlinkOrbListener(Mavlink* parent) : + + _loop_perf(perf_alloc(PC_ELAPSED, "mavlink orb")), + _mavlink(parent), + _listeners(nullptr), + _n_listeners(0) +{ + add_listener(MavlinkOrbListener::l_sensor_combined, &(_mavlink->get_subs()->sensor_sub), 0); + add_listener(MavlinkOrbListener::l_vehicle_attitude, &(_mavlink->get_subs()->att_sub), 0); + add_listener(MavlinkOrbListener::l_vehicle_gps_position, &(_mavlink->get_subs()->gps_sub), 0); + add_listener(MavlinkOrbListener::l_vehicle_status, &(_mavlink->get_subs()->status_sub), 0); + add_listener(MavlinkOrbListener::l_home, &(_mavlink->get_subs()->home_sub), 0); + add_listener(MavlinkOrbListener::l_rc_channels, &(_mavlink->get_subs()->rc_sub), 0); + add_listener(MavlinkOrbListener::l_input_rc, &(_mavlink->get_subs()->input_rc_sub), 0); + add_listener(MavlinkOrbListener::l_global_position, &(_mavlink->get_subs()->global_pos_sub), 0); + add_listener(MavlinkOrbListener::l_local_position, &(_mavlink->get_subs()->local_pos_sub), 0); + add_listener(MavlinkOrbListener::l_global_position_setpoint, &(_mavlink->get_subs()->triplet_sub), 0); + add_listener(MavlinkOrbListener::l_local_position_setpoint, &(_mavlink->get_subs()->spl_sub), 0); + add_listener(MavlinkOrbListener::l_attitude_setpoint, &(_mavlink->get_subs()->spa_sub), 0); + add_listener(MavlinkOrbListener::l_actuator_outputs, &(_mavlink->get_subs()->act_0_sub), 0); + add_listener(MavlinkOrbListener::l_actuator_outputs, &(_mavlink->get_subs()->act_1_sub), 1); + add_listener(MavlinkOrbListener::l_actuator_outputs, &(_mavlink->get_subs()->act_2_sub), 2); + add_listener(MavlinkOrbListener::l_actuator_outputs, &(_mavlink->get_subs()->act_3_sub), 3); + add_listener(MavlinkOrbListener::l_actuator_armed, &(_mavlink->get_subs()->armed_sub), 0); + add_listener(MavlinkOrbListener::l_manual_control_setpoint, &(_mavlink->get_subs()->man_control_sp_sub), 0); + add_listener(MavlinkOrbListener::l_vehicle_attitude_controls, &(_mavlink->get_subs()->actuators_sub), 0); + add_listener(MavlinkOrbListener::l_debug_key_value, &(_mavlink->get_subs()->debug_key_value), 0); + add_listener(MavlinkOrbListener::l_optical_flow, &(_mavlink->get_subs()->optical_flow), 0); + add_listener(MavlinkOrbListener::l_vehicle_rates_setpoint, &(_mavlink->get_subs()->rates_setpoint_sub), 0); + add_listener(MavlinkOrbListener::l_airspeed, &(_mavlink->get_subs()->airspeed_sub), 0); + add_listener(MavlinkOrbListener::l_nav_cap, &(_mavlink->get_subs()->navigation_capabilities_sub), 0); + +} + +void MavlinkOrbListener::add_listener(void (*callback)(const struct listener *l), int *subp, uintptr_t arg) +{ + struct listener *nl = new listener; + + nl->callback = callback; + nl->subp = subp; + nl->arg = arg; + nl->next = nullptr; + nl->mavlink = _mavlink; + nl->listener = this; + + if (_listeners == nullptr) { + _listeners = nl; + } else { + struct listener *next = _listeners; + while (next->next != nullptr) { + next = next->next; + } + next->next = nl; + } + _n_listeners++; +} + +void +MavlinkOrbListener::l_sensor_combined(const struct listener *l) +{ + struct sensor_combined_s raw; + + /* copy sensors raw data into local buffer */ + orb_copy(ORB_ID(sensor_combined), l->mavlink->get_subs()->sensor_sub, &raw); + + /* mark individual fields as _mavlink->get_chan()ged */ + uint16_t fields_updated = 0; + + // if (accel_counter != raw.accelerometer_counter) { + // /* mark first three dimensions as _mavlink->get_chan()ged */ + // fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); + // accel_counter = raw.accelerometer_counter; + // } + + // if (gyro_counter != raw.gyro_counter) { + // /* mark second group dimensions as _mavlink->get_chan()ged */ + // fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); + // gyro_counter = raw.gyro_counter; + // } + + // if (mag_counter != raw.magnetometer_counter) { + // /* mark third group dimensions as _mavlink->get_chan()ged */ + // fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); + // mag_counter = raw.magnetometer_counter; + // } + + // if (baro_counter != raw.baro_counter) { + // /* mark last group dimensions as _mavlink->get_chan()ged */ + // fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); + // baro_counter = raw.baro_counter; + // } + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) + mavlink_msg_highres_imu_send(l->mavlink->get_chan(), l->listener->last_sensor_timestamp, + raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1], + raw.accelerometer_m_s2[2], raw.gyro_rad_s[0], + raw.gyro_rad_s[1], raw.gyro_rad_s[2], + raw.magnetometer_ga[0], + raw.magnetometer_ga[1], raw.magnetometer_ga[2], + raw.baro_pres_mbar, raw.differential_pressure_pa, + raw.baro_alt_meter, raw.baro_temp_celcius, + fields_updated); + + l->listener->sensors_raw_counter++; +} + +void +MavlinkOrbListener::l_vehicle_attitude(const struct listener *l) +{ + /* copy attitude data into local buffer */ + orb_copy(ORB_ID(vehicle_attitude), l->mavlink->get_subs()->att_sub, &l->listener->att); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) { + /* send sensor values */ + mavlink_msg_attitude_send(l->mavlink->get_chan(), + l->listener->last_sensor_timestamp / 1000, + l->listener->att.roll, + l->listener->att.pitch, + l->listener->att.yaw, + l->listener->att.rollspeed, + l->listener->att.pitchspeed, + l->listener->att.yawspeed); + + /* limit VFR message rate to 10Hz */ + hrt_abstime t = hrt_absolute_time(); + if (t >= l->listener->last_sent_vfr + 100000) { + l->listener->last_sent_vfr = t; + float groundspeed = sqrtf(l->listener->global_pos.vel_n * l->listener->global_pos.vel_n + l->listener->global_pos.vel_e * l->listener->global_pos.vel_e); + uint16_t heading = _wrap_2pi(l->listener->att.yaw) * M_RAD_TO_DEG_F; + float throttle = l->listener->armed.armed ? l->listener->actuators_0.control[3] * 100.0f : 0.0f; + mavlink_msg_vfr_hud_send(l->mavlink->get_chan(), l->listener->airspeed.true_airspeed_m_s, groundspeed, heading, throttle, l->listener->global_pos.alt, -l->listener->global_pos.vel_d); + } + + /* send quaternion values if it exists */ + if(l->listener->att.q_valid) { + mavlink_msg_attitude_quaternion_send(l->mavlink->get_chan(), + l->listener->last_sensor_timestamp / 1000, + l->listener->att.q[0], + l->listener->att.q[1], + l->listener->att.q[2], + l->listener->att.q[3], + l->listener->att.rollspeed, + l->listener->att.pitchspeed, + l->listener->att.yawspeed); + } + } + + l->listener->attitude_counter++; +} + +void +MavlinkOrbListener::l_vehicle_gps_position(const struct listener *l) +{ + struct vehicle_gps_position_s gps; + + /* copy gps data into local buffer */ + orb_copy(ORB_ID(vehicle_gps_position), l->mavlink->get_subs()->gps_sub, &gps); + + /* GPS COG is 0..2PI in degrees * 1e2 */ + float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F; + + /* GPS position */ + mavlink_msg_gps_raw_int_send(l->mavlink->get_chan(), + gps.timestamp_position, + gps.fix_type, + gps.lat, + gps.lon, + gps.alt, + cm_uint16_from_m_float(gps.eph_m), + cm_uint16_from_m_float(gps.epv_m), + gps.vel_m_s * 1e2f, // from m/s to cm/s + cog_deg * 1e2f, // from deg to deg * 100 + gps.satellites_visible); + + /* update SAT info every 10 seconds */ + if (gps.satellite_info_available && (l->listener->gps_counter % 50 == 0)) { + mavlink_msg_gps_status_send(l->mavlink->get_chan(), + gps.satellites_visible, + gps.satellite_prn, + gps.satellite_used, + gps.satellite_elevation, + gps.satellite_azimuth, + gps.satellite_snr); + } + + l->listener->gps_counter++; +} + +void +MavlinkOrbListener::l_vehicle_status(const struct listener *l) +{ + /* immediately communicate state _mavlink->get_chan()ges back to user */ + orb_copy(ORB_ID(vehicle_status), l->mavlink->get_subs()->status_sub, &(l->mavlink->v_status)); + orb_copy(ORB_ID(actuator_armed), l->mavlink->get_subs()->armed_sub, &l->listener->armed); + orb_copy(ORB_ID(position_setpoint_triplet), l->mavlink->get_subs()->position_setpoint_triplet_sub, &(l->mavlink->pos_sp_triplet)); + + /* enable or disable HIL */ + if (l->listener->v_status.hil_state == HIL_STATE_ON) + l->mavlink->set_hil_enabled(true); + else if (l->listener->v_status.hil_state == HIL_STATE_OFF) + l->mavlink->set_hil_enabled(false); + + /* translate the current syste state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + l->mavlink->get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(l->mavlink->get_chan(), + mavlink_system.type, + MAV_AUTOPILOT_PX4, + mavlink_base_mode, + mavlink_custom_mode, + mavlink_state); +} + +void +MavlinkOrbListener::l_rc_channels(const struct listener *l) +{ + /* copy rc channels into local buffer */ + orb_copy(ORB_ID(rc_channels), l->mavlink->get_subs()->rc_sub, &l->listener->rc); + // XXX Add RC channels scaled message here +} + +void +MavlinkOrbListener::l_input_rc(const struct listener *l) +{ + /* copy rc _mavlink->get_chan()nels into local buffer */ + orb_copy(ORB_ID(input_rc), l->mavlink->get_subs()->input_rc_sub, &l->listener->rc_raw); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) { + + const unsigned port_width = 8; + + for (unsigned i = 0; (i * port_width) < l->listener->rc_raw.channel_count; i++) { + /* Channels are sent in MAVLink main loop at a fixed interval */ + mavlink_msg_rc_channels_raw_send(l->mavlink->get_chan(), + l->listener->rc_raw.timestamp_publication / 1000, + i, + (l->listener->rc_raw.channel_count > (i * port_width) + 0) ? l->listener->rc_raw.values[(i * port_width) + 0] : UINT16_MAX, + (l->listener->rc_raw.channel_count > (i * port_width) + 1) ? l->listener->rc_raw.values[(i * port_width) + 1] : UINT16_MAX, + (l->listener->rc_raw.channel_count > (i * port_width) + 2) ? l->listener->rc_raw.values[(i * port_width) + 2] : UINT16_MAX, + (l->listener->rc_raw.channel_count > (i * port_width) + 3) ? l->listener->rc_raw.values[(i * port_width) + 3] : UINT16_MAX, + (l->listener->rc_raw.channel_count > (i * port_width) + 4) ? l->listener->rc_raw.values[(i * port_width) + 4] : UINT16_MAX, + (l->listener->rc_raw.channel_count > (i * port_width) + 5) ? l->listener->rc_raw.values[(i * port_width) + 5] : UINT16_MAX, + (l->listener->rc_raw.channel_count > (i * port_width) + 6) ? l->listener->rc_raw.values[(i * port_width) + 6] : UINT16_MAX, + (l->listener->rc_raw.channel_count > (i * port_width) + 7) ? l->listener->rc_raw.values[(i * port_width) + 7] : UINT16_MAX, + l->listener->rc_raw.rssi); + } + } +} + +void +MavlinkOrbListener::l_global_position(const struct listener *l) +{ + /* copy global position data into local buffer */ + orb_copy(ORB_ID(vehicle_global_position), l->mavlink->get_subs()->global_pos_sub, &l->listener->global_pos); + + mavlink_msg_global_position_int_send(l->mavlink->get_chan(), + l->listener->global_pos.timestamp / 1000, + l->listener->global_pos.lat * 1e7, + l->listener->global_pos.lon * 1e7, + l->listener->global_pos.alt * 1000.0f, + (l->listener->global_pos.alt - l->listener->home.alt) * 1000.0f, + l->listener->global_pos.vel_n * 100.0f, + l->listener->global_pos.vel_e * 100.0f, + l->listener->global_pos.vel_d * 100.0f, + _wrap_2pi(l->listener->global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f); +} + +void +MavlinkOrbListener::l_local_position(const struct listener *l) +{ + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_local_position), l->mavlink->get_subs()->local_pos_sub, &l->listener->local_pos); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) + mavlink_msg_local_position_ned_send(l->mavlink->get_chan(), + l->listener->local_pos.timestamp / 1000, + l->listener->local_pos.x, + l->listener->local_pos.y, + l->listener->local_pos.z, + l->listener->local_pos.vx, + l->listener->local_pos.vy, + l->listener->local_pos.vz); +} + +void +MavlinkOrbListener::l_global_position_setpoint(const struct listener *l) +{ + struct position_setpoint_triplet_s triplet; + orb_copy(ORB_ID(position_setpoint_triplet), l->mavlink->get_subs()->triplet_sub, &triplet); + + if (!triplet.current.valid) + return; + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) + mavlink_msg_global_position_setpoint_int_send(l->mavlink->get_chan(), + MAV_FRAME_GLOBAL, + (int32_t)(triplet.current.lat * 1e7d), + (int32_t)(triplet.current.lon * 1e7d), + (int32_t)(triplet.current.alt * 1e3f), + (int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f)); +} + +void +MavlinkOrbListener::l_local_position_setpoint(const struct listener *l) +{ + struct vehicle_local_position_setpoint_s local_sp; + + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_local_position_setpoint), l->mavlink->get_subs()->spl_sub, &local_sp); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) + mavlink_msg_local_position_setpoint_send(l->mavlink->get_chan(), + MAV_FRAME_LOCAL_NED, + local_sp.x, + local_sp.y, + local_sp.z, + local_sp.yaw); +} + +void +MavlinkOrbListener::l_attitude_setpoint(const struct listener *l) +{ + struct vehicle_attitude_setpoint_s att_sp; + + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_attitude_setpoint), l->mavlink->get_subs()->spa_sub, &att_sp); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) + mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(l->mavlink->get_chan(), + att_sp.timestamp / 1000, + att_sp.roll_body, + att_sp.pitch_body, + att_sp.yaw_body, + att_sp.thrust); +} + +void +MavlinkOrbListener::l_vehicle_rates_setpoint(const struct listener *l) +{ + struct vehicle_rates_setpoint_s rates_sp; + + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_rates_setpoint), l->mavlink->get_subs()->rates_setpoint_sub, &rates_sp); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) + mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(l->mavlink->get_chan(), + rates_sp.timestamp / 1000, + rates_sp.roll, + rates_sp.pitch, + rates_sp.yaw, + rates_sp.thrust); +} + +void +MavlinkOrbListener::l_actuator_outputs(const struct listener *l) +{ + struct actuator_outputs_s act_outputs; + + orb_id_t ids[] = { + ORB_ID(actuator_outputs_0), + ORB_ID(actuator_outputs_1), + ORB_ID(actuator_outputs_2), + ORB_ID(actuator_outputs_3) + }; + + /* copy actuator data into local buffer */ + orb_copy(ids[l->arg], *l->subp, &act_outputs); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) { + mavlink_msg_servo_output_raw_send(l->mavlink->get_chan(), l->listener->last_sensor_timestamp / 1000, + l->arg /* port number - needs GCS support */, + /* QGC has port number support already */ + act_outputs.output[0], + act_outputs.output[1], + act_outputs.output[2], + act_outputs.output[3], + act_outputs.output[4], + act_outputs.output[5], + act_outputs.output[6], + act_outputs.output[7]); + + /* only send in HIL mode and only send first group for HIL */ + if (l->mavlink->get_hil_enabled() && l->listener->armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { + + /* translate the current syste state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + l->mavlink->get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + + /* HIL message as per MAVLink spec */ + + /* scale / assign outputs depending on system type */ + + if (mavlink_system.type == MAV_TYPE_QUADROTOR) { + mavlink_msg_hil_controls_send(l->mavlink->get_chan(), + hrt_absolute_time(), + ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, + -1, + -1, + -1, + -1, + mavlink_base_mode, + 0); + + } else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) { + mavlink_msg_hil_controls_send(l->mavlink->get_chan(), + hrt_absolute_time(), + ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, + -1, + -1, + mavlink_base_mode, + 0); + + } else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) { + mavlink_msg_hil_controls_send(l->mavlink->get_chan(), + hrt_absolute_time(), + ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f, + ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f, + mavlink_base_mode, + 0); + + } else { + mavlink_msg_hil_controls_send(l->mavlink->get_chan(), + hrt_absolute_time(), + (act_outputs.output[0] - 1500.0f) / 500.0f, + (act_outputs.output[1] - 1500.0f) / 500.0f, + (act_outputs.output[2] - 1500.0f) / 500.0f, + (act_outputs.output[3] - 1000.0f) / 1000.0f, + (act_outputs.output[4] - 1500.0f) / 500.0f, + (act_outputs.output[5] - 1500.0f) / 500.0f, + (act_outputs.output[6] - 1500.0f) / 500.0f, + (act_outputs.output[7] - 1500.0f) / 500.0f, + mavlink_base_mode, + 0); + } + } + } +} + +void +MavlinkOrbListener::l_actuator_armed(const struct listener *l) +{ + orb_copy(ORB_ID(actuator_armed), l->mavlink->get_subs()->armed_sub, &l->listener->armed); +} + +void +MavlinkOrbListener::l_manual_control_setpoint(const struct listener *l) +{ + struct manual_control_setpoint_s man_control; + + /* copy manual control data into local buffer */ + orb_copy(ORB_ID(manual_control_setpoint), l->mavlink->get_subs()->man_control_sp_sub, &man_control); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) + mavlink_msg_manual_control_send(l->mavlink->get_chan(), + mavlink_system.sysid, + man_control.roll * 1000, + man_control.pitch * 1000, + man_control.yaw * 1000, + man_control.throttle * 1000, + 0); +} + +void +MavlinkOrbListener::l_vehicle_attitude_controls(const struct listener *l) +{ + orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, l->mavlink->get_subs()->actuators_sub, &l->listener->actuators_0); + + if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) { + /* send, add spaces so that string buffer is at least 10 chars long */ + mavlink_msg_named_value_float_send(l->mavlink->get_chan(), + l->listener->last_sensor_timestamp / 1000, + "ctrl0 ", + l->listener->actuators_0.control[0]); + mavlink_msg_named_value_float_send(l->mavlink->get_chan(), + l->listener->last_sensor_timestamp / 1000, + "ctrl1 ", + l->listener->actuators_0.control[1]); + mavlink_msg_named_value_float_send(l->mavlink->get_chan(), + l->listener->last_sensor_timestamp / 1000, + "ctrl2 ", + l->listener->actuators_0.control[2]); + mavlink_msg_named_value_float_send(l->mavlink->get_chan(), + l->listener->last_sensor_timestamp / 1000, + "ctrl3 ", + l->listener->actuators_0.control[3]); + } +} + +void +MavlinkOrbListener::l_debug_key_value(const struct listener *l) +{ + struct debug_key_value_s debug; + + orb_copy(ORB_ID(debug_key_value), l->mavlink->get_subs()->debug_key_value, &debug); + + /* Enforce null termination */ + debug.key[sizeof(debug.key) - 1] = '\0'; + + mavlink_msg_named_value_float_send(l->mavlink->get_chan(), + l->listener->last_sensor_timestamp / 1000, + debug.key, + debug.value); +} + +void +MavlinkOrbListener::l_optical_flow(const struct listener *l) +{ + struct optical_flow_s flow; + + orb_copy(ORB_ID(optical_flow), l->mavlink->get_subs()->optical_flow, &flow); + + mavlink_msg_optical_flow_send(l->mavlink->get_chan(), flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y, + flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m); +} + +void +MavlinkOrbListener::l_home(const struct listener *l) +{ + orb_copy(ORB_ID(home_position), l->mavlink->get_subs()->home_sub, &l->listener->home); + + mavlink_msg_gps_global_origin_send(l->mavlink->get_chan(), (int32_t)(l->listener->home.lat*1e7d), (int32_t)(l->listener->home.lon*1e7d), (int32_t)(l->listener->home.alt)*1e3f); +} + +void +MavlinkOrbListener::l_airspeed(const struct listener *l) +{ + orb_copy(ORB_ID(airspeed), l->mavlink->get_subs()->airspeed_sub, &l->listener->airspeed); +} + +void +MavlinkOrbListener::l_nav_cap(const struct listener *l) +{ + + orb_copy(ORB_ID(navigation_capabilities), l->mavlink->get_subs()->navigation_capabilities_sub, &l->listener->nav_cap); + + mavlink_msg_named_value_float_send(l->mavlink->get_chan(), + hrt_absolute_time() / 1000, + "turn dist", + l->listener->nav_cap.turn_distance); + +} + +void * +MavlinkOrbListener::uorb_receive_thread(void *arg) +{ + /* Set thread name */ + char thread_name[18]; + sprintf(thread_name, "mavlink_uorb_rcv_%d", _mavlink->get_channel()); + prctl(PR_SET_NAME, thread_name, getpid()); + + /* + * set up poll to block for new data, + * wait for a maximum of 1000 ms (1 second) + */ + const int timeout = 1000; + + /* + * Initialise listener array. + * + * Might want to invoke each listener once to set initial state. + */ + struct pollfd fds[_max_listeners]; + + struct listener* next = _listeners; + unsigned i = 0; + while (next != nullptr) { + + fds[i].fd = *next->subp; + fds[i].events = POLLIN; + + next = next->next; + i++; + } + /* Invoke callback to set initial state */ + //listeners[i].callback(&listener[i]); + + while (!_mavlink->_task_should_exit) { + + int poll_ret = poll(fds, _n_listeners, timeout); + + /* handle the poll result */ + if (poll_ret == 0) { + /* silent */ + + } else if (poll_ret < 0) { + //mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); + + } else { + + i = 0; + struct listener* cb = _listeners; + while (cb != nullptr) { + + if (fds[i].revents & POLLIN) + cb->callback(cb); + + cb = cb->next; + i++; + } + } + } + + return NULL; +} + +void * MavlinkOrbListener::uorb_start_helper(void *context) +{ + MavlinkOrbListener* urcv = new MavlinkOrbListener(((Mavlink *)context)); + return urcv->uorb_receive_thread(NULL); +} + +pthread_t +MavlinkOrbListener::uorb_receive_start(Mavlink* mavlink) +{ + + /* --- SENSORS RAW VALUE --- */ + mavlink->get_subs()->sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + /* rate limit set externally based on interface speed, set a basic default here */ + orb_set_interval(mavlink->get_subs()->sensor_sub, 200); /* 5Hz updates */ + + /* --- ATTITUDE VALUE --- */ + mavlink->get_subs()->att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + /* rate limit set externally based on interface speed, set a basic default here */ + orb_set_interval(mavlink->get_subs()->att_sub, 200); /* 5Hz updates */ + + /* --- GPS VALUE --- */ + mavlink->get_subs()->gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + orb_set_interval(mavlink->get_subs()->gps_sub, 200); /* 5Hz updates */ + + /* --- HOME POSITION --- */ + mavlink->get_subs()->home_sub = orb_subscribe(ORB_ID(home_position)); + orb_set_interval(mavlink->get_subs()->home_sub, 1000); /* 1Hz updates */ + + /* --- SYSTEM STATE --- */ + mavlink->get_subs()->status_sub = orb_subscribe(ORB_ID(vehicle_status)); + orb_set_interval(mavlink->get_subs()->status_sub, 300); /* max 3.33 Hz updates */ + + /* --- POSITION SETPOINT TRIPLET --- */ + mavlink->get_subs()->position_setpoint_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); + orb_set_interval(mavlink->get_subs()->position_setpoint_triplet_sub, 0); /* not polled, don't limit */ + + /* --- RC CHANNELS VALUE --- */ + mavlink->get_subs()->rc_sub = orb_subscribe(ORB_ID(rc_channels)); + orb_set_interval(mavlink->get_subs()->rc_sub, 100); /* 10Hz updates */ + + /* --- RC RAW VALUE --- */ + mavlink->get_subs()->input_rc_sub = orb_subscribe(ORB_ID(input_rc)); + orb_set_interval(mavlink->get_subs()->input_rc_sub, 100); + + /* --- GLOBAL POS VALUE --- */ + mavlink->get_subs()->global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + orb_set_interval(mavlink->get_subs()->global_pos_sub, 100); /* 10 Hz active updates */ + + /* --- LOCAL POS VALUE --- */ + mavlink->get_subs()->local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + orb_set_interval(mavlink->get_subs()->local_pos_sub, 1000); /* 1Hz active updates */ + + /* --- GLOBAL SETPOINT VALUE --- */ + mavlink->get_subs()->triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); + orb_set_interval(mavlink->get_subs()->triplet_sub, 2000); /* 0.5 Hz updates */ + + /* --- LOCAL SETPOINT VALUE --- */ + mavlink->get_subs()->spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); + orb_set_interval(mavlink->get_subs()->spl_sub, 2000); /* 0.5 Hz updates */ + + /* --- ATTITUDE SETPOINT VALUE --- */ + mavlink->get_subs()->spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + orb_set_interval(mavlink->get_subs()->spa_sub, 2000); /* 0.5 Hz updates */ + + /* --- RATES SETPOINT VALUE --- */ + mavlink->get_subs()->rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + orb_set_interval(mavlink->get_subs()->rates_setpoint_sub, 2000); /* 0.5 Hz updates */ + + /* --- ACTUATOR OUTPUTS --- */ + mavlink->get_subs()->act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); + mavlink->get_subs()->act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1)); + mavlink->get_subs()->act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2)); + mavlink->get_subs()->act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3)); + /* rate