diff options
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/.context | 0 | ||||
| -rw-r--r-- | apps/mavlink/.gitignore | 3 | ||||
| -rw-r--r-- | apps/mavlink/Makefile | 44 | ||||
| -rw-r--r-- | apps/mavlink/mavlink.c | 1193 | ||||
| -rw-r--r-- | apps/mavlink/mavlink_bridge_header.h | 89 | ||||
| -rw-r--r-- | apps/mavlink/mavlink_log.h | 83 | ||||
| -rw-r--r-- | apps/mavlink/mavlink_parameters.c | 189 | ||||
| -rw-r--r-- | apps/mavlink/mavlink_parameters.h | 48 | ||||
| -rw-r--r-- | apps/mavlink/waypoints.c | 1137 | ||||
| -rw-r--r-- | apps/mavlink/waypoints.h | 128 |
10 files changed, 2914 insertions, 0 deletions
diff --git a/apps/mavlink/.context b/apps/mavlink/.context new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/apps/mavlink/.context diff --git a/apps/mavlink/.gitignore b/apps/mavlink/.gitignore new file mode 100644 index 000000000..a02827195 --- /dev/null +++ b/apps/mavlink/.gitignore @@ -0,0 +1,3 @@ +include +mavlink-* +pymavlink-* diff --git a/apps/mavlink/Makefile b/apps/mavlink/Makefile new file mode 100644 index 000000000..d4e9a5762 --- /dev/null +++ b/apps/mavlink/Makefile @@ -0,0 +1,44 @@ +############################################################################ +# +# Copyright (C) 2012 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. +# +############################################################################ + +# +# Mavlink Application +# + +APPNAME = mavlink +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 4096 + +INCLUDES = $(TOPDIR)/../mavlink/include/mavlink + +include $(APPDIR)/mk/app.mk diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c new file mode 100644 index 000000000..466ea7565 --- /dev/null +++ b/apps/mavlink/mavlink.c @@ -0,0 +1,1193 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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.c + * MAVLink 1.0 protocol implementation. + */ + +#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 "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 <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/ardrone_control.h> +#include <uORB/topics/fixedwing_control.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_status.h> +#include <uORB/topics/ardrone_motors_setpoint.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/topics/vehicle_local_position_setpoint.h> +#include <uORB/topics/vehicle_global_position_setpoint.h> +#include "waypoints.h" +#include "mavlink_log.h" + + +__EXPORT int mavlink_main(int argc, char *argv[]); + +/* terminate MAVLink on user request - disabled by default */ +static bool mavlink_link_termination_allowed = false; +static bool mavlink_exit_requested = false; + +static int system_type = MAV_TYPE_FIXED_WING; +mavlink_system_t mavlink_system = {100, 50}; // System ID, 1-255, Component/Subsystem ID, 1-255 +static uint8_t chan = MAVLINK_COMM_0; +static mavlink_status_t status; + +/* pthreads */ +static pthread_t receive_thread; +static pthread_t uorb_receive_thread; + +static uint16_t mavlink_message_intervals[256]; /**< intervals at which to send MAVLink packets */ +/* Allocate storage space for waypoints */ +mavlink_wpm_storage wpm_s; +/* Global position */ +static struct vehicle_global_position_s global_pos = {0}; +/* Local position */ +static struct vehicle_local_position_s local_pos = {0}; +/* Vehicle status */ +static struct vehicle_status_s v_status = {0}; +/* RC channels */ +static struct rc_channels_s rc = {0}; + +/* HIL publishers */ +static int pub_hil_attitude = -1; +static struct vehicle_attitude_s hil_attitude = {0}; +static struct vehicle_global_position_s hil_global_pos = {0}; +static struct fixedwing_control_s fw_control = {0}; +static struct ardrone_motors_setpoint_s ardrone_motors = {0}; +static struct vehicle_command_s vcmd = {0}; +static int pub_hil_global_pos = -1; +static int ardrone_motors_pub = -1; +static int cmd_pub = -1; +static int global_pos_sub = -1; +static int local_pos_sub = -1; +static int global_position_setpoint_pub = -1; +static int local_position_setpoint_pub = -1; +static bool mavlink_hil_enabled = false; + +static char mavlink_message_string[51] = {0}; + + +/* 3: Define waypoint helper functions */ +void mavlink_wpm_send_message(mavlink_message_t *msg); +void mavlink_wpm_send_gcs_string(const char *string); +uint64_t mavlink_wpm_get_system_timestamp(void); +void mavlink_missionlib_send_message(mavlink_message_t *msg); +void mavlink_missionlib_send_gcs_string(const char *string); +uint64_t mavlink_missionlib_get_system_timestamp(void); + +/* 4: Include waypoint protocol */ +#include "waypoints.h" +mavlink_wpm_storage *wpm; + + +#include "mavlink_parameters.h" + +static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; + +void mavlink_missionlib_send_message(mavlink_message_t *msg) +{ + uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); + write(uart, missionlib_msg_buf, len); +} + +void 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); + } +} + +/* + * Get system time since boot in microseconds + * + * @return the system time since boot in microseconds + */ +uint64_t mavlink_missionlib_get_system_timestamp() +{ + return hrt_absolute_time(); +} + +extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, + float param2, float param3, float param4, float param5_lat_x, + float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command) +{ + /* Update controller setpoints */ + if (frame == (int)MAV_FRAME_GLOBAL) { + /* global, absolute waypoint */ + struct vehicle_global_position_setpoint_s sp; + sp.lat = param5_lat_x * 1e7; + sp.lon = param6_lon_y * 1e7; + sp.altitude = param7_alt_z; + sp.altitude_is_relative = false; + sp.yaw = (param4 / 180.0f) * ((float)M_PI) - ((float)M_PI); + orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); + + } else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { + /* global, relative alt (in relation to HOME) waypoint */ + struct vehicle_global_position_setpoint_s sp; + sp.lat = param5_lat_x * 1e7; + sp.lon = param6_lon_y * 1e7; + sp.altitude = param7_alt_z; + sp.altitude_is_relative = true; + sp.yaw = (param4 / 180.0f) * ((float)M_PI) - ((float)M_PI); + orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); + + } else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) { + /* local, absolute waypoint */ + struct vehicle_local_position_setpoint_s sp; + sp.x = param5_lat_x; + sp.y = param6_lon_y; + sp.z = param7_alt_z; + sp.yaw = (param4 / 180.0f) * ((float)M_PI) - ((float)M_PI); + orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp); + } + + printf("[mavlink mp] new setpoint: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x, param6_lon_y, param7_alt_z, param4); +} + + +void handleMessage(mavlink_message_t *msg); + +/** + * Enable / disable Hardware in the Loop simulation mode. + */ +int set_hil_on_off(uint8_t vehicle_mode) +{ + int ret = OK; + + /* Enable HIL */ + if ((vehicle_mode & MAV_MODE_FLAG_HIL_ENABLED) && !mavlink_hil_enabled) { + + //printf("\n HIL ON \n"); + + (void)close(pub_hil_attitude); + (void)close(pub_hil_global_pos); + + /* Advertise topics */ + pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); + pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); + + printf("\n pub_hil_attitude :%i\n", pub_hil_attitude); + printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos); + + if (pub_hil_attitude > 0 && pub_hil_global_pos > 0) { + mavlink_hil_enabled = true; + + } else { + ret = ERROR; + } + } + + if (!