1 files changed, 495 insertions, 0 deletions

diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c
new file mode 100644
index 000000000..ad46c3ede
--- /dev/null
+++ b/apps/mavlink/mavlink_receiver.c
@@ -0,0 +1,495 @@
+/****************************************************************************
+ *
+ *   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_receiver.c
+ * MAVLink protocol message receive and dispatch
+ */
+
+/* XXX trim includes */
+#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 <v1.0/common/mavlink.h>
+#include <arch/board/up_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 "waypoints.h"
+#include "mavlink_log.h"
+#include "orb_topics.h"
+#include "missionlib.h"
+#include "mavlink_hil.h"
+#include "mavlink_parameters.h"
+#include "util.h"
+
+/* XXX should be in a header somewhere */
+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_attitude_s hil_attitude;
+orb_advert_t pub_hil_global_pos = -1;
+orb_advert_t pub_hil_attitude = -1;
+
+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 void
+handle_message(mavlink_message_t *msg)
+{
+	if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
+
+		mavlink_command_long_t cmd_mavlink;
+		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))) {
+			//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");
+				fflush(stdout);
+				usleep(50000);
+
+				/* terminate other threads and this thread */
+				thread_should_exit = true;
+
+			} else {
+
+				/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+				vcmd.param1 = cmd_mavlink.param1;
+				vcmd.param2 = cmd_mavlink.param2;
+				vcmd.param3 = cmd_mavlink.param3;
+				vcmd.param4 = cmd_mavlink.param4;
+				vcmd.param5 = cmd_mavlink.param5;
+				vcmd.param6 = cmd_mavlink.param6;
+				vcmd.param7 = cmd_mavlink.param7;
+				vcmd.command = cmd_mavlink.command;
+				vcmd.target_system = cmd_mavlink.target_system;
+				vcmd.target_component = cmd_mavlink.target_component;
+				vcmd.source_system = msg->sysid;
+				vcmd.source_component = msg->compid;
+				vcmd.confirmation =  cmd_mavlink.confirmation;
+
+				/* check if topic is advertised */
+				if (cmd_pub <= 0) {
+					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+				}
+				/* publish */
+				orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
+			}
+		}
+	}
+
+	if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
+		mavlink_optical_flow_t flow;
+		mavlink_msg_optical_flow_decode(msg, &flow);
+
+		struct optical_flow_s f;
+
+		f.timestamp = flow.time_usec;
+		f.flow_raw_x = flow.flow_x;
+		f.flow_raw_y = flow.flow_y;
+		f.flow_comp_x_m = flow.flow_comp_m_x;
+		f.flow_comp_y_m = flow.flow_comp_m_y;
+		f.ground_distance_m = flow.ground_distance;
+		f.quality = flow.quality;
+		f.sensor_id = flow.sensor_id;
+
+		/* 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);
+		}
+	}
+
+	if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
+		/* Set mode on request */
+		mavlink_set_mode_t new_mode;
+		mavlink_msg_set_mode_decode(msg, &new_mode);
+
+		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+		vcmd.param1 = new_mode.base_mode;
+		vcmd.param2 = new_mode.custom_mode;
+		vcmd.param3 = 0;
+		vcmd.param4 = 0;
+		vcmd.param5 = 0;
+		vcmd.param6 = 0;
+		vcmd.param7 = 0;
+		vcmd.command = MAV_CMD_DO_SET_MODE;
+		vcmd.target_system = new_mode.target_system;
+		vcmd.target_component = MAV_COMP_ID_ALL;
+		vcmd.source_system = msg->sysid;
+		vcmd.source_component = msg->compid;
+		vcmd.confirmation = 1;
+
+		/* 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);
+		}
+	}
+
+	/* Handle Vicon position estimates */
+	if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
+		mavlink_vicon_position_estimate_t pos;
+		mavlink_msg_vicon_position_estimate_decode(msg, &pos);