limits set externally based on interface speed, set a basic default here */ + orb_set_interval(mavlink->get_subs()->act_0_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink->get_subs()->act_1_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink->get_subs()->act_2_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink->get_subs()->act_3_sub, 100); /* 10Hz updates */ + + /* --- ACTUATOR ARMED VALUE --- */ + mavlink->get_subs()->armed_sub = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(mavlink->get_subs()->armed_sub, 100); /* 10Hz updates */ + + /* --- MAPPED MANUAL CONTROL INPUTS --- */ + mavlink->get_subs()->man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + /* rate limits set externally based on interface speed, set a basic default here */ + orb_set_interval(mavlink->get_subs()->man_control_sp_sub, 100); /* 10Hz updates */ + + /* --- ACTUATOR CONTROL VALUE --- */ + mavlink->get_subs()->actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + orb_set_interval(mavlink->get_subs()->actuators_sub, 100); /* 10Hz updates */ + + /* --- DEBUG VALUE OUTPUT --- */ + mavlink->get_subs()->debug_key_value = orb_subscribe(ORB_ID(debug_key_value)); + orb_set_interval(mavlink->get_subs()->debug_key_value, 100); /* 10Hz updates */ + + /* --- FLOW SENSOR --- */ + mavlink->get_subs()->optical_flow = orb_subscribe(ORB_ID(optical_flow)); + orb_set_interval(mavlink->get_subs()->optical_flow, 200); /* 5Hz updates */ + + /* --- AIRSPEED --- */ + mavlink->get_subs()->airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + orb_set_interval(mavlink->get_subs()->airspeed_sub, 200); /* 5Hz updates */ + + /* --- NAVIGATION CAPABILITIES --- */ + mavlink->get_subs()->navigation_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); + orb_set_interval(mavlink->get_subs()->navigation_capabilities_sub, 500); /* 2Hz updates */ + + /* start the listener loop */ + pthread_attr_t uorb_attr; + pthread_attr_init(&uorb_attr); + + /* Set stack size, needs less than 2k */ + pthread_attr_setstacksize(&uorb_attr, 2048); + + pthread_t thread; + pthread_create(&thread, &uorb_attr, MavlinkOrbListener::uorb_start_helper, (void*)mavlink); + + pthread_attr_destroy(&uorb_attr); + return thread; +} diff --git a/src/modules/mavlink/mavlink_orb_listener.h b/src/modules/mavlink/mavlink_orb_listener.h new file mode 100644 index 000000000..26a2e832f --- /dev/null +++ b/src/modules/mavlink/mavlink_orb_listener.h @@ -0,0 +1,163 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_orb_listener.h + * MAVLink 1.0 protocol interface definition. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + */ + +#include <systemlib/perf_counter.h> + +#pragma once + +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/home_position.h> +#include <uORB/topics/vehicle_status.h> +#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_vicon_position.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/optical_flow.h> +#include <uORB/topics/actuator_outputs.h> +#include <uORB/topics/actuator_controls_effective.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/telemetry_status.h> +#include <uORB/topics/debug_key_value.h> +#include <uORB/topics/airspeed.h> +#include <uORB/topics/battery_status.h> +#include <uORB/topics/position_setpoint_triplet.h> +#include <drivers/drv_rc_input.h> +#include <uORB/topics/navigation_capabilities.h> +#include <uORB/topics/mission.h> + +class Mavlink; + +class MavlinkOrbListener +{ +public: + /** + * Constructor + */ + MavlinkOrbListener(Mavlink* parent); + + /** + * Destructor, also kills the mavlinks task. + */ + ~MavlinkOrbListener(); + + static pthread_t uorb_receive_start(Mavlink *mavlink); + + struct listener { + void (*callback)(const struct listener *l); + int *subp; + uintptr_t arg; + struct listener *next; + Mavlink *mavlink; + MavlinkOrbListener* listener; + }; + + void add_listener(void (*callback)(const struct listener *l), int *subp, uintptr_t arg); + static void * uorb_start_helper(void *context); + +private: + + perf_counter_t _loop_perf; /**< loop performance counter */ + + Mavlink* _mavlink; + + struct listener *_listeners; + unsigned _n_listeners; + static const unsigned _max_listeners = 32; + + void *uorb_receive_thread(void *arg); + + static void l_sensor_combined(const struct listener *l); + static void l_vehicle_attitude(const struct listener *l); + static void l_vehicle_gps_position(const struct listener *l); + static void l_vehicle_status(const struct listener *l); + static void l_rc_channels(const struct listener *l); + static void l_input_rc(const struct listener *l); + static void l_global_position(const struct listener *l); + static void l_local_position(const struct listener *l); + static void l_global_position_setpoint(const struct listener *l); + static void l_local_position_setpoint(const struct listener *l); + static void l_attitude_setpoint(const struct listener *l); + static void l_actuator_outputs(const struct listener *l); + static void l_actuator_armed(const struct listener *l); + static void l_manual_control_setpoint(const struct listener *l); + static void l_vehicle_attitude_controls(const struct listener *l); + static void l_debug_key_value(const struct listener *l); + static void l_optical_flow(const struct listener *l); + static void l_vehicle_rates_setpoint(const struct listener *l); + static void l_home(const struct listener *l); + static void l_airspeed(const struct listener *l); + static void l_nav_cap(const struct listener *l); + + struct vehicle_global_position_s global_pos; + struct vehicle_local_position_s local_pos; + struct navigation_capabilities_s nav_cap; + struct vehicle_status_s v_status; + struct rc_channels_s rc; + struct rc_input_values rc_raw; + struct actuator_armed_s armed; + struct actuator_controls_s actuators_0; + struct vehicle_attitude_s att; + struct airspeed_s airspeed; + struct home_position_s home; + + unsigned int sensors_raw_counter; + unsigned int attitude_counter; + unsigned int gps_counter; + + /* + * Last sensor loop time + * some outputs are better timestamped + * with this "global" reference. + */ + uint64_t last_sensor_timestamp; + + hrt_abstime last_sent_vfr; + +}; diff --git a/src/modules/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c deleted file mode 100644 index 18ca7a854..000000000 --- a/src/modules/mavlink/mavlink_parameters.c +++ /dev/null @@ -1,230 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_parameters.c - * MAVLink parameter protocol implementation (BSD-relicensed). - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -#include "mavlink_bridge_header.h" -#include "mavlink_parameters.h" -#include <uORB/uORB.h> -#include "math.h" /* isinf / isnan checks */ -#include <assert.h> -#include <stdio.h> -#include <fcntl.h> -#include <unistd.h> -#include <stdbool.h> -#include <string.h> -#include <errno.h> -#include <systemlib/param/param.h> -#include <systemlib/err.h> -#include <sys/stat.h> - -extern mavlink_system_t mavlink_system; - -extern int mavlink_missionlib_send_message(mavlink_message_t *msg); -extern int mavlink_missionlib_send_gcs_string(const char *string); - -/** - * If the queue index is not at 0, the queue sending - * logic will send parameters from the current index - * to len - 1, the end of the param list. - */ -static unsigned int mavlink_param_queue_index = 0; - -/** - * Callback for param interface. - */ -void mavlink_pm_callback(void *arg, param_t param); - -void mavlink_pm_callback(void *arg, param_t param) -{ - mavlink_pm_send_param(param); - usleep(*(unsigned int *)arg); -} - -void mavlink_pm_send_all_params(unsigned int delay) -{ - unsigned int dbuf = delay; - param_foreach(&mavlink_pm_callback, &dbuf, false); -} - -int mavlink_pm_queued_send() -{ - if (mavlink_param_queue_index < param_count()) { - mavlink_pm_send_param(param_for_index(mavlink_param_queue_index)); - mavlink_param_queue_index++; - return 0; - - } else { - return 1; - } -} - -void mavlink_pm_start_queued_send() -{ - mavlink_param_queue_index = 0; -} - -int mavlink_pm_send_param_for_index(uint16_t index) -{ - return mavlink_pm_send_param(param_for_index(index)); -} - -int mavlink_pm_send_param_for_name(const char *name) -{ - return mavlink_pm_send_param(param_find(name)); -} - -int mavlink_pm_send_param(param_t param) -{ - if (param == PARAM_INVALID) return 1; - - /* buffers for param transmission */ - static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; - float val_buf; - static mavlink_message_t tx_msg; - - /* query parameter type */ - param_type_t type = param_type(param); - /* copy parameter name */ - strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - - /* - * Map onboard parameter type to MAVLink type, - * endianess matches (both little endian) - */ - uint8_t mavlink_type; - - if (type == PARAM_TYPE_INT32) { - mavlink_type = MAVLINK_TYPE_INT32_T; - - } else if (type == PARAM_TYPE_FLOAT) { - mavlink_type = MAVLINK_TYPE_FLOAT; - - } else { - mavlink_type = MAVLINK_TYPE_FLOAT; - } - - /* - * get param value, since MAVLink encodes float and int params in the same - * space during transmission, copy param onto float val_buf - */ - - int ret; - - if ((ret = param_get(param, &val_buf)) != OK) { - return ret; - } - - mavlink_msg_param_value_pack_chan(mavlink_system.sysid, - mavlink_system.compid, - MAVLINK_COMM_0, - &tx_msg, - name_buf, - val_buf, - mavlink_type, - param_count(), - param_get_index(param)); - ret = mavlink_missionlib_send_message(&tx_msg); - return ret; -} - -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) -{ - switch (msg->msgid) { - case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { - /* Start sending parameters */ - mavlink_pm_start_queued_send(); - mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); - } break; - - case MAVLINK_MSG_ID_PARAM_SET: { - - /* Handle parameter setting */ - - if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { - mavlink_param_set_t mavlink_param_set; - mavlink_msg_param_set_decode(msg, &mavlink_param_set); - - if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter, set and send it */ - param_t param = param_find(name); - - if (param == PARAM_INVALID) { - char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; - sprintf(buf, "[mavlink pm] unknown: %s", name); - mavlink_missionlib_send_gcs_string(buf); - - } else { - /* set and send parameter */ - param_set(param, &(mavlink_param_set.param_value)); - mavlink_pm_send_param(param); - } - } - } - } break; - - case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { - mavlink_param_request_read_t mavlink_param_request_read; - mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); - - if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { - /* when no index is given, loop through string ids and compare them */ - if (mavlink_param_request_read.param_index == -1) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter and send it */ - mavlink_pm_send_param_for_name(name); - - } else { - /* when index is >= 0, send this parameter again */ - mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); - } - } - - } break; - } -} diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h deleted file mode 100644 index b1e38bcc8..000000000 --- a/src/modules/mavlink/mavlink_parameters.h +++ /dev/null @@ -1,104 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file mavlink_parameters.h - * MAVLink parameter protocol definitions (BSD-relicensed). - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -/* This assumes you have the mavlink headers on your include path - or in the same folder as this source file */ - - -#include <v1.0/mavlink_types.h> -#include <stdbool.h> -#include <systemlib/param/param.h> - -/** - * Handle parameter related messages. - */ -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); - -/** - * Send all parameters at once. - * - * This function blocks until all parameters have been sent. - * it delays each parameter by the passed amount of microseconds. - * - * @param delay The delay in us between sending all parameters. - */ -void mavlink_pm_send_all_params(unsigned int