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-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp72
-rw-r--r--src/modules/mavlink/orb_listener.c2
-rw-r--r--src/modules/mavlink_onboard/mavlink.c20
-rw-r--r--src/modules/mavlink_onboard/mavlink_receiver.c94
4 files changed, 126 insertions, 62 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 7dd9e321f..8243748dc 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -167,6 +167,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
} else {
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
@@ -437,9 +438,11 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_airspeed < 0) {
pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
+
//warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
/* individual sensor publications */
@@ -455,49 +458,72 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_gyro < 0) {
pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro);
+
} else {
orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro);
}
struct accel_report accel;
+
accel.x_raw = imu.xacc / mg2ms2;
+
accel.y_raw = imu.yacc / mg2ms2;
+
accel.z_raw = imu.zacc / mg2ms2;
+
accel.x = imu.xacc;
+
accel.y = imu.yacc;
+
accel.z = imu.zacc;
+
accel.temperature = imu.temperature;
+
accel.timestamp = hrt_absolute_time();
if (pub_hil_accel < 0) {
pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
+
} else {
orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
}
struct mag_report mag;
+
mag.x_raw = imu.xmag / mga2ga;
+
mag.y_raw = imu.ymag / mga2ga;
+
mag.z_raw = imu.zmag / mga2ga;
+
mag.x = imu.xmag;
+
mag.y = imu.ymag;
+
mag.z = imu.zmag;
+
mag.timestamp = hrt_absolute_time();
if (pub_hil_mag < 0) {
pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag);
+
} else {
orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag);
}
struct baro_report baro;
+
baro.pressure = imu.abs_pressure;
+
baro.altitude = imu.pressure_alt;
+
baro.temperature = imu.temperature;
+
baro.timestamp = hrt_absolute_time();
if (pub_hil_baro < 0) {
pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro);
+
} else {
orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro);
}
@@ -505,6 +531,7 @@ handle_message(mavlink_message_t *msg)
/* publish combined sensor topic */
if (pub_hil_sensors > 0) {
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
+
} else {
pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
}
@@ -517,6 +544,7 @@ handle_message(mavlink_message_t *msg)
/* lazily publish the battery voltage */
if (pub_hil_battery > 0) {
orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
+
} else {
pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
}
@@ -527,7 +555,7 @@ handle_message(mavlink_message_t *msg)
// output
if ((timestamp - old_timestamp) > 10000000) {
- printf("receiving hil sensor at %d hz\n", hil_frames/10);
+ printf("receiving hil sensor at %d hz\n", hil_frames / 10);
old_timestamp = timestamp;
hil_frames = 0;
}
@@ -552,9 +580,11 @@ handle_message(mavlink_message_t *msg)
/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
+
/* go back to -PI..PI */
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
+
hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
@@ -567,6 +597,7 @@ handle_message(mavlink_message_t *msg)
/* publish GPS measurement data */
if (pub_hil_gps > 0) {
orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
+
} else {
pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
}
@@ -585,6 +616,7 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_airspeed < 0) {
pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
+
} else {
orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
}
@@ -602,6 +634,7 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_global_pos > 0) {
orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
+
} else {
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
}
@@ -613,8 +646,8 @@ handle_message(mavlink_message_t *msg)
/* set rotation matrix */
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
- hil_attitude.R[i][j] = C_nb(i, j);
-
+ hil_attitude.R[i][j] = C_nb(i, j);
+
hil_attitude.R_valid = true;
/* set quaternion */
@@ -636,22 +669,32 @@ handle_message(mavlink_message_t *msg)
if (pub_hil_attitude > 0) {
orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
+
} else {
pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
}
struct accel_report accel;
+
accel.x_raw = hil_state.xacc / 9.81f * 1e3f;
+
accel.y_raw = hil_state.yacc / 9.81f * 1e3f;
+
accel.z_raw = hil_state.zacc / 9.81f * 1e3f;
+
accel.x = hil_state.xacc;
+
accel.y = hil_state.yacc;
+
accel.z = hil_state.zacc;
+