(vehicle_mode & MAV_MODE_FLAG_HIL_ENABLED) && mavlink_hil_enabled) { + mavlink_hil_enabled = false; + (void)close(pub_hil_attitude); + (void)close(pub_hil_global_pos); + + } else { + ret = ERROR; + } + + return ret; +} + +/** + * Translate the custom state into standard mavlink modes and state. + */ +void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t *mavlink_state, uint8_t *mavlink_mode) +{ + //TODO: Make this correct + switch (c_status->state_machine) { + case SYSTEM_STATE_PREFLIGHT: + *mavlink_state = MAV_STATE_UNINIT; + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + break; + + case SYSTEM_STATE_STANDBY: + *mavlink_state = MAV_STATE_STANDBY; + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + break; + + case SYSTEM_STATE_GROUND_READY: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + break; + + case SYSTEM_STATE_MANUAL: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + break; + + case SYSTEM_STATE_STABILIZED: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + break; + + case SYSTEM_STATE_AUTO: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + break; + + case SYSTEM_STATE_MISSION_ABORT: + *mavlink_state = MAV_STATE_EMERGENCY; + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + break; + + case SYSTEM_STATE_EMCY_LANDING: + *mavlink_state = MAV_STATE_EMERGENCY; + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + break; + + case SYSTEM_STATE_EMCY_CUTOFF: + *mavlink_state = MAV_STATE_EMERGENCY; + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + break; + + case SYSTEM_STATE_GROUND_ERROR: + *mavlink_state = MAV_STATE_EMERGENCY; + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + break; + + case SYSTEM_STATE_REBOOT: + *mavlink_state = MAV_STATE_POWEROFF; + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + break; + } + +} + +/** + * Receive data from UART. + */ +static void *receiveloop(void *arg) +{ + uint8_t ch; + + mavlink_message_t msg; + + prctl(PR_SET_NAME, "mavlink uart rcv", getpid()); + + while (1) { + + if (mavlink_exit_requested) break; + + /* blocking read on next byte */ + int nread = read(uart, &ch, 1); + + + if (nread > 0 && mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char + /* handle generic messages and commands */ + handleMessage(&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); + msg.msgid = -1; + } + + } + + return NULL; +} + +/** + * Listen for uORB topics and send via MAVLink. + * + * This pthread performs a blocking wait on selected + * uORB topics and sends them via MAVLink to other + * vehicles or a ground control station. + */ +static void *uorb_receiveloop(void *arg) +{ + /* Set thread name */ + prctl(PR_SET_NAME, "mavlink uORB async", getpid()); + + + /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ + /* number of messages */ + const ssize_t fdsc = 10; + /* Sanity check variable and index */ + ssize_t fdsc_count = 0; + /* file descriptors to wait for */ + struct pollfd fds[fdsc]; + + + union { + struct sensor_combined_s raw; + struct vehicle_attitude_s att; + struct vehicle_gps_position_s gps; + struct ardrone_control_s ar_control; + } buf; + + /* --- SENSORS RAW VALUE --- */ + /* subscribe to ORB for sensors raw */ + int sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + orb_set_interval(sensor_sub, 100); /* 10Hz updates */ + fds[fdsc_count].fd = sensor_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- ATTITUDE VALUE --- */ + /* subscribe to ORB for attitude */ + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + orb_set_interval(att_sub, 100); /* 10Hz updates */ + fds[fdsc_count].fd = att_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- GPS VALUE --- */ + /* subscribe to ORB for attitude */ + int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + orb_set_interval(gps_sub, 1000); /* 1Hz updates */ + fds[fdsc_count].fd = gps_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- ARDRONE CONTROL --- */ + /* subscribe to ORB for AR.Drone controller outputs */ + int ar_sub = orb_subscribe(ORB_ID(ardrone_control)); + orb_set_interval(ar_sub, 200); /* 5Hz updates */ + fds[fdsc_count].fd = ar_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- SYSTEM STATE --- */ + /* struct already globally allocated */ + /* subscribe to topic */ + int status_sub = orb_subscribe(ORB_ID(vehicle_status)); + orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */ + fds[fdsc_count].fd = status_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- RC CHANNELS VALUE --- */ + /* struct already globally allocated */ + /* subscribe to ORB for global position */ + int rc_sub = orb_subscribe(ORB_ID(rc_channels)); + orb_set_interval(rc_sub, 100); /* 10Hz updates */ + fds[fdsc_count].fd = rc_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- FIXED WING CONTROL VALUE --- */ + /* struct already globally allocated */ + /* subscribe to ORB for fixed wing control */ + int fw_sub = orb_subscribe(ORB_ID(fixedwing_control)); + orb_set_interval(fw_sub, 200); /* 5Hz updates */ + fds[fdsc_count].fd = fw_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- GLOBAL POS VALUE --- */ + /* struct already globally allocated and topic already subscribed */ + fds[fdsc_count].fd = global_pos_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + /* --- LOCAL POS VALUE --- */ + /* struct and topic already globally subscribed */ + fds[fdsc_count].fd = local_pos_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + + unsigned int sensors_raw_counter = 0; + unsigned int attitude_counter = 0; + unsigned int gps_counter = 0; + + /* WARNING: If you get the error message below, + * then the number of registered messages (fdsc) + * differs from the number of messages in the above list. + */ + if (fdsc_count > fdsc) { + fprintf(stderr, "[mavlink] WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__); + fdsc_count = fdsc; + } + + /* + * set up poll to block for new data, + * wait for a maximum of 1000 ms (1 second) + */ + const int timeout = 5000; + + while (1) { + if (mavlink_exit_requested) break; + + int poll_ret = poll(fds, fdsc_count, timeout); + + /* handle the poll result */ + if (poll_ret == 0) { + /* XXX this means none of our providers is giving us data - might be an error? */ + } else if (poll_ret < 0) { + /* XXX this is seriously bad - should be an emergency */ + } else { + + /* --- SENSORS RAW VALUE --- */ + if (fds[0].revents & POLLIN) { + + /* copy sensors raw data into local buffer */ + orb_copy(ORB_ID(sensor_combined), sensor_sub, &buf.raw); + + /* send raw imu data */ + mavlink_msg_raw_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_raw[0], buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0], buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0], buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]); + /* send scaled imu data */ + mavlink_msg_scaled_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_m_s2[0] * 9810, buf.raw.accelerometer_m_s2[1] * 9810, buf.raw.accelerometer_m_s2[2] * 9810, buf.raw.gyro_rad_s[0] * 1000, buf.raw.gyro_rad_s[1] * 1000, buf.raw.gyro_rad_s[2] * 1000, buf.raw.magnetometer_ga[0] * 1000, buf.raw.magnetometer_ga[1] * 1000, buf.raw.magnetometer_ga[2] * 1000); + /* send pressure */ + mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, buf.raw.timestamp / 1000, buf.raw.baro_pres_mbar, buf.raw.baro_alt_meter, buf.raw.baro_temp_celcius * 100); + + sensors_raw_counter++; + } + + /* --- ATTITUDE VALUE --- */ + if (fds[1].revents & POLLIN) { + + /* copy attitude data into local buffer */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &buf.att); + + /* send sensor values */ + mavlink_msg_attitude_send(MAVLINK_COMM_0, buf.att.timestamp / 1000, buf.att.roll, buf.att.pitch, buf.att.yaw, buf.att.rollspeed, buf.att.pitchspeed, buf.att.yawspeed); + + attitude_counter++; + } + + /* --- GPS VALUE --- */ + if (fds[2].revents & POLLIN) { + /* copy gps data into local buffer */ + orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &buf.gps); + /* GPS position */ + mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, buf.gps.timestamp, buf.gps.fix_type, buf.gps.lat, buf.gps.lon, buf.gps.alt, buf.gps.eph, buf.gps.epv, buf.gps.vel, buf.gps.cog, buf.gps.satellites_visible); + + if (buf.gps.satellite_info_available && (gps_counter % 4 == 0)) { + mavlink_msg_gps_status_send(MAVLINK_COMM_0, buf.gps.satellites_visible, buf.gps.satellite_prn, buf.gps.satellite_used, buf.gps.satellite_elevation, buf.gps.satellite_azimuth, buf.gps.satellite_snr); + } + + gps_counter++; + } + + /* --- ARDRONE CONTROL OUTPUTS --- */ + if (fds[3].revents & POLLIN) { + /* copy ardrone control data into local buffer */ + orb_copy(ORB_ID(ardrone_control), ar_sub, &buf.ar_control); + uint64_t timestamp = buf.ar_control.timestamp; + float setpoint_roll = buf.ar_control.setpoint_attitude[0]; + float