delay); - -/** - * Send one parameter. - * - * @param param The parameter id to send. - * @return zero on success, nonzero on failure. - */ -int mavlink_pm_send_param(param_t param); - -/** - * Send one parameter identified by index. - * - * @param index The index of the parameter to send. - * @return zero on success, nonzero else. - */ -int mavlink_pm_send_param_for_index(uint16_t index); - -/** - * Send one parameter identified by name. - * - * @param name The index of the parameter to send. - * @return zero on success, nonzero else. - */ -int mavlink_pm_send_param_for_name(const char *name); - -/** - * Send a queue of parameters, one parameter per function call. - * - * @return zero on success, nonzero on failure - */ -int mavlink_pm_queued_send(void); - -/** - * Start sending the parameter queue. - * - * This function will not directly send parameters, but instead - * activate the sending of one parameter on each call of - * mavlink_pm_queued_send(). - * @see mavlink_pm_queued_send() - */ -void mavlink_pm_start_queued_send(void); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 1dbe56495..d07de0f22 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,7 +32,7 @@ ****************************************************************************/ /** - * @file mavlink_receiver.c + * @file mavlink_receiver.cpp * MAVLink protocol message receive and dispatch * * @author Lorenz Meier <lm@inf.ethz.ch> @@ -77,64 +76,43 @@ __BEGIN_DECLS #include "mavlink_bridge_header.h" -#include "waypoints.h" -#include "orb_topics.h" -#include "mavlink_hil.h" -#include "mavlink_parameters.h" +// #include "waypoints.h" +#include "mavlink_receiver.h" +#include "mavlink_main.h" #include "util.h" -extern bool gcs_link; - __END_DECLS -/* XXX should be in a header somewhere */ -extern "C" pthread_t receive_start(int uart); - -static void handle_message(mavlink_message_t *msg); -static void *receive_thread(void *arg); - -static mavlink_status_t status; -static struct vehicle_vicon_position_s vicon_position; -static struct vehicle_command_s vcmd; -static struct offboard_control_setpoint_s offboard_control_sp; - -struct vehicle_global_position_s hil_global_pos; -struct vehicle_local_position_s hil_local_pos; -struct vehicle_attitude_s hil_attitude; -struct vehicle_gps_position_s hil_gps; -struct sensor_combined_s hil_sensors; -struct battery_status_s hil_battery_status; -static orb_advert_t pub_hil_global_pos = -1; -static orb_advert_t pub_hil_local_pos = -1; -static orb_advert_t pub_hil_attitude = -1; -static orb_advert_t pub_hil_gps = -1; -static orb_advert_t pub_hil_sensors = -1; -static orb_advert_t pub_hil_gyro = -1; -static orb_advert_t pub_hil_accel = -1; -static orb_advert_t pub_hil_mag = -1; -static orb_advert_t pub_hil_baro = -1; -static orb_advert_t pub_hil_airspeed = -1; -static orb_advert_t pub_hil_battery = -1; - -/* packet counter */ -static int hil_counter = 0; -static int hil_frames = 0; -static uint64_t old_timestamp = 0; - -static orb_advert_t cmd_pub = -1; -static orb_advert_t flow_pub = -1; - -static orb_advert_t offboard_control_sp_pub = -1; -static orb_advert_t vicon_position_pub = -1; -static orb_advert_t telemetry_status_pub = -1; - -// variables for HIL reference position -static int32_t lat0 = 0; -static int32_t lon0 = 0; -static double alt0 = 0; - -static void -handle_message(mavlink_message_t *msg) +MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : + _mavlink(parent), + pub_hil_global_pos(-1), + pub_hil_local_pos(-1), + pub_hil_attitude(-1), + pub_hil_gps(-1), + pub_hil_sensors(-1), + pub_hil_gyro(-1), + pub_hil_accel(-1), + pub_hil_mag(-1), + pub_hil_baro(-1), + pub_hil_airspeed(-1), + pub_hil_battery(-1), + hil_counter(0), + hil_frames(0), + old_timestamp(0), + cmd_pub(-1), + flow_pub(-1), + offboard_control_sp_pub(-1), + vicon_position_pub(-1), + telemetry_status_pub(-1), + lat0(0), + lon0(0), + alt0(0.0) +{ + +} + +void +MavlinkReceiver::handle_message(mavlink_message_t *msg) { if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { @@ -151,7 +129,7 @@ handle_message(mavlink_message_t *msg) usleep(50000); /* terminate other threads and this thread */ - thread_should_exit = true; + _mavlink->_task_should_exit = true; } else { @@ -272,7 +250,7 @@ handle_message(mavlink_message_t *msg) if (mavlink_system.sysid < 4) { /* switch to a receiving link mode */ - gcs_link = false; + _mavlink->set_mode(Mavlink::MODE_TX_HEARTBEAT_ONLY); /* * rate control mode - defined by MAVLink @@ -367,7 +345,7 @@ handle_message(mavlink_message_t *msg) * COMMAND_LONG message or a SET_MODE message */ - if (mavlink_hil_enabled) { + if (_mavlink->get_hil_enabled()) { uint64_t timestamp = hrt_absolute_time(); @@ -627,8 +605,6 @@ handle_message(mavlink_message_t *msg) orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); } - uint64_t timestamp = hrt_absolute_time(); - // publish global position if (pub_hil_global_pos > 0) { orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos); @@ -650,7 +626,7 @@ handle_message(mavlink_message_t *msg) if (pub_hil_local_pos > 0) { float x; float y; - bool landed = hil_state.alt/1000.0f < (alt0 + 0.1); // XXX improve? + bool landed = (float)(hil_state.alt)/1000.0f < (alt0 + 0.1f); // XXX improve? double lat = hil_state.lat*1e-7; double lon = hil_state.lon*1e-7; map_projection_project(lat, lon, &x, &y); @@ -810,17 +786,20 @@ handle_message(mavlink_message_t *msg) /** * Receive data from UART. */ -static void * -receive_thread(void *arg) +void * +MavlinkReceiver::receive_thread(void *arg) { - int uart_fd = *((int *)arg); + int uart_fd = _mavlink->get_uart_fd(); const int timeout = 1000; uint8_t buf[32]; mavlink_message_t msg; - prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid()); + /* Set thread name */ + char thread_name[18]; + sprintf(thread_name, "mavlink_uart_rcv_%d", _mavlink->get_channel()); + prctl(PR_SET_NAME, thread_name, getpid()); struct pollfd fds[1]; fds[0].fd = uart_fd; @@ -828,27 +807,26 @@ receive_thread(void *arg) ssize_t nread = 0; - while (!thread_should_exit) { + while (!_mavlink->_task_should_exit) { if (poll(fds, 1, timeout) > 0) { - if (nread < sizeof(buf)) { + + /* non-blocking read. read may return negative values */ + if ((nread = read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) { /* to avoid reading very small chunks wait for data before reading */ usleep(1000); } - /* non-blocking read. read may return negative values */ - nread = read(uart_fd, buf, sizeof(buf)); - /* if read failed, this loop won't execute */ for (ssize_t i = 0; i < nread; i++) { - if (mavlink_parse_char(chan, buf[i], &msg, &status)) { + if (mavlink_parse_char(_mavlink->get_chan(), buf[i], &msg, &status)) { /* handle generic messages and commands */ handle_message(&msg); /* handle packet with waypoint component */ - mavlink_wpm_message_handler(&msg); + _mavlink->mavlink_wpm_message_handler(&msg); /* handle packet with parameter component */ - mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); + _mavlink->mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); } } } @@ -857,15 +835,26 @@ receive_thread(void *arg) return NULL; } +void MavlinkReceiver::print_status() +{ + +} + +void * MavlinkReceiver::start_helper(void *context) +{ + MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink*)context); + return rcv->receive_thread(NULL); +} + pthread_t -receive_start(int uart) +MavlinkReceiver::receive_start(Mavlink *parent) { pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); // set to non-blocking read - int flags = fcntl(uart, F_GETFL, 0); - fcntl(uart, F_SETFL, flags | O_NONBLOCK); + int flags = fcntl(parent->get_uart_fd(), F_GETFL, 0); + fcntl(parent->get_uart_fd(), F_SETFL, flags | O_NONBLOCK); struct sched_param param; (void)pthread_attr_getschedparam(&receiveloop_attr, ¶m); @@ -875,7 +864,7 @@ receive_start(int uart) pthread_attr_setstacksize(&receiveloop_attr, 3000); pthread_t thread; - pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); + pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void*)parent); pthread_attr_destroy(&receiveloop_attr); return thread; diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/mavlink_receiver.h index 89f647bdc..fca5de917 100644 --- a/src/modules/mavlink/orb_topics.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,12 +32,15 @@ ****************************************************************************/ /** - * @file orb_topics.h - * Common sets of topics subscribed to or published by the MAVLink driver, - * and structures maintained by those subscriptions. + * @file mavlink_orb_listener.h + * MAVLink 1.0 uORB listener definition + * + * @author Lorenz Meier <lm@inf.ethz.ch> */ + #pragma once +#include <systemlib/perf_counter.h> #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/rc_channels.h> @@ -55,7 +57,6 @@ #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_rates_setpoint.h> -#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/optical_flow.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls_effective.h> @@ -66,59 +67,79 @@ #include <uORB/topics/debug_key_value.h> #include <uORB/topics/airspeed.h> #include <uORB/topics/battery_status.h> -#include <drivers/drv_rc_input.h> -#include <uORB/topics/navigation_capabilities.h> - -struct mavlink_subscriptions { - int sensor_sub; - int att_sub; - int global_pos_sub; - int act_0_sub; - int act_1_sub; - int act_2_sub; - int act_3_sub; - int gps_sub; - int man_control_sp_sub; - int safety_sub; - int actuators_sub; - int armed_sub; - int actuators_effective_sub; - int local_pos_sub; - int spa_sub; - int spl_sub; - int triplet_sub; - int debug_key_value; - int input_rc_sub; - int optical_flow; - int rates_setpoint_sub; - int home_sub; - int airspeed_sub; - int navigation_capabilities_sub; - int position_setpoint_triplet_sub; -}; -extern struct mavlink_subscriptions mavlink_subs; +class Mavlink; + +class MavlinkReceiver +{ +public: + /** + * Constructor + */ + MavlinkReceiver(Mavlink *parent); -/** Global position */ -extern struct vehicle_global_position_s global_pos; + /** + * Destructor, also kills the mavlinks task. + */ + ~MavlinkReceiver(); -/** Local position */ -extern struct vehicle_local_position_s local_pos; + /** + * Start the mavlink task. + * + * @return OK on success. + */ + int start(); -/** navigation capabilities */ -extern struct navigation_capabilities_s nav_cap; + /** + * Display the mavlink status. + */ + void print_status(); -/** Vehicle status */ -extern struct vehicle_status_s v_status; + static pthread_t receive_start(Mavlink *parent); -/** Position setpoint triplet */ -extern struct position_setpoint_triplet_s pos_sp_triplet; + static void * start_helper(void *context); -/** RC channels */ -extern struct rc_channels_s rc; +private: -/** Actuator armed state */ -extern struct actuator_armed_s armed; + perf_counter_t _loop_perf; /**< loop performance counter */ -/** Worker thread starter */ -extern pthread_t uorb_receive_start(void); + Mavlink* _mavlink; + + void handle_message(mavlink_message_t *msg); + void *receive_thread(void *arg); + + mavlink_status_t status; + struct vehicle_vicon_position_s vicon_position; + struct vehicle_command_s vcmd; + struct offboard_control_setpoint_s offboard_control_sp; + struct vehicle_global_position_s hil_global_pos; + struct vehicle_local_position_s hil_local_pos; + struct vehicle_attitude_s hil_attitude; + struct vehicle_gps_position_s hil_gps; + struct sensor_combined_s hil_sensors; + struct battery_status_s hil_battery_status; + struct position_setpoint_triplet_s pos_sp_triplet; + orb_advert_t pub_hil_global_pos; + orb_advert_t pub_hil_local_pos; + orb_advert_t pub_hil_attitude; + orb_advert_t pub_hil_gps; + orb_advert_t pub_hil_sensors; + orb_advert_t pub_hil_gyro; + orb_advert_t pub_hil_accel; + orb_advert_t pub_hil_mag; + orb_advert_t pub_hil_baro; + orb_advert_t pub_hil_airspeed; + orb_advert_t pub_hil_battery; + int hil_counter; + int hil_frames; + uint64_t old_timestamp; + orb_advert_t cmd_pub; + orb_advert_t flow_pub; + orb_advert_t offboard_control_sp_pub; + orb_advert_t vicon_position_pub; + orb_advert_t telemetry_status_pub; + int32_t lat0; + int32_t