accel.temperature = 25.0f;
+
accel.timestamp = hrt_absolute_time();
if (pub_hil_accel < 0) {
pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel);
+
} else {
orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel);
}
@@ -664,6 +707,7 @@ handle_message(mavlink_message_t *msg)
/* lazily publish the battery voltage */
if (pub_hil_battery > 0) {
orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status);
+
} else {
pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
}
@@ -733,17 +777,23 @@ receive_thread(void *arg)
mavlink_message_t msg;
- prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
+ prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid());
- while (!thread_should_exit) {
+ struct pollfd fds[1];
+ fds[0].fd = uart_fd;
+ fds[0].events = POLLIN;
- struct pollfd fds[1];
- fds[0].fd = uart_fd;
- fds[0].events = POLLIN;
+ ssize_t nread = 0;
+ while (!thread_should_exit) {
if (poll(fds, 1, timeout) > 0) {
+ if (nread < sizeof(buf)) {
+ /* to avoid reading very small chunks wait for data before reading */
+ usleep(1000);
+ }
+
/* non-blocking read. read may return negative values */
- ssize_t nread = read(uart_fd, buf, sizeof(buf));
+ nread = read(uart_fd, buf, sizeof(buf));
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
@@ -751,10 +801,10 @@ receive_thread(void *arg)
/* handle generic messages and commands */
handle_message(&msg);
- /* Handle packet with waypoint component */
+ /* handle packet with waypoint component */
mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
- /* Handle packet with parameter component */
+ /* handle packet with parameter component */
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
}
}
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 0e0ce2723..f6860930c 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -711,7 +711,7 @@ static void *
uorb_receive_thread(void *arg)
{
/* Set thread name */
- prctl(PR_SET_NAME, "mavlink orb rcv", getpid());
+ prctl(PR_SET_NAME, "mavlink_orb_rcv", getpid());
/*
* set up poll to block for new data,
diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c
index e71344982..0edb53a3e 100644
--- a/src/modules/mavlink_onboard/mavlink.c
+++ b/src/modules/mavlink_onboard/mavlink.c
@@ -167,12 +167,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
case 921600: speed = B921600; break;
default:
- fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
+ warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600", baud);
return -EINVAL;
}
/* open uart */
- printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
+ warnx("UART is %s, baudrate is %d", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@@ -183,7 +183,7 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
if (strcmp(uart_name, "/dev/ttyACM0") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
- fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
+ warnx("ERROR getting baudrate / termios config for %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
@@ -196,14 +196,14 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
- fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+ warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
- fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+ warnx("ERROR setting baudrate / termios config for %s (tcsetattr)", uart_name);
close(uart);
return -1;
}
@@ -481,9 +481,9 @@ int mavlink_thread_main(int argc, char *argv[])
static void
usage()
{
- fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n"
- " mavlink stop\n"
- " mavlink status\n");
+ fprintf(stderr, "usage: mavlink_onboard start [-d <devicename>] [-b <baud rate>]\n"
+ " mavlink_onboard stop\n"
+ " mavlink_onboard status\n");
exit(1);
}
@@ -499,7 +499,7 @@ int mavlink_onboard_main(int argc, char *argv[])
/* this is not an error */
if (thread_running)
- errx(0, "mavlink already running\n");
+ errx(0, "already running");
thread_should_exit = false;
mavlink_task = task_spawn_cmd("mavlink_onboard",
@@ -516,7 +516,7 @@ int mavlink_onboard_main(int argc, char *argv[])
while (thread_running) {
usleep(200000);
}
- warnx("terminated.");
+ warnx("terminated");
exit(0);
}
diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c
index 0236e6126..4658bcc1d 100644
--- a/src/modules/mavlink_onboard/mavlink_receiver.c
+++ b/src/modules/mavlink_onboard/mavlink_receiver.c
@@ -100,11 +100,11 @@ handle_message(mavlink_message_t *msg)
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
- || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+ || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
//check for MAVLINK terminate command