+
+		vicon_position.x = pos.x;
+		vicon_position.y = pos.y;
+		vicon_position.z = pos.z;
+
+		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);
+		}
+	}
+
+	/* Handle quadrotor motor setpoints */
+
+	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
+		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
+		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
+		//printf("got message\n");
+		//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
+
+		if (mavlink_system.sysid < 4) {
+			/* 
+			 * rate control mode - defined by MAVLink
+			 */
+
+			uint8_t ml_mode = 0;
+			bool ml_armed = false;
+
+//			if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
+//				ml_armed = true;
+//			}
+
+			switch (quad_motors_setpoint.mode) {
+				case 0:
+					ml_armed = false;
+
+					break;
+				case 1:
+
+					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
+					ml_armed = true;
+
+				break;
+				case 2:
+
+
+					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
+					ml_armed = true;
+
+				break;
+				case 3:
+					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
+					break;
+				case 4:
+					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
+					break;
+			}
+
+			offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid]   / (float)INT16_MAX;
+			offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid]  / (float)INT16_MAX;
+			offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid]    / (float)INT16_MAX;
+			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
+			//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
+
+			if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
+				ml_armed = false;
+
+			}
+
+			offboard_control_sp.armed = ml_armed;
+			offboard_control_sp.mode = ml_mode;
+
+			offboard_control_sp.timestamp = hrt_absolute_time();
+
+			/* 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);
+			}
+
+			// /* change armed status if required */
+			// bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
+
+			// bool cmd_generated = false;
+
+			// if (v_status.flag_control_offboard_enabled != cmd_armed) {
+			// 	vcmd.param1 = cmd_armed;
+			// 	vcmd.param2 = 0;
+			// 	vcmd.param3 = 0;
+			// 	vcmd.param4 = 0;
+			// 	vcmd.param5 = 0;
+			// 	vcmd.param6 = 0;
+			// 	vcmd.param7 = 0;
+			// 	vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
+			// 	vcmd.target_system = mavlink_system.sysid;
+			// 	vcmd.target_component = MAV_COMP_ID_ALL;
+			// 	vcmd.source_system = msg->sysid;
+			// 	vcmd.source_component = msg->compid;
+			// 	vcmd.confirmation = 1;
+
+			// 	cmd_generated = true;
+			// }
+
+			// /* check if input has to be enabled */
+			// if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
+			// 	(v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
+			// 	(v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
+			// 	(v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
+			// 	vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
+			// 	vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
+			// 	vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
+			// 	vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
+			// 	vcmd.param5 = 0;
+			// 	vcmd.param6 = 0;
+			// 	vcmd.param7 = 0;
+			// 	vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
+			// 	vcmd.target_system = mavlink_system.sysid;
+			// 	vcmd.target_component = MAV_COMP_ID_ALL;
+			// 	vcmd.source_system = msg->sysid;
+			// 	vcmd.source_component = msg->compid;
+			// 	vcmd.confirmation = 1;
+
+			// 	cmd_generated = true;
+			// }
+
+			// if (cmd_generated) {
+			// 	/* 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);
+			// 	}
+			// }
+		}
+	}
+
+	/*
+	 * Only decode hil messages in HIL mode.