lon0; + float alt0; + +}; diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index 89a097c24..76798eb12 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -1,6 +1,6 @@ ############################################################################ # -# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -36,10 +36,9 @@ # MODULE_COMMAND = mavlink -SRCS += mavlink.c \ - mavlink_parameters.c \ - mavlink_receiver.cpp \ - orb_listener.c \ - waypoints.c +SRCS += mavlink_main.cpp \ + mavlink.c \ + mavlink_receiver.cpp \ + mavlink_orb_listener.cpp INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c deleted file mode 100644 index d7243c623..000000000 --- a/src/modules/mavlink/orb_listener.c +++ /dev/null @@ -1,848 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file orb_listener.c - * Monitors ORB topics and sends update messages as appropriate. - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -// XXX trim includes -#include <nuttx/config.h> -#include <stdio.h> -#include <math.h> -#include <stdbool.h> -#include <fcntl.h> -#include <string.h> -#include "mavlink_bridge_header.h" -#include <drivers/drv_hrt.h> -#include <time.h> -#include <float.h> -#include <unistd.h> -#include <sys/prctl.h> -#include <stdlib.h> -#include <poll.h> -#include <lib/geo/geo.h> - -#include <mavlink/mavlink_log.h> - -#include "waypoints.h" -#include "orb_topics.h" -#include "mavlink_hil.h" -#include "util.h" - -extern bool gcs_link; - -struct vehicle_global_position_s global_pos; -struct vehicle_local_position_s local_pos; -struct home_position_s home; -struct navigation_capabilities_s nav_cap; -struct vehicle_status_s v_status; -struct position_setpoint_triplet_s pos_sp_triplet; -struct rc_channels_s rc; -struct rc_input_values rc_raw; -struct actuator_armed_s armed; -struct actuator_controls_s actuators_0; -struct vehicle_attitude_s att; -struct airspeed_s airspeed; - -struct mavlink_subscriptions mavlink_subs; - -static int status_sub; -static int rc_sub; - -static unsigned int sensors_raw_counter; -static unsigned int attitude_counter; -static unsigned int gps_counter; - -/* - * Last sensor loop time - * some outputs are better timestamped - * with this "global" reference. - */ -static uint64_t last_sensor_timestamp; - -static hrt_abstime last_sent_vfr = 0; - -static void *uorb_receive_thread(void *arg); - -struct listener { - void (*callback)(const struct listener *l); - int *subp; - uintptr_t arg; -}; - -uint16_t cm_uint16_from_m_float(float m); - -static void l_sensor_combined(const struct listener *l); -static void l_vehicle_attitude(const struct listener *l); -static void l_vehicle_gps_position(const struct listener *l); -static void l_vehicle_status(const struct listener *l); -static void l_rc_channels(const struct listener *l); -static void l_input_rc(const struct listener *l); -static void l_global_position(const struct listener *l); -static void l_local_position(const struct listener *l); -static void l_global_position_setpoint(const struct listener *l); -static void l_local_position_setpoint(const struct listener *l); -static void l_attitude_setpoint(const struct listener *l); -static void l_actuator_outputs(const struct listener *l); -static void l_actuator_armed(const struct listener *l); -static void l_manual_control_setpoint(const struct listener *l); -static void l_vehicle_attitude_controls(const struct listener *l); -static void l_debug_key_value(const struct listener *l); -static void l_optical_flow(const struct listener *l); -static void l_vehicle_rates_setpoint(const struct listener *l); -static void l_home(const struct listener *l); -static void l_airspeed(const struct listener *l); -static void l_nav_cap(const struct listener *l); - -static const struct listener listeners[] = { - {l_sensor_combined, &mavlink_subs.sensor_sub, 0}, - {l_vehicle_attitude, &mavlink_subs.att_sub, 0}, - {l_vehicle_gps_position, &mavlink_subs.gps_sub, 0}, - {l_vehicle_status, &status_sub, 0}, - {l_rc_channels, &rc_sub, 0}, - {l_input_rc, &mavlink_subs.input_rc_sub, 0}, - {l_global_position, &mavlink_subs.global_pos_sub, 0}, - {l_local_position, &mavlink_subs.local_pos_sub, 0}, - {l_global_position_setpoint, &mavlink_subs.triplet_sub, 0}, - {l_local_position_setpoint, &mavlink_subs.spl_sub, 0}, - {l_attitude_setpoint, &mavlink_subs.spa_sub, 0}, - {l_actuator_outputs, &mavlink_subs.act_0_sub, 0}, - {l_actuator_outputs, &mavlink_subs.act_1_sub, 1}, - {l_actuator_outputs, &mavlink_subs.act_2_sub, 2}, - {l_actuator_outputs, &mavlink_subs.act_3_sub, 3}, - {l_actuator_armed, &mavlink_subs.armed_sub, 0}, - {l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0}, - {l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0}, - {l_debug_key_value, &mavlink_subs.debug_key_value, 0}, - {l_optical_flow, &mavlink_subs.optical_flow, 0}, - {l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0}, - {l_home, &mavlink_subs.home_sub, 0}, - {l_airspeed, &mavlink_subs.airspeed_sub, 0}, - {l_nav_cap, &mavlink_subs.navigation_capabilities_sub, 0}, -}; - -static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]); - -uint16_t -cm_uint16_from_m_float(float m) -{ - if (m < 0.0f) { - return 0; - - } else if (m > 655.35f) { - return 65535; - } - - return (uint16_t)(m * 100.0f); -} - -void -l_sensor_combined(const struct listener *l) -{ - struct sensor_combined_s raw; - - /* copy sensors raw data into local buffer */ - orb_copy(ORB_ID(sensor_combined), mavlink_subs.sensor_sub, &raw); - - last_sensor_timestamp = raw.timestamp; - - /* mark individual fields as changed */ - uint16_t fields_updated = 0; - static unsigned accel_counter = 0; - static unsigned gyro_counter = 0; - static unsigned mag_counter = 0; - static unsigned baro_counter = 0; - - if (accel_counter != raw.accelerometer_counter) { - /* mark first three dimensions as changed */ - fields_updated |= (1 << 0) | (1 << 1) | (1 << 2); - accel_counter = raw.accelerometer_counter; - } - - if (gyro_counter != raw.gyro_counter) { - /* mark second group dimensions as changed */ - fields_updated |= (1 << 3) | (1 << 4) | (1 << 5); - gyro_counter = raw.gyro_counter; - } - - if (mag_counter != raw.magnetometer_counter) { - /* mark third group dimensions as changed */ - fields_updated |= (1 << 6) | (1 << 7) | (1 << 8); - mag_counter = raw.magnetometer_counter; - } - - if (baro_counter != raw.baro_counter) { - /* mark last group dimensions as changed */ - fields_updated |= (1 << 9) | (1 << 11) | (1 << 12); - baro_counter = raw.baro_counter; - } - - if (gcs_link) - mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, - raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1], - raw.accelerometer_m_s2[2], raw.gyro_rad_s[0], - raw.gyro_rad_s[1], raw.gyro_rad_s[2], - raw.magnetometer_ga[0], - raw.magnetometer_ga[1], raw.magnetometer_ga[2], - raw.baro_pres_mbar, raw.differential_pressure_pa, - raw.baro_alt_meter, raw.baro_temp_celcius, - fields_updated); - - sensors_raw_counter++; -} - -void -l_vehicle_attitude(const struct listener *l) -{ - /* copy attitude data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att); - - if (gcs_link) { - /* send sensor values */ - mavlink_msg_attitude_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - att.roll, - att.pitch, - att.yaw, - att.rollspeed, - att.pitchspeed, - att.yawspeed); - - /* limit VFR message rate to 10Hz */ - hrt_abstime t = hrt_absolute_time(); - if (t >= last_sent_vfr + 100000) { - last_sent_vfr = t; - float groundspeed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e); - uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F; - float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f; - mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vel_d); - } - - /* send quaternion values if it exists */ - if(att.q_valid) { - mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - att.q[0], - att.q[1], - att.q[2], - att.q[3], - att.rollspeed, - att.pitchspeed, - att.yawspeed); - } - } - - attitude_counter++; -} - -void -l_vehicle_gps_position(const struct listener *l) -{ - struct vehicle_gps_position_s gps; - - /* copy gps data into local buffer */ - orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps); - - /* GPS COG is 0..2PI in degrees * 1e2 */ - float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F; - - /* GPS position */ - mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, - gps.timestamp_position, - gps.fix_type, - gps.lat, - gps.lon, - gps.alt, - cm_uint16_from_m_float(gps.eph_m), - cm_uint16_from_m_float(gps.epv_m), - gps.vel_m_s * 1e2f, // from m/s to cm/s - cog_deg * 1e2f, // from deg to deg * 100 - gps.satellites_visible); - - /* update SAT info every 10 seconds */ - if (gps.satellite_info_available && (gps_counter % 50 == 0)) { - mavlink_msg_gps_status_send(MAVLINK_COMM_0, - gps.satellites_visible, - gps.satellite_prn, - gps.satellite_used, - gps.satellite_elevation, - gps.satellite_azimuth, - gps.satellite_snr); - } - - gps_counter++; -} - -void -l_vehicle_status(const struct listener *l) -{ - /* immediately communicate state changes back to user */ - orb_copy(ORB_ID(vehicle_status), status_sub, &v_status); - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); - orb_copy(ORB_ID(position_setpoint_triplet), mavlink_subs.position_setpoint_triplet_sub, &pos_sp_triplet); - - /* enable or disable HIL */ - if (v_status.hil_state == HIL_STATE_ON) - set_hil_on_off(true); - else if (v_status.hil_state == HIL_STATE_OFF) - set_hil_on_off(false); - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, - mavlink_system.type, - MAV_AUTOPILOT_PX4, - mavlink_base_mode, - mavlink_custom_mode, - mavlink_state); -} - -void -l_rc_channels(const struct listener *l) -{ - /* copy rc channels into local buffer */ - orb_copy(ORB_ID(rc_channels), rc_sub, &rc); - // XXX Add RC channels scaled message here -} - -void -l_input_rc(const struct listener *l) -{ - /* copy rc channels into local buffer */ - orb_copy(ORB_ID(input_rc), mavlink_subs.input_rc_sub, &rc_raw); - - if (gcs_link) { - - const unsigned port_width = 8; - - for (unsigned i = 0; (i * port_width) < rc_raw.channel_count; i++) { - /* Channels are sent in MAVLink main loop at a fixed interval */ - mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp_publication / 1000, - i, - (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 2) ? rc_raw.values[(i * port_width) + 2] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 3) ? rc_raw.values[(i * port_width) + 3] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 4) ? rc_raw.values[(i * port_width) + 4] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 5) ? rc_raw.values[(i * port_width) + 5] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 6) ? rc_raw.values[(i * port_width) + 6] : UINT16_MAX, - (rc_raw.channel_count > (i * port_width) + 7) ? rc_raw.values[(i * port_width) + 7] : UINT16_MAX, - rc_raw.rssi); - } - } -} - -void -l_global_position(const struct listener *l) -{ - /* copy global position data into local buffer */ - orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos); - - mavlink_msg_global_position_int_send(MAVLINK_COMM_0, - global_pos.timestamp / 1000, - global_pos.lat * 1e7, - global_pos.lon * 1e7, - global_pos.alt * 1000.0f, - (global_pos.alt - home.alt) * 1000.0f, - global_pos.vel_n * 100.0f, - global_pos.vel_e * 100.0f, - global_pos.vel_d * 100.0f, - _wrap_2pi(global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f); -} - -void -l_local_position(const struct listener *l) -{ - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos); - - if (gcs_link) - mavlink_msg_local_position_ned_send(MAVLINK_COMM_0, - local_pos.timestamp / 1000, - local_pos.x, - local_pos.y, - local_pos.z, - local_pos.vx, - local_pos.vy, - local_pos.vz); -} - -void -l_global_position_setpoint(const struct listener *l) -{ - struct position_setpoint_triplet_s triplet; - orb_copy(ORB_ID(position_setpoint_triplet), mavlink_subs.triplet_sub, &triplet); - - if (!triplet.current.valid) - return; - - if (gcs_link) - mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, - MAV_FRAME_GLOBAL, - (int32_t)(triplet.current.lat * 1e7d), - (int32_t)(triplet.current.lon * 