if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
/* This is the link shutdown command, terminate mavlink */
- printf("[mavlink] Terminating .. \n");
+ warnx("terminating...");
fflush(stdout);
usleep(50000);
@@ -132,6 +132,7 @@ handle_message(mavlink_message_t *msg)
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
}
+
/* publish */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
}
@@ -156,6 +157,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic is advertised */
if (flow_pub <= 0) {
flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+
} else {
/* publish */
orb_publish(ORB_ID(optical_flow), flow_pub, &f);
@@ -186,6 +188,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic is advertised */
if (cmd_pub <= 0) {
cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
} else {
/* create command */
orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
@@ -203,6 +206,7 @@ handle_message(mavlink_message_t *msg)
if (vicon_position_pub <= 0) {
vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
+
} else {
orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
}
@@ -219,7 +223,7 @@ handle_message(mavlink_message_t *msg)
/* switch to a receiving link mode */
gcs_link = false;
- /*
+ /*
* rate control mode - defined by MAVLink
*/
@@ -227,33 +231,37 @@ handle_message(mavlink_message_t *msg)
bool ml_armed = false;
switch (quad_motors_setpoint.mode) {
- case 0:
- ml_armed = false;
- break;
- case 1:
- ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
- ml_armed = true;
-
- break;
- case 2:
- ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
- ml_armed = true;
-
- break;
- case 3:
- ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
- break;
- case 4:
- ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
- break;
+ case 0:
+ ml_armed = false;
+ break;
+
+ case 1:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
+ ml_armed = true;
+
+ break;
+
+ case 2:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
+ ml_armed = true;
+
+ break;
+
+ case 3:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
+ break;
+
+ case 4:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
+ break;
}
- offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX;
- offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX;
- offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX;
- offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX;
+ offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX;
+ offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX;
+ offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX;
+ offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
- if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
+ if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
ml_armed = false;
}
@@ -265,6 +273,7 @@ handle_message(mavlink_message_t *msg)
/* check if topic has to be advertised */
if (offboard_control_sp_pub <= 0) {
offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+
} else {
/* Publish */
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
@@ -281,31 +290,36 @@ handle_message(mavlink_message_t *msg)
static void *
receive_thread(void *arg)
{
- int uart_fd = *((int*)arg);
+ int uart_fd = *((int *)arg);
const int timeout = 1000;
- uint8_t ch;
+ uint8_t buf[32];
mavlink_message_t msg;
- prctl(PR_SET_NAME, "mavlink offb rcv", getpid());
+ prctl(PR_SET_NAME, "mavlink_onboard_rcv", getpid());
- while (!thread_should_exit) {
+ struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
- struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
+ ssize_t nread = 0;
+ while (!thread_should_exit) {
if (poll(fds, 1, timeout) > 0) {
- /* non-blocking read until buffer is empty */
- int nread = 0;
+ if (nread < sizeof(buf)) {
+ /* to avoid reading very small chunks wait for data before reading */
+ usleep(1000);
+ }
- do {
- nread = read(uart_fd, &ch, 1);
+ /* non-blocking read. read may return negative values */
+ nread = read(uart_fd, buf, sizeof(buf));
- if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
+ /* 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)) {
/* handle generic messages and commands */
handle_message(&msg);
}
- } while (nread > 0);
+ }
}
}
@@ -319,8 +333,8 @@ receive_start(int uart)
pthread_attr_init(&receiveloop_attr);
struct sched_param param;
- param.sched_priority = SCHED_PRIORITY_MAX - 40;
- (void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+ param.sched_priority = SCHED_PRIORITY_MAX - 40;
+ (void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, 2048);
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-23 17:51:07 +0000