+	 *
+	 * The HIL mode is enabled by the HIL bit flag
+	 * in the system mode. Either send a set mode
+	 * COMMAND_LONG message or a SET_MODE message
+	 */
+
+	// printf("\n HIL ENABLED?: %s \n",(mavlink_hil_enabled)?"true":"false");
+
+	if (mavlink_hil_enabled) {
+
+		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
+
+			mavlink_hil_state_t hil_state;
+			mavlink_msg_hil_state_decode(msg, &hil_state);
+
+			//	printf("\n HILSTATE : \n LAT: %i \n LON: %i \n ALT: %i \n "
+			//		"ROLL %i \n PITCH %i \n YAW %i \n"
+			//		"ROLLSPEED: %i \n PITCHSPEED: %i \n, YAWSPEED: %i \n",
+			//			hil_state.lat/1000000,	// 1e7
+			//			hil_state.lon/1000000,	// 1e7
+			//			hil_state.alt/1000,  // mm
+			//			hil_state.roll, // float rad
+			//			hil_state.pitch, // float rad
+			//			hil_state.yaw, // float rad
+			//			hil_state.rollspeed, // float rad/s
+			//			hil_state.pitchspeed, // float rad/s
+			//			hil_state.yawspeed); // float rad/s
+
+
+			hil_global_pos.lat = hil_state.lat;
+			hil_global_pos.lon = hil_state.lon;
+			hil_global_pos.alt = hil_state.alt / 1000.0f;
+			hil_global_pos.vx = hil_state.vx / 100.0f;
+			hil_global_pos.vy = hil_state.vy / 100.0f;
+			hil_global_pos.vz = hil_state.vz / 100.0f;
+
+			/* set timestamp and notify processes (broadcast) */
+			hil_global_pos.timestamp = hrt_absolute_time();
+			orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
+
+			hil_attitude.roll = hil_state.roll;
+			hil_attitude.pitch = hil_state.pitch;
+			hil_attitude.yaw = hil_state.yaw;
+			hil_attitude.rollspeed = hil_state.rollspeed;
+			hil_attitude.pitchspeed = hil_state.pitchspeed;
+			hil_attitude.yawspeed = hil_state.yawspeed;
+
+			/* set timestamp and notify processes (broadcast) */
+			hil_attitude.counter++;
+			hil_attitude.timestamp = hrt_absolute_time();
+			orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
+		}
+
+		if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
+			mavlink_manual_control_t man;
+			mavlink_msg_manual_control_decode(msg, &man);
+
+			struct rc_channels_s rc_hil;
+			memset(&rc_hil, 0, sizeof(rc_hil));
+			static orb_advert_t rc_pub = 0;
+
+			rc_hil.timestamp = hrt_absolute_time();
+			rc_hil.chan_count = 4;
+			rc_hil.chan[0].raw = 1500 + man.x / 2;
+			rc_hil.chan[1].raw = 1500 + man.y / 2;
+			rc_hil.chan[2].raw = 1500 + man.r / 2;
+			rc_hil.chan[3].raw = 1500 + man.z / 2;
+
+			rc_hil.chan[0].scaled = man.x / 1000.0f;
+			rc_hil.chan[1].scaled = man.y / 1000.0f;
+			rc_hil.chan[2].scaled = man.r / 1000.0f;
+			rc_hil.chan[3].scaled = man.z / 1000.0f;
+
+			struct manual_control_setpoint_s mc;
+			static orb_advert_t mc_pub = 0;
+
+			mc.timestamp = rc_hil.timestamp;
+			mc.roll = man.x / 1000.0f;
+			mc.pitch = man.y / 1000.0f;
+			mc.yaw = man.r / 1000.0f;
+			mc.throttle = man.z / 1000.0f;
+
+			/* fake RC channels with manual control input from simulator */
+
+
+			if (rc_pub == 0) {
+				rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
+			} else {
+				orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
+			}
+
+			if (mc_pub == 0) {
+				mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
+			} else {
+				orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
+			}
+		}
+	}
+}
+
+
+/**
+ * Receive data from UART.
+ */
+static void *
+receive_thread(void *arg)
+{
+	int uart_fd = *((int*)arg);
+
+	const int timeout = 1000;
+	uint8_t ch;
+
+	mavlink_message_t msg;
+
+	prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
+
+	while (!thread_should_exit) {
+
+		struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
+
+		if (poll(fds, 1, timeout) > 0) {
+			/* non-blocking read until buffer is empty */
+			int nread = 0;
+
+			do {
+				nread = read(uart_fd, &ch, 1);
+
+				if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
+					/* handle generic messages and commands */
+					handle_message(&msg);
+
+					/* Handle packet with waypoint component */
+					mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
+
+					/* Handle packet with parameter component */
+					mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
+				}
+			} while (nread > 0);
+		}
+	}
+
+	return NULL;
+}
+
+pthread_t
+receive_start(int uart)
+{
+	pthread_attr_t receiveloop_attr;
+	pthread_attr_init(&receiveloop_attr);
+	pthread_attr_setstacksize(&receiveloop_attr, 2048);
+
+	pthread_t thread;
+	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
+	return thread;
+}
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