1e7d), - (int32_t)(triplet.current.alt * 1e3f), - (int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f)); -} - -void -l_local_position_setpoint(const struct listener *l) -{ - struct vehicle_local_position_setpoint_s local_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_local_position_setpoint), mavlink_subs.spl_sub, &local_sp); - - if (gcs_link) - mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0, - MAV_FRAME_LOCAL_NED, - local_sp.x, - local_sp.y, - local_sp.z, - local_sp.yaw); -} - -void -l_attitude_setpoint(const struct listener *l) -{ - struct vehicle_attitude_setpoint_s att_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude_setpoint), mavlink_subs.spa_sub, &att_sp); - - if (gcs_link) - mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, - att_sp.timestamp / 1000, - att_sp.roll_body, - att_sp.pitch_body, - att_sp.yaw_body, - att_sp.thrust); -} - -void -l_vehicle_rates_setpoint(const struct listener *l) -{ - struct vehicle_rates_setpoint_s rates_sp; - - /* copy local position data into local buffer */ - orb_copy(ORB_ID(vehicle_rates_setpoint), mavlink_subs.rates_setpoint_sub, &rates_sp); - - if (gcs_link) - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_0, - rates_sp.timestamp / 1000, - rates_sp.roll, - rates_sp.pitch, - rates_sp.yaw, - rates_sp.thrust); -} - -void -l_actuator_outputs(const struct listener *l) -{ - struct actuator_outputs_s act_outputs; - - orb_id_t ids[] = { - ORB_ID(actuator_outputs_0), - ORB_ID(actuator_outputs_1), - ORB_ID(actuator_outputs_2), - ORB_ID(actuator_outputs_3) - }; - - /* copy actuator data into local buffer */ - orb_copy(ids[l->arg], *l->subp, &act_outputs); - - if (gcs_link) { - mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, - l->arg /* port number - needs GCS support */, - /* QGC has port number support already */ - act_outputs.output[0], - act_outputs.output[1], - act_outputs.output[2], - act_outputs.output[3], - act_outputs.output[4], - act_outputs.output[5], - act_outputs.output[6], - act_outputs.output[7]); - - /* only send in HIL mode and only send first group for HIL */ - if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) { - - /* translate the current syste state to mavlink state and mode */ - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - /* HIL message as per MAVLink spec */ - - /* scale / assign outputs depending on system type */ - - if (mavlink_system.type == MAV_TYPE_QUADROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - -1, - -1, - -1, - -1, - mavlink_base_mode, - 0); - - } else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, - -1, - -1, - mavlink_base_mode, - 0); - - } else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f, - ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f, - mavlink_base_mode, - 0); - - } else { - mavlink_msg_hil_controls_send(chan, - hrt_absolute_time(), - (act_outputs.output[0] - 1500.0f) / 500.0f, - (act_outputs.output[1] - 1500.0f) / 500.0f, - (act_outputs.output[2] - 1500.0f) / 500.0f, - (act_outputs.output[3] - 1000.0f) / 1000.0f, - (act_outputs.output[4] - 1500.0f) / 500.0f, - (act_outputs.output[5] - 1500.0f) / 500.0f, - (act_outputs.output[6] - 1500.0f) / 500.0f, - (act_outputs.output[7] - 1500.0f) / 500.0f, - mavlink_base_mode, - 0); - } - } - } -} - -void -l_actuator_armed(const struct listener *l) -{ - orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); -} - -void -l_manual_control_setpoint(const struct listener *l) -{ - struct manual_control_setpoint_s man_control; - - /* copy manual control data into local buffer */ - orb_copy(ORB_ID(manual_control_setpoint), mavlink_subs.man_control_sp_sub, &man_control); - - if (gcs_link) - mavlink_msg_manual_control_send(MAVLINK_COMM_0, - mavlink_system.sysid, - man_control.roll * 1000, - man_control.pitch * 1000, - man_control.yaw * 1000, - man_control.throttle * 1000, - 0); -} - -void -l_vehicle_attitude_controls(const struct listener *l) -{ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators_0); - - if (gcs_link) { - /* send, add spaces so that string buffer is at least 10 chars long */ - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl0 ", - actuators_0.control[0]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl1 ", - actuators_0.control[1]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl2 ", - actuators_0.control[2]); - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - "ctrl3 ", - actuators_0.control[3]); - } -} - -void -l_debug_key_value(const struct listener *l) -{ - struct debug_key_value_s debug; - - orb_copy(ORB_ID(debug_key_value), mavlink_subs.debug_key_value, &debug); - - /* Enforce null termination */ - debug.key[sizeof(debug.key) - 1] = '\0'; - - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - last_sensor_timestamp / 1000, - debug.key, - debug.value); -} - -void -l_optical_flow(const struct listener *l) -{ - struct optical_flow_s flow; - - orb_copy(ORB_ID(optical_flow), mavlink_subs.optical_flow, &flow); - - mavlink_msg_optical_flow_send(MAVLINK_COMM_0, flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y, - flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m); -} - -void -l_home(const struct listener *l) -{ - orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home); - - mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, (int32_t)(home.lat*1e7d), (int32_t)(home.lon*1e7d), (int32_t)(home.alt)*1e3f); -} - -void -l_airspeed(const struct listener *l) -{ - orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed); -} - -void -l_nav_cap(const struct listener *l) -{ - - orb_copy(ORB_ID(navigation_capabilities), mavlink_subs.navigation_capabilities_sub, &nav_cap); - - mavlink_msg_named_value_float_send(MAVLINK_COMM_0, - hrt_absolute_time() / 1000, - "turn dist", - nav_cap.turn_distance); - -} - -static void * -uorb_receive_thread(void *arg) -{ - /* Set thread name */ - prctl(PR_SET_NAME, "mavlink_orb_rcv", getpid()); - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms (1 second) - */ - const int timeout = 1000; - - /* - * Initialise listener array. - * - * Might want to invoke each listener once to set initial state. - */ - struct pollfd fds[n_listeners]; - - for (unsigned i = 0; i < n_listeners; i++) { - fds[i].fd = *listeners[i].subp; - fds[i].events = POLLIN; - - /* Invoke callback to set initial state */ - //listeners[i].callback(&listener[i]); - } - - while (!thread_should_exit) { - - int poll_ret = poll(fds, n_listeners, timeout); - - /* handle the poll result */ - if (poll_ret == 0) { - /* silent */ - - } else if (poll_ret < 0) { - mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); - - } else { - - for (unsigned i = 0; i < n_listeners; i++) { - if (fds[i].revents & POLLIN) - listeners[i].callback(&listeners[i]); - } - } - } - - return NULL; -} - -pthread_t -uorb_receive_start(void) -{ - /* --- SENSORS RAW VALUE --- */ - mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */ - - /* --- ATTITUDE VALUE --- */ - mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */ - - /* --- GPS VALUE --- */ - mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ - - /* --- HOME POSITION --- */ - mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); - orb_set_interval(mavlink_subs.home_sub, 1000); /* 1Hz updates */ - - /* --- SYSTEM STATE --- */ - status_sub = orb_subscribe(ORB_ID(vehicle_status)); - orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */ - - /* --- POSITION SETPOINT TRIPLET --- */ - mavlink_subs.position_setpoint_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); - orb_set_interval(mavlink_subs.position_setpoint_triplet_sub, 0); /* not polled, don't limit */ - - /* --- RC CHANNELS VALUE --- */ - rc_sub = orb_subscribe(ORB_ID(rc_channels)); - orb_set_interval(rc_sub, 100); /* 10Hz updates */ - - /* --- RC RAW VALUE --- */ - mavlink_subs.input_rc_sub = orb_subscribe(ORB_ID(input_rc)); - orb_set_interval(mavlink_subs.input_rc_sub, 100); - - /* --- GLOBAL POS VALUE --- */ - mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz active updates */ - - /* --- LOCAL POS VALUE --- */ - mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - orb_set_interval(mavlink_subs.local_pos_sub, 1000); /* 1Hz active updates */ - - /* --- GLOBAL SETPOINT VALUE --- */ - mavlink_subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); - orb_set_interval(mavlink_subs.triplet_sub, 2000); /* 0.5 Hz updates */ - - /* --- LOCAL SETPOINT VALUE --- */ - mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); - orb_set_interval(mavlink_subs.spl_sub, 2000); /* 0.5 Hz updates */ - - /* --- ATTITUDE SETPOINT VALUE --- */ - mavlink_subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - orb_set_interval(mavlink_subs.spa_sub, 2000); /* 0.5 Hz updates */ - - /* --- RATES SETPOINT VALUE --- */ - mavlink_subs.rates_setpoint_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - orb_set_interval(mavlink_subs.rates_setpoint_sub, 2000); /* 0.5 Hz updates */ - - /* --- ACTUATOR OUTPUTS --- */ - mavlink_subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); - mavlink_subs.act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1)); - mavlink_subs.act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2)); - mavlink_subs.act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3)); - /* rate limits set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.act_0_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_1_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_2_sub, 100); /* 10Hz updates */ - orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */ - - /* --- ACTUATOR ARMED VALUE --- */ - mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */ - - /* --- MAPPED MANUAL CONTROL INPUTS --- */ - mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - /* rate limits set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */ - - /* --- ACTUATOR CONTROL VALUE --- */ - mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */ - - /* --- DEBUG VALUE OUTPUT --- */ - mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value)); - orb_set_interval(mavlink_subs.debug_key_value, 100); /* 10Hz updates */ - - /* --- FLOW SENSOR --- */ - mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow)); - orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */ - - /* --- AIRSPEED --- */ - mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); - orb_set_interval(mavlink_subs.airspeed_sub, 200); /* 5Hz updates */ - - /* --- NAVIGATION CAPABILITIES --- */ - mavlink_subs.navigation_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities)); - orb_set_interval(mavlink_subs.navigation_capabilities_sub, 500); /* 2Hz updates */ - nav_cap.turn_distance = 0.0f; - - /* start the listener loop */ - pthread_attr_t uorb_attr; - pthread_attr_init(&uorb_attr); - - /* Set stack size, needs less than 2k */ - pthread_attr_setstacksize(&uorb_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); - - pthread_attr_destroy(&uorb_attr); - return thread; -} diff --git a/src/modules/mavlink/util.h b/src/modules/mavlink/util.h index 5e5ee8261..5ca9a085d 100644 --- a/src/modules/mavlink/util.h +++ b/src/modules/mavlink/util.h @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions diff --git a/src/modules/mavlink/waypoints.c b/src/modules/mavlink/waypoints.c deleted file mode 100644 index 168666d4e..000000000 --- a/src/modules/mavlink/waypoints.c +++ /dev/null @@ -1,730 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. - * Author: @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file waypoints.c - * MAVLink waypoint protocol implementation (BSD-relicensed). - */ - -#include <math.h> -#include <sys/prctl.h> -#include <unistd.h> -#include <stdio.h> -#include "mavlink_bridge_header.h" -#include "waypoints.h" -#include "util.h" -#include <uORB/uORB.h> -#include <uORB/topics/mission.h> -#include <geo/geo.h> -#include <dataman/dataman.h> -#include <drivers/drv_hrt.h> -#include <systemlib/err.h> - -bool verbose = true; - -orb_advert_t mission_pub = -1; -struct mission_s mission; - -uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; - -void -mavlink_missionlib_send_message(mavlink_message_t *msg) -{ - uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); - - mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); -} - - - -int -mavlink_missionlib_send_gcs_string(const char *string) -{ - const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; - mavlink_statustext_t statustext; - int i = 0; - - while (i < len - 1) { - statustext.text[i] = string[i]; - - if (string[i] == '\0') - break; - - i++; - } - - if (i > 1) { - /* Enforce null termination */ - statustext.text[i] = '\0'; - mavlink_message_t msg; - - mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); - mavlink_missionlib_send_message(&msg); - return OK; - - } else { - return 1; - } -} - -void publish_mission() -{ - /* Initialize mission publication if necessary */ - if (mission_pub < 0) { - mission_pub = orb_advertise(ORB_ID(mission), &mission); - - } else { - orb_publish(ORB_ID(mission), mission_pub, &mission); - } -} - -int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) -{ - /* only support global waypoints for now */ - switch (mavlink_mission_item->frame) { - case MAV_FRAME_GLOBAL: - mission_item->lat = (double)mavlink_mission_item->x; - mission_item->lon = (double)mavlink_mission_item->y; - mission_item->altitude = mavlink_mission_item->z; - mission_item->altitude_is_relative = false; - break; - - case MAV_FRAME_GLOBAL_RELATIVE_ALT: - mission_item->lat = (double)mavlink_mission_item->x; - mission_item->lon = (double)mavlink_mission_item->y; - mission_item->altitude = mavlink_mission_item->z; - mission_item->altitude_is_relative = true; - break; - - case MAV_FRAME_LOCAL_NED: - case MAV_FRAME_LOCAL_ENU: - return MAV_MISSION_UNSUPPORTED_FRAME; - case MAV_FRAME_MISSION: - default: - return MAV_MISSION_ERROR; - } - - switch (mavlink_mission_item->command) { - case MAV_CMD_NAV_TAKEOFF: - mission_item->pitch_min = mavlink_mission_item->param2; - break; - default: - mission_item->acceptance_radius = mavlink_mission_item->param2; - break; - } - - mission_item->yaw = _wrap_pi(mavlink_mission_item->param4*M_DEG_TO_RAD_F); - mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); - mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ - mission_item->nav_cmd = mavlink_mission_item->command; - - mission_item->time_inside = mavlink_mission_item->param1; - mission_item->autocontinue = mavlink_mission_item->autocontinue; - // mission_item->index = mavlink_mission_item->seq; - mission_item->origin = ORIGIN_MAVLINK; - - return OK; -} - -int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) -{ - if (mission_item->altitude_is_relative) { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL; - } else { - mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; - } - - switch (mission_item->nav_cmd) { - case NAV_CMD_TAKEOFF: - mavlink_mission_item->param2 = mission_item->pitch_min; - break; - default: - mavlink_mission_item->param2 = mission_item->acceptance_radius; - break; - } - - mavlink_mission_item->x = (float)mission_item->lat; - mavlink_mission_item->y = (float)mission_item->lon; - mavlink_mission_item->z = mission_item->altitude; - - mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F; - mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction; - mavlink_mission_item->command = mission_item->nav_cmd; - mavlink_mission_item->param1 = mission_item->time_inside; - mavlink_mission_item->autocontinue = mission_item->autocontinue; - // mavlink_mission_item->seq = mission_item->index; - - return OK; -} - -void mavlink_wpm_init(mavlink_wpm_storage *state) -{ - state->size = 0; - state->max_size = MAVLINK_WPM_MAX_WP_COUNT; - state->current_state = MAVLINK_WPM_STATE_IDLE; - state->current_partner_sysid = 0; - state->current_partner_compid = 0; - state->timestamp_lastaction = 0; - state->timestamp_last_send_setpoint = 0; - state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; - state->current_dataman_id = 0; -} - -/* - * @brief Sends an waypoint ack message - */ -void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) -{ - mavlink_message_t msg; - mavlink_mission_ack_t wpa; - - wpa.target_system = sysid; - wpa.target_component = compid; - wpa.type = type; - - mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); -} - -/* - * @brief Broadcasts the new target waypoint and directs the MAV to fly there - * - * This function broadcasts its new active waypoint sequence number and - * sends a message to the controller, advising it to fly to the coordinates - * of the waypoint with a given orientation - * - * @param seq The waypoint sequence number the MAV should fly to. - */ -void mavlink_wpm_send_waypoint_current(uint16_t seq) -{ - if (seq < wpm->size) { - mavlink_message_t msg; - mavlink_mission_current_t wpc; - - wpc.seq = seq; - - mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Broadcasted new current waypoint %u", wpc.seq); - - } else { - mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); - if (verbose) warnx("ERROR: index out of bounds"); - } -} - -void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) -{ - mavlink_message_t msg; - mavlink_mission_count_t wpc; - - wpc.target_system = sysid; - wpc.target_component = compid; - wpc.count = mission.count; - - mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); -} - -void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - - struct mission_item_s mission_item; - ssize_t len = sizeof(struct mission_item_s); - - dm_item_t dm_current; - - if (wpm->current_dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; - } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } - - if (dm_read(dm_current, seq, &mission_item, len) == len) { - - /* create mission_item_s from mavlink_mission_item_t */ - mavlink_mission_item_t wp; - map_mission_item_to_mavlink_mission_item(&mission_item, &wp); - - mavlink_message_t msg; - wp.target_system = sysid; - wp.target_component = compid; - wp.seq = seq; - mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); - } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - if (verbose) warnx("ERROR: could not read WP%u", seq); - } -} - -void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) -{ - if (seq < wpm->max_size) { - mavlink_message_t msg; - mavlink_mission_request_t wpr; - wpr.target_system = sysid; - wpr.target_component = compid; - wpr.seq = seq; - mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); - - } else { - mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); - if (verbose) warnx("ERROR: Waypoint index exceeds list capacity"); - } -} - -/* - * @brief emits a message that a waypoint reached - * - * This function broadcasts a message that a waypoint is reached. - * - * @param seq The waypoint sequence number the MAV has reached. - */ -void mavlink_wpm_send_waypoint_reached(uint16_t seq) -{ - mavlink_message_t msg; - mavlink_mission_item_reached_t wp_reached; - - wp_reached.seq = seq; - - mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); - mavlink_missionlib_send_message(&msg); - - if (verbose) warnx("Sent waypoint %u reached message", wp_reached.seq); -} - - -void mavlink_waypoint_eventloop(uint64_t now) -{ - /* check for timed-out operations */ - if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - - mavlink_missionlib_send_gcs_string("Operation timeout"); - - if (verbose) warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_state); - - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - wpm->current_partner_sysid = 0; - wpm->current_partner_compid = 0; - } -} - - -void mavlink_wpm_message_handler(const mavlink_message_t *msg) -{ - uint64_t now = hrt_absolute_time(); - - switch (msg->msgid) { - - case MAVLINK_MSG_ID_MISSION_ACK: { - mavlink_mission_ack_t wpa; - mavlink_msg_mission_ack_decode(msg, &wpa); - - if ((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - if (wpm->current_wp_id == wpm->size - 1) { - - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - wpm->current_wp_id = 0; - } - } - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); - if (verbose) warnx("REJ. WP CMD: curr partner id mismatch"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { - mavlink_mission_set_current_t wpc; - mavlink_msg_mission_set_current_decode(msg, &wpc); - - if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - if (wpc.seq < wpm->size) { - - mission.current_index = wpc.seq; - publish_mission(); - - mavlink_wpm_send_waypoint_current(wpc.seq); - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); - if (verbose) warnx("IGN WP CURR CMD: Not in list"); - } - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); - if (verbose) warnx("IGN WP CURR CMD: Busy"); - - } - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); - if (verbose) warnx("REJ. WP CMD: target id mismatch"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { - mavlink_mission_request_list_t wprl; - mavlink_msg_mission_request_list_decode(msg, &wprl); - - if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - if (wpm->size > 0) { - - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; - wpm->current_wp_id = 0; - wpm->current_partner_sysid = msg->sysid; - wpm->current_partner_compid = msg->compid; - - } else { - if (verbose) warnx("No waypoints send"); - } - - wpm->current_count = wpm->size; - mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); - - } else { - mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); - if (verbose) warnx("IGN REQUEST LIST: Busy"); - } - } else { - mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch"); - if (verbose) warnx("REJ. REQUEST LIST: target id mismatch"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_REQUEST: { - mavlink_mission_request_t wpr; - mavlink_msg_mission_request_decode(msg, &wpr); - - if (msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpr.seq >= wpm->size) { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); - break; - } - - /* - * Ensure that we are in the correct state and that the first request has id 0 - * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - */ - if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { - - if (wpr.seq == 0) { - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); - if (verbose) warnx("REJ. WP CMD: First id != 0"); - break; - } - - } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - - if (wpr.seq == wpm->current_wp_id) { - - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - - } else if (wpr.seq == wpm->current_wp_id + 1) { - - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); - break; - } - - } else { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", wpm->current_state); - break; - } - - wpm->current_wp_id = wpr.seq; - wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - - if (wpr.seq < wpm->size) { - - mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid,wpm->current_wp_id); - - } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - if (verbose) warnx("ERROR: Waypoint %u out of bounds", wpr.seq); - } - - - } else { - //we we're target but already communicating with someone else - if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid)) { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, wpm->current_partner_sysid); - - } else { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); - if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); - } - } - break; - } - - case MAVLINK_MSG_ID_MISSION_COUNT: { - mavlink_mission_count_t wpc; - mavlink_msg_mission_count_decode(msg, &wpc); - - if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { - wpm->timestamp_lastaction = now; - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - - if (wpc.count > NUM_MISSIONS_SUPPORTED) { - if (verbose) warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_NO_SPACE); - break; - } - - if (wpc.count == 0) { - mavlink_missionlib_send_gcs_string("COUNT 0"); - if (verbose) warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); - break; - } - - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); - - wpm->current_state = MAVLINK_WPM_STATE_GETLIST; - wpm->current_wp_id = 0; - wpm->current_partner_sysid = msg->sysid; - wpm->current_partner_compid = msg->compid; - wpm->current_count = wpc.count; - - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - - if (wpm->current_wp_id == 0) { - mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); - if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", wpm->current_wp_id); - } - } else { - mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); - if (verbose) warnx("IGN MISSION_COUNT CMD: Busy"); - } - } else { - - mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch"); - if (verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); - } - } - break; - - case MAVLINK_MSG_ID_MISSION_ITEM: { - mavlink_mission_item_t wp; - mavlink_msg_mission_item_decode(msg, &wp); - - if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { - - wpm->timestamp_lastaction = now; - - /* - * ensure that we are in the correct state and that the first waypoint has id 0 - * and the following waypoints have the correct ids - */ - - if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - - if (wp.seq != 0) { - mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq); - break; - } - } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - - if (wp.seq >= wpm->current_count) { - mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq); - break; - } - - if (wp.seq != wpm->current_wp_id) { - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, wpm->current_wp_id); - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - break; - } - } - - wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; - - struct mission_item_s mission_item; - - int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); - - if (ret != OK) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, ret); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - break; - } - - ssize_t len = sizeof(struct mission_item_s); - - dm_item_t dm_next; - - if (wpm->current_dataman_id == 0) { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; - mission.dataman_id = 1; - } else { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; - mission.dataman_id = 0; - } - - if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - break; - } - - if (wp.current) { - mission.current_index = wp.seq; - } - - wpm->current_wp_id = wp.seq + 1; - - if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - - if (verbose) warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_count); - - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - - mission.count = wpm->current_count; - - publish_mission(); - - wpm->current_dataman_id = mission.dataman_id; - wpm->size = wpm->current_count; - - wpm->current_state = MAVLINK_WPM_STATE_IDLE; - - } else { - mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); - } - - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); - if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); - } - - break; - } - - case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { - mavlink_mission_clear_all_t wpca; - mavlink_msg_mission_clear_all_decode(msg, &wpca); - - if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { - - if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - wpm->timestamp_lastaction = now; - - wpm->size = 0; - - /* prepare mission topic */ - mission.dataman_id = -1; - mission.count = 0; - mission.current_index = -1; - publish_mission(); - - if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - } else { - mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); - } - - - } else { - mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); - if (verbose) warnx("IGN WP CLEAR CMD: Busy"); - } - - - } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { - - mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch"); - if (verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); - } - - break; - } - - default: { - /* other messages might should get caught by mavlink and others */ - break; - } - } -} diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h index f8b58c7d9..532eff7aa 100644 --- a/src/modules/mavlink/waypoints.h +++ b/src/modules/mavlink/waypoints.h @@ -1,9 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2009-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +34,11 @@ /** * @file waypoints.h * MAVLink waypoint protocol definition (BSD-relicensed). + * + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef WAYPOINTS_H_ @@ -106,7 +108,4 @@ extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float pa static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; -void mavlink_missionlib_send_message(mavlink_message_t *msg); -int mavlink_missionlib_send_gcs_string(const char *string); - #endif /* WAYPOINTS_H_ */ diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 577c767a8..930eae6a3 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -65,7 +65,6 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/home_position.h> #include <uORB/topics/position_setpoint_triplet.h> -#include <uORB/topics/mission_result.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/parameter_update.h> @@ -288,9 +287,9 @@ private: static void task_main_trampoline(int argc, char *argv[]); /** - * Main sensor collection task. + * Main task. */ - void task_main() __attribute__((noreturn)); + void task_main(); void publish_safepoints(unsigned points); @@ -390,7 +389,6 @@ Navigator::Navigator() : /* publications */ _pos_sp_triplet_pub(-1), - _mission_result_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "navigator")), @@ -422,7 +420,6 @@ Navigator::Navigator() : _parameter_handles.rtl_land_delay = param_find("NAV_RTL_LAND_T"); memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_s)); - memset(&_mission_result, 0, sizeof(struct mission_result_s)); memset(&_mission_item, 0, sizeof(struct mission_item_s)); memset(&nav_states_str, 0, sizeof(nav_states_str)); @@ -524,13 +521,16 @@ Navigator::offboard_mission_update(bool isrotaryWing) missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence); _mission.set_offboard_dataman_id(offboard_mission.dataman_id); - _mission.set_current_offboard_mission_index(offboard_mission.current_index); + _mission.set_offboard_mission_count(offboard_mission.count); + _mission.set_current_offboard_mission_index(offboard_mission.current_index); } else { - _mission.set_current_offboard_mission_index(0); _mission.set_offboard_mission_count(0); + _mission.set_current_offboard_mission_index(0); } + + _mission.publish_mission_result(); } void @@ -540,12 +540,12 @@ Navigator::onboard_mission_update() if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) { - _mission.set_current_onboard_mission_index(onboard_mission.current_index); _mission.set_onboard_mission_count(onboard_mission.count); + _mission.set_current_onboard_mission_index(onboard_mission.current_index); } else { - _mission.set_current_onboard_mission_index(0); _mission.set_onboard_mission_count(0); + _mission.set_current_onboard_mission_index(0); } } @@ -1104,6 +1104,9 @@ Navigator::set_mission_item() ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index); if (ret == OK) { + + _mission.report_current_mission_item(); + /* reset time counter for new item */ _time_first_inside_orbit = 0; @@ -1547,6 +1550,9 @@ void Navigator::on_mission_item_reached() { if (myState == NAV_STATE_MISSION) { + + _mission.report_mission_item_reached(); + if (_do_takeoff) { /* takeoff completed */ _do_takeoff = false; @@ -1593,6 +1599,7 @@ Navigator::on_mission_item_reached() mavlink_log_info(_mavlink_fd, "[navigator] landing completed"); dispatch(EVENT_READY_REQUESTED); } + _mission.publish_mission_result(); } void diff --git a/src/modules/navigator/navigator_mission.cpp b/src/modules/navigator/navigator_mission.cpp index e72caf98e..fdc4ffff6 100644 --- a/src/modules/navigator/navigator_mission.cpp +++ b/src/modules/navigator/navigator_mission.cpp @@ -36,13 +36,12 @@ * Helper class to access missions */ -// #include <stdio.h> -// #include <stdlib.h> -// #include <string.h> -// #include <unistd.h> - +#include <string.h> #include <stdlib.h> #include <dataman/dataman.h> +#include <systemlib/err.h> +#include <uORB/uORB.h> +#include <uORB/topics/mission_result.h> #include "navigator_mission.h" /* oddly, ERROR is not defined for c++ */ @@ -60,8 +59,11 @@ Mission::Mission() : _offboard_mission_item_count(0), _onboard_mission_item_count(0), _onboard_mission_allowed(false), - _current_mission_type(MISSION_TYPE_NONE) -{} + _current_mission_type(MISSION_TYPE_NONE), + _mission_result_pub(-1) +{ + memset(&_mission_result, 0, sizeof(struct mission_result_s)); +} Mission::~Mission() { @@ -78,8 +80,16 @@ void Mission::set_current_offboard_mission_index(int new_index) { if (new_index != -1) { + warnx("specifically set to %d", new_index); _current_offboard_mission_index = (unsigned)new_index; + } else { + + /* if less WPs available, reset to first WP */ + if (_current_offboard_mission_index >= _offboard_mission_item_count) { + _current_offboard_mission_index = 0; + } } + report_current_mission_item(); } void @@ -87,7 +97,15 @@ Mission::set_current_onboard_mission_index(int new_index) { if (new_index != -1) { _current_onboard_mission_index = (unsigned)new_index; + } else { + + /* if less WPs available, reset to first WP */ + if (_current_onboard_mission_index >= _onboard_mission_item_count) { + _current_onboard_mission_index = 0; + } } + // TODO: implement this for onboard missions as well + // report_current_mission_item(); } void @@ -266,4 +284,37 @@ Mission::move_to_next() default: break; } -}
\ No newline at end of file +} + +void +Mission::report_mission_item_reached() +{ + if (_current_mission_type == MISSION_TYPE_OFFBOARD) { + _mission_result.mission_reached = true; + _mission_result.mission_index_reached = _current_offboard_mission_index; + } +} + +void +Mission::report_current_mission_item() +{ + if (_current_mission_type == MISSION_TYPE_OFFBOARD) { + _mission_result.index_current_mission = _current_offboard_mission_index; + } +} + +void +Mission::publish_mission_result() +{ + /* lazily publish the mission result only once available */ + if (_mission_result_pub > 0) { + /* publish mission result */ + orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result); + + } else { + /* advertise and publish */ + _mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result); + } + /* reset reached bool */ + _mission_result.mission_reached = false; +} diff --git a/src/modules/navigator/navigator_mission.h b/src/modules/navigator/navigator_mission.h index 15d4e86bf..845c16583 100644 --- a/src/modules/navigator/navigator_mission.h +++ b/src/modules/navigator/navigator_mission.h @@ -40,6 +40,7 @@ #define NAVIGATOR_MISSION_H #include <uORB/topics/mission.h> +#include <uORB/topics/mission_result.h> class __EXPORT Mission @@ -71,7 +72,9 @@ public: void move_to_next(); - void add_home_pos(struct mission_item_s *new_mission_item); + void report_mission_item_reached(); + void report_current_mission_item(); + void publish_mission_result(); private: bool current_onboard_mission_available(); @@ -92,6 +95,10 @@ private: MISSION_TYPE_ONBOARD, MISSION_TYPE_OFFBOARD, } _current_mission_type; + + int _mission_result_pub; + + struct mission_result_s _mission_result; }; -#endif
\ No newline at end of file +#endif diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index c99706b97..7c3921198 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -54,7 +54,8 @@ struct mission_result_s { bool mission_reached; /**< true if mission has been reached */ - unsigned mission_index; /**< index of the mission which has been reached */ + unsigned mission_index_reached; /**< index of the mission which has been reached */ + unsigned index_current_mission; /**< index of the current mission */ }; /** diff --git a/src/modules/uORB/topics/vehicle_attitude.h b/src/modules/uORB/topics/vehicle_attitude.h index e5a35ff9b..40328af14 100755 --- a/src/modules/uORB/topics/vehicle_attitude.h +++ b/src/modules/uORB/topics/vehicle_attitude.h @@ -76,7 +76,7 @@ struct vehicle_attitude_s { float rate_offsets[3]; /**< Offsets of the body angular rates from zero */ float R[3][3]; /**< Rotation matrix body to world, (Tait-Bryan, NED) */ float q[4]; /**< Quaternion (NED) */ - float g_comp[3]; /**< Compensated gravity vector */ + float g_comp[3]; /**< Compensated gravity vector */ bool R_valid; /**< Rotation matrix valid */ bool q_valid; /**< Quaternion valid */ |