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Diffstat (limited to 'src/modules/mavlink/mavlink_main.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.h | 255 |
1 files changed, 255 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h new file mode 100644 index 000000000..8d6f0bd6f --- /dev/null +++ b/src/modules/mavlink/mavlink_main.h @@ -0,0 +1,255 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mavlink_main.h + * MAVLink 1.0 protocol interface definition. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#pragma once + +#include <stdbool.h> + +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_local_position.h> +#include <uORB/topics/home_position.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/topics/vehicle_local_position_setpoint.h> +#include <uORB/topics/mission_item_triplet.h> +#include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/mission_item_triplet.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/vehicle_control_mode.h> +#include <uORB/topics/optical_flow.h> +#include <uORB/topics/actuator_outputs.h> +#include <uORB/topics/actuator_controls_effective.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_armed.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/telemetry_status.h> +#include <uORB/topics/debug_key_value.h> +#include <uORB/topics/airspeed.h> +#include <uORB/topics/battery_status.h> +#include <drivers/drv_rc_input.h> +#include <uORB/topics/navigation_capabilities.h> + +class Mavlink +{ +public: + /** + * Constructor + */ + Mavlink(const char *port, unsigned baud_rate); + + /** + * Destructor, also kills the mavlinks task. + */ + ~Mavlink(); + + /** + * Start the mavlink task. + * + * @return OK on success. + */ + int start(); + + /** + * Display the mavlink status. + */ + void status(); + + static int instance_count(); + + static Mavlink* new_instance(const char *port, unsigned baud_rate); + + static Mavlink* get_instance(unsigned instance); + + struct mavlink_subscriptions { + int sensor_sub; + int att_sub; + int global_pos_sub; + int act_0_sub; + int act_1_sub; + int act_2_sub; + int act_3_sub; + int gps_sub; + int man_control_sp_sub; + int safety_sub; + int actuators_sub; + int armed_sub; + int actuators_effective_sub; + int local_pos_sub; + int spa_sub; + int spl_sub; + int triplet_sub; + int debug_key_value; + int input_rc_sub; + int optical_flow; + int rates_setpoint_sub; + int home_sub; + int airspeed_sub; + int navigation_capabilities_sub; + int control_mode_sub; + }; + + struct mavlink_subscriptions subs; + + /** Global position */ + struct vehicle_global_position_s global_pos; + /** Local position */ + struct vehicle_local_position_s local_pos; + /** navigation capabilities */ + struct navigation_capabilities_s nav_cap; + /** Vehicle status */ + struct vehicle_status_s v_status; + /** Vehicle control mode */ + struct vehicle_control_mode_s control_mode; + /** RC channels */ + struct rc_channels_s rc; + /** Actuator armed state */ + struct actuator_armed_s armed; + +private: + + bool _task_should_exit; /**< if true, sensor task should exit */ + int _mavlink_task; /**< task handle for sensor task */ + + int _mavlink_fd; + int _mavlink_incoming_fd; /**< file descriptor on which to receive incoming strings */ + + perf_counter_t _loop_perf; /**< loop performance counter */ + + /* states */ + bool _mavlink_hil_enabled; /**< Hardware in the loop mode */ + static Mavlink* _head; + + int _params_sub; + + orb_advert_t mission_pub = -1; +struct mission_s mission; + +uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; + + /** + * Update our local parameter cache. + */ + void parameters_update(); + + /** + * Enable / disable Hardware in the Loop simulation mode. + * + * @param hil_enabled The new HIL enable/disable state. + * @return OK if the HIL state changed, ERROR if the + * requested change could not be made or was + * redundant. + */ + int set_hil_on_off(bool hil_enabled); + + + /** + * Handle parameter related messages. + */ + void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); + + /** + * Send all parameters at once. + * + * This function blocks until all parameters have been sent. + * it delays each parameter by the passed amount of microseconds. + * + * @param delay The delay in us between sending all parameters. + */ + void mavlink_pm_send_all_params(unsigned int delay); + + /** + * Send one parameter. + * + * @param param The parameter id to send. + * @return zero on success, nonzero on failure. + */ + int mavlink_pm_send_param(param_t param); + + /** + * Send one parameter identified by index. + * + * @param index The index of the parameter to send. + * @return zero on success, nonzero else. + */ + int mavlink_pm_send_param_for_index(uint16_t index); + + /** + * Send one parameter identified by name. + * + * @param name The index of the parameter to send. + * @return zero on success, nonzero else. + */ + int mavlink_pm_send_param_for_name(const char *name); + + /** + * Send a queue of parameters, one parameter per function call. + * + * @return zero on success, nonzero on failure + */ + int mavlink_pm_queued_send(void); + + /** + * Start sending the parameter queue. + * + * This function will not directly send parameters, but instead + * activate the sending of one parameter on each call of + * mavlink_pm_queued_send(). + * @see mavlink_pm_queued_send() + */ + void mavlink_pm_start_queued_send(void); + + /** + * Shim for calling task_main from task_create. + */ + void task_main_trampoline(int argc, char *argv[]); + + /** + * Main sensor collection task. + */ + void task_main() __attribute__((noreturn)); + +}; |