setpoint_pitch = buf.ar_control.setpoint_attitude[1]; + float setpoint_yaw = buf.ar_control.setpoint_attitude[2]; + float setpoint_thrust = buf.ar_control.setpoint_thrust_cast; + + float control_roll = buf.ar_control.attitude_control_output[0]; + float control_pitch = buf.ar_control.attitude_control_output[1]; + float control_yaw = buf.ar_control.attitude_control_output[2]; + + mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, timestamp / 1000, setpoint_roll, setpoint_pitch, setpoint_yaw, setpoint_thrust); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, timestamp / 1000, "cl.roll", control_roll); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, timestamp / 1000, "cl.pitch", control_pitch); + mavlink_msg_named_value_float_send(MAVLINK_COMM_0, timestamp / 1000, "cl.yaw", control_yaw); + } + + /* --- SYSTEM STATUS --- */ + if (fds[4].revents & POLLIN) { + /* immediately communicate state changes back to user */ + orb_copy(ORB_ID(vehicle_status), status_sub, &v_status); + /* enable or disable HIL */ + set_hil_on_off(v_status.mode); + + /* translate the current syste state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_mode = v_status.mode; + get_mavlink_mode_and_state(&v_status, &mavlink_state, &mavlink_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_GENERIC, mavlink_mode, v_status.state_machine, mavlink_state); + } + + /* --- RC CHANNELS --- */ + if (fds[5].revents & POLLIN) { + /* copy rc channels into local buffer */ + orb_copy(ORB_ID(rc_channels), rc_sub, &rc); + /* Channels are sent in MAVLink main loop at a fixed interval */ + // TODO decide where to send channels + } + + /* --- FIXED WING CONTROL CHANNELS --- */ + if (fds[6].revents & POLLIN) { + /* copy fixed wing control into local buffer */ + orb_copy(ORB_ID(fixedwing_control), fw_sub, &fw_control); + // XXX Output fixed wing control + } + + /* --- VEHICLE GLOBAL POSITION --- */ + if (fds[7].revents & POLLIN) { + /* copy global position data into local buffer */ + orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); + uint64_t timestamp = global_pos.timestamp; + int32_t lat = (int32_t)(global_pos.lat * 1e7); + int32_t lon = (int32_t)(global_pos.lon * 1e7); + int32_t alt = (int32_t)(global_pos.alt * 1e3); + int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1e3); + int16_t vx = (int16_t)(global_pos.vx * 1e2); + int16_t vy = (int16_t)(global_pos.vy * 1e2); + int16_t vz = (int16_t)(global_pos.vz * 1e2); + /* heading in degrees * 10, from 0 to 36.000) */ + uint16_t hdg = (global_pos.hdg / M_PI_F) * (180 * 10) + (180 * 10); + + mavlink_msg_global_position_int_send(MAVLINK_COMM_0, timestamp / 1000, lat, lon, alt, relative_alt, vx, vy, vz, hdg); + } + + /* --- VEHICLE LOCAL POSITION --- */ + if (fds[8].revents & POLLIN) { + /* copy local position data into local buffer */ + orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos); + 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); + } + + } + } + + return NULL; +} + +/**************************************************************************** + * 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; + strncpy(mavlink_message_string, txt, 51); + total_counter++; + return OK; + } + + default: + return ENOTTY; + } +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +void handleMessage(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 && cmd_mavlink.param1 == 3.0f) { + /* This is the link shutdown command, terminate mavlink */ //TODO: check what happens with global_data buffers that are read by the mavlink app + printf("[mavlink] Terminating .. \n"); + fflush(stdout); + usleep(50000); + + /* terminate other threads */ + mavlink_exit_requested = true; + pthread_cancel(receive_thread); + pthread_cancel(uorb_receive_thread); + + pthread_exit(NULL); + + } 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; + + /* Publish */ + orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); + } + } + } + + 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; + + /* create command */ + orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); + } + + /* Handle quadrotor motor setpoints */ + + if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT) { + mavlink_set_quad_motors_setpoint_t quad_motors_setpoint; + mavlink_msg_set_quad_motors_setpoint_decode(msg, &quad_motors_setpoint); +// printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", quad_motors_setpoint.target_system, mavlink_system.sysid); + + if (quad_motors_setpoint.target_system == mavlink_system.sysid) { + ardrone_motors.motor_front_nw = quad_motors_setpoint.motor_front_nw; + ardrone_motors.motor_right_ne = quad_motors_setpoint.motor_right_ne; + ardrone_motors.motor_back_se = quad_motors_setpoint.motor_back_se; + ardrone_motors.motor_left_sw = quad_motors_setpoint.motor_left_sw; + + ardrone_motors.counter++; + ardrone_motors.timestamp = hrt_absolute_time(); + + /* Publish */ + orb_publish(ORB_ID(ardrone_motors_setpoint), ardrone_motors_pub, &ardrone_motors); + } + } + + /* + * 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"); +#define DEG2RAD ((1.0/180.0)*M_PI) + + 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; + hil_global_pos.vx = hil_state.vx; + hil_global_pos.vy = hil_state.vy; + hil_global_pos.vz = hil_state.vz; + + /* 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_ATTITUDE) { + // mavlink_attitude_t att; + // mavlink_msg_attitude_decode(msg, &att); + // float RAD2DEG = 57.3f; + + // // printf("\n\n\n ATTITUDE \n\n\n %i \n", (int)(1000*att.rollspeed)); + + // global_data_lock(&global_data_attitude->access_conf); + // global_data_attitude->roll = RAD2DEG * att.roll; + // global_data_attitude->pitch = RAD2DEG * att.pitch; + // global_data_attitude->yaw = RAD2DEG * att.yaw; + // global_data_attitude->rollspeed = att.rollspeed; + // global_data_attitude->pitchspeed = att.pitchspeed; + // global_data_attitude->yawspeed = att.yawspeed; + + // global_data_attitude->counter++; + // global_data_attitude->timestamp = hrt_absolute_time(); + // global_data_unlock(&global_data_attitude->access_conf); + // global_data_broadcast(&global_data_attitude->access_conf); + // } + + // if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) { + // mavlink_raw_imu_t imu; + // mavlink_msg_raw_imu_decode(msg, &imu); + + // // printf("\n\n\n RAW_IMU : %i \n %i \n %i \n %i \n %i \n %i \n\n\n", (int)(1000*imu.xgyro), + // // (int)(1000*imu.ygyro), (int)(1000*imu.zgyro)); + + // global_data_lock(&global_data_attitude->access_conf); + // global_data_attitude->rollspeed = 1000 * imu.xgyro; + // global_data_attitude->pitchspeed = 1000 * imu.ygyro; + // global_data_attitude->yawspeed = 1000 * imu.zgyro; + + // global_data_attitude->counter++; + // global_data_attitude->timestamp = hrt_absolute_time(); + // global_data_unlock(&global_data_attitude->access_conf); + // global_data_broadcast(&global_data_attitude->access_conf); + // } + + // if (msg->msgid == MAVLINK_MSG_ID_SCALED_IMU) { + // mavlink_raw_imu_t imu; + // mavlink_msg_raw_imu_decode(msg, &imu); + + // // printf("\n\n\n SCALED_IMU : %i \n %i \n %i \n %i \n %i \n %i \n\n\n", (int)(1000*imu.xgyro), + // // (int)(1000*imu.ygyro), (int)(1000*imu.zgyro)); + + // global_data_lock(&global_data_attitude->access_conf); + // global_data_attitude->rollspeed = 1000 * imu.xgyro; + // global_data_attitude->pitchspeed = 1000 * imu.ygyro; + // global_data_attitude->yawspeed = 1000 * imu.zgyro; + + // global_data_attitude->counter++; + // global_data_attitude->timestamp = hrt_absolute_time(); + // global_data_unlock(&global_data_attitude->access_conf); + // global_data_broadcast(&global_data_attitude->access_conf); + // } + } +} + +int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb) +{ + /* process baud rate */ + int speed; + + switch (baudrate) { + 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: + fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baudrate); + return -EINVAL; + } + + /* open uart */ + printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baudrate); + uart = open(uart_name, O_RDWR | O_NOCTTY); + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + *is_usb = false; + + 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); + 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; + + /* 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); + 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); + close(uart); + return -1; + } + + } else { + *is_usb = true; + } + + return uart; +} + +/** + * MAVLink Protocol main function. + */ +int mavlink_main(int argc, char *argv[]) +{ + wpm = &wpm_s; + + // print text + printf("[mavlink] MAVLink v1.0 serial interface starting..\n"); + + // create the device node that's used for sending text log messages, etc. + register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL); + + /* Send attitude at 10 Hz / every 100 ms */ + mavlink_message_intervals[MAVLINK_MSG_ID_ATTITUDE] = 100; + /* Send raw sensor values at 10 Hz / every 100 ms */ + mavlink_message_intervals[MAVLINK_MSG_ID_RAW_IMU] = 100; + + //default values for arguments + char *uart_name = "/dev/ttyS0"; + int baudrate = 115200; + const char *commandline_usage = "\tusage: %s -d <devicename> -b <baudrate> [-e/--exit-allowed]\n"; + + /* read program arguments */ + int i; + + for (i = 1; i < argc; i++) { /* argv[0] is "mavlink" */ + if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) { + printf(commandline_usage, argv[0]); + return 0; + } + + /* UART device ID */ + if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { + if (argc > i + 1) { + uart_name = argv[i + 1]; + + } else { + printf(commandline_usage, argv[0]); + return 0; + } + } + + /* baud rate */ + if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--baud") == 0) { + if (argc > i + 1) { + baudrate = atoi(argv[i + 1]); + + } else { + printf(commandline_usage, argv[0]); + return 0; + } + } + + /* terminating MAVLink is allowed - yes/no */ + if (strcmp(argv[i], "-e") == 0 || strcmp(argv[i], "--exit-allowed") == 0) { + mavlink_link_termination_allowed = true; + } + } + + struct termios uart_config_original; + + bool usb_uart; + + uart = mavlink_open_uart(baudrate, uart_name, &uart_config_original, &usb_uart); + + if (uart < 0) { + printf("[mavlink] FAILED to open %s, terminating.\n", uart_name); + return -1; + } + + /* Flush UART */ + fflush(stdout); + + /* topics to advertise */ + ardrone_motors_pub = orb_advertise(ORB_ID(ardrone_motors_setpoint), &ardrone_motors); + cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + + /* topics to subscribe globally */ + /* subscribe to ORB for global position */ + global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + orb_set_interval(global_pos_sub, 1000); /* 1Hz active updates */ + /* subscribe to ORB for local position */ + local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); + orb_set_interval(local_pos_sub, 1000); /* 1Hz active updates */ + + + pthread_attr_t receiveloop_attr; + pthread_attr_init(&receiveloop_attr); + pthread_attr_setstacksize(&receiveloop_attr, 2048); + pthread_create(&receive_thread, &receiveloop_attr, receiveloop, NULL); + + pthread_attr_t uorb_attr; + pthread_attr_init(&uorb_attr); + /* Set stack size, needs more than 2048 bytes */ + pthread_attr_setstacksize(&uorb_attr, 4096); + pthread_create(&uorb_receive_thread, &uorb_attr, uorb_receiveloop, NULL); + + /* initialize waypoint manager */ + mavlink_wpm_init(wpm); + + uint16_t counter = 0; + int lowspeed_counter = 0; + + /**< Subscribe to system state and RC channels */ + // int status_sub = orb_subscribe(ORB_ID(vehicle_status)); + // int rc_sub = orb_subscribe(ORB_ID(rc_channels)); + + while (1) { + + if (mavlink_exit_requested) break; + + /* get local and global position */ + orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); + orb_copy(ORB_ID(vehicle_local_position), local_pos_sub, &local_pos); + + /* check if waypoint has been reached against the last positions */ + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); + + // sleep + usleep(50000); + + // 1 Hz + if (lowspeed_counter == 10) { + /* translate the current syste state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_mode = v_status.mode; + get_mavlink_mode_and_state(&v_status, &mavlink_state, &mavlink_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(chan, system_type, MAV_AUTOPILOT_GENERIC, mavlink_mode, v_status.state_machine, mavlink_state); + + /* 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, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f, + 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); + + /* send over MAVLink */ + mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw, + rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi); + + lowspeed_counter = 0; + } + + lowspeed_counter++; + + /* Only send in HIL mode */ + if (v_status.mode & MAV_MODE_FLAG_HIL_ENABLED) { + /* Send the desired attitude from RC or from the autonomous controller */ + // XXX it should not depend on a RC setting, but on a system_state value + + float roll_ail, pitch_elev, throttle, yaw_rudd; + + if (rc.chan[rc.function[OVERRIDE]].scale < 2000) { + + //orb_copy(ORB_ID(fixedwing_control), fixed_wing_control_sub, &fixed_wing_control); + roll_ail = fw_control.attitude_control_output[ROLL]; + pitch_elev = fw_control.attitude_control_output[PITCH]; + throttle = fw_control.attitude_control_output[THROTTLE]; + yaw_rudd = fw_control.attitude_control_output[YAW]; + + } else { + + roll_ail = rc.chan[rc.function[ROLL]].scale; + pitch_elev = rc.chan[rc.function[PITCH]].scale; + throttle = rc.chan[rc.function[THROTTLE]].scale; + yaw_rudd = rc.chan[rc.function[YAW]].scale; + } + + /* hacked HIL implementation in order for the APM Planner to work + * (correct cmd: mavlink_msg_hil_controls_send()) + */ + + mavlink_msg_rc_channels_scaled_send(chan, + hrt_absolute_time(), + 0, // port 0 + roll_ail, + pitch_elev, + throttle, + yaw_rudd, + 0, + 0, + 0, + 0, + 1 /*rssi=1*/); + /* correct command duplicate */ + mavlink_msg_hil_controls_send(chan, + hrt_absolute_time(), + roll_ail, + pitch_elev, + yaw_rudd, + throttle, + 0, + 0, + 0, + 0, + 32, /* HIL_MODE */ + 0); + } + + /* send parameters at 20 Hz (if queued for sending) */ + mavlink_pm_queued_send(); + usleep(50000); + mavlink_pm_queued_send(); + + /* send one string at 10 Hz */ + mavlink_missionlib_send_gcs_string(mavlink_message_string); + mavlink_message_string[0] = '\0'; + counter++; + } + + /* wait for threads to complete */ + pthread_join(receive_thread, NULL); + pthread_join(uorb_receive_thread, NULL); + + /* Reset the UART flags to original state */ + if (!usb_uart) { + int termios_state; + + if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config_original)) < 0) { + fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\r\n", uart_name); + } + + printf("[mavlink] Restored original UART config, exiting..\n"); + } + + /* close uart */ + close(uart); + + fflush(stdout); + fflush(stderr); + + return 0; +} + + diff --git a/apps/mavlink/mavlink_bridge_header.h b/apps/mavlink/mavlink_bridge_header.h new file mode 100644 index 000000000..26bc26fdf --- /dev/null +++ b/apps/mavlink/mavlink_bridge_header.h @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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_bridge_header + * MAVLink bridge header for UART access. + */ + +/* MAVLink adapter header */ +#ifndef MAVLINK_BRIDGE_HEADER_H +#define MAVLINK_BRIDGE_HEADER_H + +#define MAVLINK_USE_CONVENIENCE_FUNCTIONS + +//use efficient approach, see mavlink_helpers.h +#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes + +#include "v1.0/mavlink_types.h" +#include <unistd.h> + + +/* Struct that stores the communication settings of this system. + you can also define / alter these settings elsewhere, as long + as they're included BEFORE mavlink.h. + So you can set the + + mavlink_system.sysid = 100; // System ID, 1-255 + mavlink_system.compid = 50; // Component/Subsystem ID, 1-255 + + Lines also in your main.c, e.g. by reading these parameter from EEPROM. + */ +extern mavlink_system_t mavlink_system; + + +mqd_t gps_queue; +int uart; + + +/** + * @brief Send multiple chars (uint8_t) over a comm channel + * + * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 + * @param ch Character to send + */ +static inline void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, uint16_t length) +{ + ssize_t ret; + + if (chan == MAVLINK_COMM_0) { + ret = write(uart, ch, (size_t)(sizeof(uint8_t) * length)); + + if (ret != length) { + printf("[mavlink] Error: Written %u instead of %u\n", ret, length); + } + } +} + +#endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/apps/mavlink/mavlink_log.h b/apps/mavlink/mavlink_log.h new file mode 100644 index 000000000..1ad1364be --- /dev/null +++ b/apps/mavlink/mavlink_log.h @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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_log.h + * MAVLink text logging. + */ + +#ifndef MAVLINK_LOG +#define MAVLINK_LOG + +/* + * IOCTL interface for sending log messages. + */ +#include <sys/ioctl.h> + +/* + * The mavlink log device node; must be opened before messages + * can be logged. + */ +#define MAVLINK_LOG_DEVICE "/dev/mavlink" + +#define MAVLINK_IOC_SEND_TEXT_INFO _IOC(0x1100, 1) +#define MAVLINK_IOC_SEND_TEXT_CRITICAL _IOC(0x1100, 2) +#define MAVLINK_IOC_SEND_TEXT_EMERGENCY _IOC(0x1100, 3) + +/** + * Send a mavlink emergency message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_log_emergency(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_EMERGENCY, (unsigned long)_text); + +/** + * Send a mavlink critical message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_log_critical(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_CRITICAL, (unsigned long)_text); + +/** + * Send a mavlink info message. + * + * @param _fd A file descriptor returned from open(MAVLINK_LOG_DEVICE, 0); + * @param _text The text to log; + */ +#define mavlink_log_info(_fd, _text) ioctl(_fd, MAVLINK_IOC_SEND_TEXT_INFO, (unsigned long)_text); + +#endif + diff --git a/apps/mavlink/mavlink_parameters.c b/apps/mavlink/mavlink_parameters.c new file mode 100644 index 000000000..a064fc167 --- /dev/null +++ b/apps/mavlink/mavlink_parameters.c @@ -0,0 +1,189 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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_parameters.c + * MAVLink parameter protocol implementation (BSD-relicensed). + */ + +#include "mavlink_parameters.h" +#include <uORB/uORB.h> +#include "math.h" /* isinf / isnan checks */ +#include <assert.h> +#include <stdio.h> +#include <fcntl.h> +#include <stdbool.h> +#include <string.h> + +extern mavlink_system_t mavlink_system; + +extern void mavlink_missionlib_send_message(mavlink_message_t *msg); +extern void mavlink_missionlib_send_gcs_string(const char *string); + +/* send one parameter, assume lock on global_data_parameter_storage */ +void mavlink_pm_send_one_parameter(uint16_t next_param) +{ + if (next_param < global_data_parameter_storage->pm.size) { + static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; + mavlink_message_t tx_msg; + + strncpy((char *)name_buf, global_data_parameter_storage->pm.param_names[next_param], MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, + mavlink_system.compid, + MAVLINK_COMM_0, + &tx_msg, + name_buf, + global_data_parameter_storage->pm.param_values[next_param], + MAVLINK_TYPE_FLOAT, + global_data_parameter_storage->pm.size, + next_param); + mavlink_missionlib_send_message(&tx_msg); + + + // mavlink_msg_param_value_send(MAVLINK_COMM_0, + // name_buf, + // global_data_parameter_storage->pm.param_values[next_param], + // MAVLINK_TYPE_FLOAT, + // global_data_parameter_storage->pm.size, + // next_param); + } +} + +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 */ + global_data_parameter_storage->pm.next_param = 0; + mavlink_missionlib_send_gcs_string("[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))) { + + uint16_t i; //parameters + uint16_t j; //chars + bool match; + + for (i = 0; i < PARAM_MAX_COUNT; i++) { + match = true; + + for (j = 0; j < MAX_PARAM_NAME_LEN; j++) { + /* Compare char by char */ + if (global_data_parameter_storage->pm.param_names[i][j] != mavlink_param_set.param_id[j]) { + match = false; + } + + /* End matching if null termination is reached */ + if (global_data_parameter_storage->pm.param_names[i][j] == '\0') { + break; + } + } + + /* Check if matched */ + if (match) { + // XXX handle param type as well, assuming float here + global_data_parameter_storage->pm.param_values[i] = mavlink_param_set.param_value; + mavlink_pm_send_one_parameter(i); + } + } + } + } + } 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) { + + uint16_t i; //parameters + uint16_t j; //chars + bool match; + + for (i = 0; i < PARAM_MAX_COUNT; i++) { + match = true; + + for (j = 0; j < MAX_PARAM_NAME_LEN; j++) { + /* Compare char by char */ + if (global_data_parameter_storage->pm.param_names[i][j] != mavlink_param_request_read.param_id[j]) { + match = false; + } + + /* End matching if null termination is reached */ + if (global_data_parameter_storage->pm.param_names[i][j] == '\0') { + break; + } + } + + /* Check if matched */ + if (match) { + mavlink_pm_send_one_parameter(i); + } + } + + } else { + /* when index is >= 0, send this parameter again */ + mavlink_pm_send_one_parameter(mavlink_param_request_read.param_index); + } + } + + } break; + } +} + + +/** + * Send low-priority messages at a maximum rate of xx Hertz. + * + * This function sends messages at a lower rate to not exceed the wireless + * bandwidth. It sends one message each time it is called until the buffer is empty. + * Call this function with xx Hertz to increase/decrease the bandwidth. + */ +void mavlink_pm_queued_send(void) +{ + //send parameters one by one: + mavlink_pm_send_one_parameter(global_data_parameter_storage->pm.next_param); + global_data_parameter_storage->pm.next_param++; +} diff --git a/apps/mavlink/mavlink_parameters.h b/apps/mavlink/mavlink_parameters.h new file mode 100644 index 000000000..e32732f58 --- /dev/null +++ b/apps/mavlink/mavlink_parameters.h @@ -0,0 +1,48 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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). + */ + +/* This assumes you have the mavlink headers on your include path + or in the same folder as this source file */ + + +#include "v1.0/common/mavlink.h" +#include <stdbool.h> + +void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); +void mavlink_pm_queued_send(void); diff --git a/apps/mavlink/waypoints.c b/apps/mavlink/waypoints.c new file mode 100644 index 000000000..977f7d47e --- /dev/null +++ b/apps/mavlink/waypoints.c @@ -0,0 +1,1137 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 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 "waypoints.h" +#include <math.h> +#include <sys/prctl.h> +#include <unistd.h> +#include <stdio.h> + +#ifndef FM_PI +#define FM_PI 3.1415926535897932384626433832795f +#endif + +bool debug = false; +bool verbose = false; + +extern mavlink_wpm_storage *wpm; + +extern void mavlink_missionlib_send_message(mavlink_message_t *msg); +extern void mavlink_missionlib_send_gcs_string(const char *string); +extern uint64_t mavlink_missionlib_get_system_timestamp(void); +extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, + float param2, float param3, float param4, float param5_lat_x, + float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command); + + +#define MAVLINK_WPM_NO_PRINTF + +uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; + +void mavlink_wpm_init(mavlink_wpm_storage *state) +{ + // Set all waypoints to zero + + // Set count to zero + 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->delay_setpoint = MAVLINK_WPM_SETPOINT_DELAY_DEFAULT; + state->idle = false; ///< indicates if the system is following the waypoints or is waiting + state->current_active_wp_id = -1; ///< id of current waypoint + state->yaw_reached = false; ///< boolean for yaw attitude reached + state->pos_reached = false; ///< boolean for position reached + state->timestamp_lastoutside_orbit = 0;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value + state->timestamp_firstinside_orbit = 0;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value + +} + +/* + * @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 = wpm->current_partner_sysid; + wpa.target_component = wpm->current_partner_compid; + wpa.type = type; + + mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); + mavlink_missionlib_send_message(&msg); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + + if (MAVLINK_WPM_TEXT_FEEDBACK) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Sent waypoint ack (%u) to ID %u\n", wpa.type, wpa.target_system); + +#endif + mavlink_missionlib_send_gcs_string("Sent waypoint ACK"); + } +} + +/* + * @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_mission_item_t *cur = &(wpm->waypoints[seq]); + + mavlink_message_t msg; + mavlink_mission_current_t wpc; + + wpc.seq = cur->seq; + + mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Set current waypoint\n"); //// printf("Broadcasted new current waypoint %u\n", wpc.seq); + + } else { + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds\n"); + } +} + +/* + * @brief Directs the MAV to fly to a position + * + * 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_setpoint(uint16_t seq) +{ + if (seq < wpm->size) { + mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); + mavlink_missionlib_current_waypoint_changed(cur->seq, cur->param1, + cur->param2, cur->param3, cur->param4, cur->x, + cur->y, cur->z, cur->frame, cur->command); + + wpm->timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp(); + + } else { + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n"); + } +} + +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 = wpm->current_partner_sysid; + wpc.target_component = wpm->current_partner_compid; + wpc.count = count; + + mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); +} + +void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + if (seq < wpm->size) { + mavlink_message_t msg; + mavlink_mission_item_t *wp = &(wpm->waypoints[seq]); + wp->target_system = wpm->current_partner_sysid; + wp->target_component = wpm->current_partner_compid; + mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp); + mavlink_missionlib_send_message(&msg); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + + } else { + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); + } +} + +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 = wpm->current_partner_sysid; + wpr.target_component = wpm->current_partner_compid; + wpr.seq = seq; + mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); + mavlink_missionlib_send_message(&msg); + + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); + + } else { + if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity\n"); + } +} + +/* + * @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 (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq); + + // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY")); +} + +//float mavlink_wpm_distance_to_segment(uint16_t seq, float x, float y, float z) +//{ +// if (seq < wpm->size) +// { +// mavlink_mission_item_t *cur = waypoints->at(seq); +// +// const PxVector3 A(cur->x, cur->y, cur->z); +// const PxVector3 C(x, y, z); +// +// // seq not the second last waypoint +// if ((uint16_t)(seq+1) < wpm->size) +// { +// mavlink_mission_item_t *next = waypoints->at(seq+1); +// const PxVector3 B(next->x, next->y, next->z); +// const float r = (B-A).dot(C-A) / (B-A).lengthSquared(); +// if (r >= 0 && r <= 1) +// { +// const PxVector3 P(A + r*(B-A)); +// return (P-C).length(); +// } +// else if (r < 0.f) +// { +// return (C-A).length(); +// } +// else +// { +// return (C-B).length(); +// } +// } +// else +// { +// return (C-A).length(); +// } +// } +// else +// { +// // if (verbose) // printf("ERROR: index out of bounds\n"); +// } +// return -1.f; +//} + +/* + * Calculate distance in global frame. + * + * The distance calculation is based on the WGS84 geoid (GPS) + */ +float mavlink_wpm_distance_to_point_global_wgs84(uint16_t seq, float lat, float lon, float alt) +{ + //TODO: implement for z once altidude contoller is implemented + + static uint16_t counter; + +// if(counter % 10 == 0) printf(" x = %.10f, y = %.10f\n", x, y); + if (seq < wpm->size) { + mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); + + double current_x_rad = cur->x / 180.0 * M_PI; + double current_y_rad = cur->y / 180.0 * M_PI; + double x_rad = lat / 180.0 * M_PI; + double y_rad = lon / 180.0 * M_PI; + + double d_lat = x_rad - current_x_rad; + double d_lon = y_rad - current_y_rad; + + double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad); + double c = 2 * atan2(sqrt(a), sqrt(1 - a)); + + const double radius_earth = 6371000.0; + + return radius_earth * c; + + } else { + return -1.0f; + } + + counter++; + +} + +/* + * Calculate distance in local frame (NED) + */ +float mavlink_wpm_distance_to_point_local(uint16_t seq, float x, float y, float z) +{ + if (seq < wpm->size) { + mavlink_mission_item_t *cur = &(wpm->waypoints[seq]); + + float dx = (cur->x - x); + float dy = (cur->y - y); + float dz = (cur->z - z); + + return sqrt(dx * dx + dy * dy + dz * dz); + + } else { + return -1.0f; + } +} + +void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_s *global_pos, struct vehicle_local_position_s *local_pos) +{ + static uint16_t counter; + + if (wpm->size > 0 && counter % 10 == 0) { + printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id); + } + + + if (wpm->current_active_wp_id < wpm->size) { + + float orbit = wpm->waypoints[wpm->current_active_wp_id].param2; + int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame; + float dist = -1.0f; + + if (coordinate_frame == (int)MAV_FRAME_GLOBAL) { + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->alt); + + } else if (coordinate_frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { + dist = mavlink_wpm_distance_to_point_global_wgs84(wpm->current_active_wp_id, global_pos->lat, global_pos->lon, global_pos->relative_alt); + + } else if (coordinate_frame == (int)MAV_FRAME_LOCAL_ENU || coordinate_frame == (int)MAV_FRAME_LOCAL_NED) { + dist = mavlink_wpm_distance_to_point_local(wpm->current_active_wp_id, local_pos->x, local_pos->y, local_pos->z); + + } else if (coordinate_frame == (int)MAV_FRAME_MISSION) { + /* Check if conditions of mission item are satisfied */ + // XXX TODO + } + + if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw + wpm->pos_reached = true; + + if (counter % 10 == 0) + printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit); + } + +// else +// { +// if(counter % 100 == 0) +// printf("Setpoint not reached yet: %0.4f, orbit: %.4f\n",dist,orbit); +// } + } + + //check if the current waypoint was reached + if (wpm->pos_reached /*wpm->yaw_reached &&*/ && !wpm->idle) { + if (wpm->current_active_wp_id < wpm->size) { + mavlink_mission_item_t *cur_wp = &(wpm->waypoints[wpm->current_active_wp_id]); + + if (wpm->timestamp_firstinside_orbit == 0) { + // Announce that last waypoint was reached + printf("Reached waypoint %u for the first time \n", cur_wp->seq); + mavlink_wpm_send_waypoint_reached(cur_wp->seq); + wpm->timestamp_firstinside_orbit = now; + } + + // check if the MAV was long enough inside the waypoint orbit + //if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000)) + if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param2 * 1000) { + printf("Reached waypoint %u long enough \n", cur_wp->seq); + + if (cur_wp->autocontinue) { + cur_wp->current = 0; + + if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) { + //the last waypoint was reached, if auto continue is + //activated restart the waypoint list from the beginning + wpm->current_active_wp_id = 1; + + } else { + if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size) + wpm->current_active_wp_id++; + } + + // Fly to next waypoint + wpm->timestamp_firstinside_orbit = 0; + mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); + mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + wpm->waypoints[wpm->current_active_wp_id].current = true; + wpm->pos_reached = false; + wpm->yaw_reached = false; + printf("Set new waypoint (%u)\n", wpm->current_active_wp_id); + } + } + } + + } else { + wpm->timestamp_lastoutside_orbit = now; + } + + counter++; +} + + +int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position) +{ + /* check for timed-out operations */ + if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_state); + +#endif + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + wpm->current_count = 0; + wpm->current_partner_sysid = 0; + wpm->current_partner_compid = 0; + wpm->current_wp_id = -1; + + if (wpm->size == 0) { + wpm->current_active_wp_id = -1; + } + } + + if (now - wpm->timestamp_last_send_setpoint > wpm->delay_setpoint && wpm->current_active_wp_id < wpm->size) { + mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + } + + check_waypoints_reached(now, global_position , local_position); + + return OK; +} + + +void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , struct vehicle_local_position_s *local_pos) +{ + uint64_t now = mavlink_missionlib_get_system_timestamp(); + + switch (msg->msgid) { +// case MAVLINK_MSG_ID_ATTITUDE: +// { +// if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size) +// { +// mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]); +// if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED) +// { +// mavlink_attitude_t att; +// mavlink_msg_attitude_decode(msg, &att); +// float yaw_tolerance = wpm->accept_range_yaw; +// //compare current yaw +// if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*FM_PI) +// { +// if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4) +// wpm->yaw_reached = true; +// } +// else if(att.yaw - yaw_tolerance < 0.0f) +// { +// float lowerBound = 360.0f + att.yaw - yaw_tolerance; +// if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance) +// wpm->yaw_reached = true; +// } +// else +// { +// float upperBound = att.yaw + yaw_tolerance - 2.f*FM_PI; +// if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound) +// wpm->yaw_reached = true; +// } +// } +// } +// break; +// } +// +// case MAVLINK_MSG_ID_LOCAL_POSITION_NED: +// { +// if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size) +// { +// mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]); +// +// if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED) +// { +// mavlink_local_position_ned_t pos; +// mavlink_msg_local_position_ned_decode(msg, &pos); +// //// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z); +// +// wpm->pos_reached = false; +// +// // compare current position (given in message) with current waypoint +// float orbit = wp->param1; +// +// float dist; +//// if (wp->param2 == 0) +//// { +//// // FIXME segment distance +//// //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z); +//// } +//// else +//// { +// dist = mavlink_wpm_distance_to_point(wpm->current_active_wp_id, pos.x, pos.y, pos.z); +//// } +// +// if (dist >= 0.f && dist <= orbit && wpm->yaw_reached) +// { +// wpm->pos_reached = true; +// } +// } +// } +// break; +// } + +// case MAVLINK_MSG_ID_CMD: // special action from ground station +// { +// mavlink_cmd_t action; +// mavlink_msg_cmd_decode(msg, &action); +// if(action.target == mavlink_system.sysid) +// { +// // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl; +// switch (action.action) +// { +// // case MAV_ACTION_LAUNCH: +// // // if (verbose) std::cerr << "Launch received" << std::endl; +// // current_active_wp_id = 0; +// // if (wpm->size>0) +// // { +// // setActive(waypoints[current_active_wp_id]); +// // } +// // else +// // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl; +// // break; +// +// // case MAV_ACTION_CONTINUE: +// // // if (verbose) std::c +// // err << "Continue received" << std::endl; +// // idle = false; +// // setActive(waypoints[current_active_wp_id]); +// // break; +// +// // case MAV_ACTION_HALT: +// // // if (verbose) std::cerr << "Halt received" << std::endl; +// // idle = true; +// // break; +// +// // default: +// // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl; +// // break; +// } +// } +// break; +// } + + 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) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n"); + +#endif + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + wpm->current_wp_id = 0; + } + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + +#endif + } + + 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) { + // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); + wpm->current_active_wp_id = wpc.seq; + uint32_t i; + + for (i = 0; i < wpm->size; i++) { + if (i == wpm->current_active_wp_id) { + wpm->waypoints[i].current = true; + + } else { + wpm->waypoints[i].current = false; + } + } + +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("NEW WP SET"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm->current_active_wp_id); + +#endif + wpm->yaw_reached = false; + wpm->pos_reached = false; + mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); + mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + wpm->timestamp_firstinside_orbit = 0; + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n"); + +#endif + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n"); + +#endif + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + +#endif + } + + 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) { + //if (verbose && wpm->current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); +// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); + 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) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); + } + + wpm->current_count = wpm->size; + mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); + + } else { + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm->current_state); + } + } else { + // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); + } + + 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; + + //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 && wpr.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm->current_wp_id || wpr.seq == wpm->current_wp_id + 1) && wpr.seq < wpm->size)) { + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + +#endif + } + + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id + 1) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + +#endif + } + + if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); + +#endif + } + + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + wpm->current_wp_id = wpr.seq; + mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, wpr.seq); + + } else { + // if (verbose) + { + if (!(wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm->current_state); + +#endif + break; + + } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + if (wpr.seq != 0) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); + +#endif + } + + } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + if (wpr.seq != wpm->current_wp_id && wpr.seq != wpm->current_wp_id + 1) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); + +#endif + + } else if (wpr.seq >= wpm->size) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); + +#endif + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); + +#endif + } + } + } + + } 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)) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm->current_partner_sysid); + +#endif + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + +#endif + } + + } + + 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 || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id == 0)) { +// printf("wpc count in: %d\n",wpc.count); +// printf("Comp id: %d\n",msg->compid); +// printf("Current partner sysid: %d\n",wpm->current_partner_sysid); + + if (wpc.count > 0) { + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); + +#endif + } + + if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); + +#endif + } + + 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; + +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); + +#endif + wpm->rcv_size = 0; + //while(waypoints_receive_buffer->size() > 0) +// { +// delete waypoints_receive_buffer->back(); +// waypoints_receive_buffer->pop_back(); +// } + + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + + } else if (wpc.count == 0) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("COUNT 0"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); + +#endif + wpm->rcv_size = 0; + //while(waypoints_receive_buffer->size() > 0) +// { +// delete waypoints->back(); +// waypoints->pop_back(); +// } + wpm->current_active_wp_id = -1; + wpm->yaw_reached = false; + wpm->pos_reached = false; + break; + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("IGN WP CMD"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); + +#endif + } + + } else { + if (!(wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_GETLIST)) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm->current_state); + +#endif + + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id != 0) { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm->current_wp_id); + +#endif + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); + +#endif + } + } + + } else { +#ifdef MAVLINK_WPM_NO_PRINTF + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); +#else + + if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); + +#endif + } + + } + break; + + case MAVLINK_MSG_ID_MISSION_ITEM: { + mavlink_mission_item_t wp; + mavlink_msg_mission_item_decode(msg, &wp); + + mavlink_missionlib_send_gcs_string("GOT WP"); +// printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid); +// printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid); + +// if((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) + if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { + + wpm->timestamp_lastaction = now; + +// printf("wpm->current_state=%u, wp.seq = %d, wpm->current_wp_id=%d\n", wpm->current_state, wp.seq, wpm->current_wp_id); + +// wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO + + //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 && wp.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && wp.seq < wpm->current_count)) { + //mavlink_missionlib_send_gcs_string("DEBUG 2"); + +// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); +// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); +// if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); +// + wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; + mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]); + memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); +// printf("WP seq: %d\n",wp.seq); + wpm->current_wp_id = wp.seq + 1; + + // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); +// printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); + +// printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count); + if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + mavlink_missionlib_send_gcs_string("GOT ALL WPS"); + // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count); + + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); + + if (wpm->current_active_wp_id > wpm->rcv_size - 1) { + wpm->current_active_wp_id = wpm->rcv_size - 1; + } + + // switch the waypoints list + // FIXME CHECK!!! + uint32_t i; + + for (i = 0; i < wpm->current_count; ++i) { + wpm->waypoints[i] = wpm->rcv_waypoints[i]; + } + + wpm->size = wpm->current_count; + + //get the new current waypoint + + for (i = 0; i < wpm->size; i++) { + if (wpm->waypoints[i].current == 1) { + wpm->current_active_wp_id = i; + //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); + wpm->yaw_reached = false; + wpm->pos_reached = false; + mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); + mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + wpm->timestamp_firstinside_orbit = 0; + break; + } + } + + if (i == wpm->size) { + wpm->current_active_wp_id = -1; + wpm->yaw_reached = false; + wpm->pos_reached = false; + wpm->timestamp_firstinside_orbit = 0; + } + + 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 { + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + //we're done receiving waypoints, answer with ack. + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); + printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); + } + + // if (verbose) + { + if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state); + break; + + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + if (!(wp.seq == 0)) { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); + } else { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); + } + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + if (!(wp.seq == wpm->current_wp_id)) { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id); + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + + } else if (!(wp.seq < wpm->current_count)) { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); + } else { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); + } + } else { +// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); + } + } + } + } else { + //we we're target but already communicating with someone else + if ((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm->current_partner_sysid); + } else if (wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) { + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); + } + } + + 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 */ && wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + wpm->timestamp_lastaction = now; + + // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); + // Delete all waypoints + wpm->size = 0; + wpm->current_active_wp_id = -1; + wpm->yaw_reached = false; + wpm->pos_reached = false; + + } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm->current_state); + } + + break; + } + + default: { + // if (debug) // printf("Waypoint: received message of unknown type"); + break; + } + } + + check_waypoints_reached(now, global_pos, local_pos); +} diff --git a/apps/mavlink/waypoints.h b/apps/mavlink/waypoints.h new file mode 100644 index 000000000..6011b16b2 --- /dev/null +++ b/apps/mavlink/waypoints.h @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * 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> + * + * 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.h + * MAVLink waypoint protocol definition (BSD-relicensed). + */ + +#ifndef WAYPOINTS_H_ +#define WAYPOINTS_H_ + +/* 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> +extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *buffer, uint16_t len); + +#ifndef MAVLINK_SEND_UART_BYTES +#define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len) +#endif +extern mavlink_system_t mavlink_system; +#include <v1.0/common/mavlink.h> +#include <stdbool.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.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 +}; + + +/* WAYPOINT MANAGER - MISSION LIB */ + +#define MAVLINK_WPM_MAX_WP_COUNT 15 +#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates +#ifndef MAVLINK_WPM_TEXT_FEEDBACK +#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text +#endif +#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 { + mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints +#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE + mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints +#endif + uint16_t size; + uint16_t max_size; + uint16_t rcv_size; + enum MAVLINK_WPM_STATES current_state; + uint16_t current_wp_id; ///< Waypoint in current transmission + uint16_t current_active_wp_id; ///< Waypoint the system is currently heading towards + uint16_t current_count; + uint8_t current_partner_sysid; + uint8_t current_partner_compid; + uint64_t timestamp_lastaction; + uint64_t timestamp_last_send_setpoint; + uint64_t timestamp_firstinside_orbit; + uint64_t timestamp_lastoutside_orbit; + uint32_t timeout; + uint32_t delay_setpoint; + float accept_range_yaw; + float accept_range_distance; + bool yaw_reached; + bool pos_reached; + bool idle; +}; + +typedef struct mavlink_wpm_storage mavlink_wpm_storage; + +void mavlink_wpm_init(mavlink_wpm_storage *state); +int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, + struct vehicle_local_position_s *local_pos); +void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , + struct vehicle_local_position_s *local_pos); + +#endif /* WAYPOINTS_H_ */ |