diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.h | 102 |
1 files changed, 17 insertions, 85 deletions
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 9461a51f8..e7f3486da 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -41,6 +41,12 @@ #pragma once #include <stdbool.h> +#include <nuttx/fs/fs.h> +#include <drivers/drv_rc_input.h> +#include <systemlib/param/param.h> +#include <systemlib/perf_counter.h> +#include <pthread.h> +#include <mavlink/mavlink_log.h> #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> @@ -68,12 +74,12 @@ #include <uORB/topics/debug_key_value.h> #include <uORB/topics/airspeed.h> #include <uORB/topics/battery_status.h> -#include <drivers/drv_rc_input.h> #include <uORB/topics/navigation_capabilities.h> #include <uORB/topics/mission.h> -#include <systemlib/param/param.h> -#include <nuttx/fs/fs.h> +#include "mavlink_bridge_header.h" +#include "mavlink_orb_subscription.h" +#include "mavlink_stream.h" // FIXME XXX - TO BE MOVED TO XML enum MAVLINK_WPM_STATES { @@ -136,7 +142,7 @@ public: * * @return OK on success. */ - static int start(); + static int start(int argc, char *argv[]); /** * Display the mavlink status. @@ -157,8 +163,6 @@ public: int get_uart_fd(); - int get_channel(); - const char *device_name; enum MAVLINK_MODE { @@ -185,7 +189,7 @@ public: */ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg); - void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode); + void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode); /** * Enable / disable Hardware in the Loop simulation mode. @@ -197,65 +201,13 @@ public: */ int set_hil_enabled(bool hil_enabled); - struct mavlink_subscriptions { - int sensor_sub; - int att_sub; - int global_pos_sub; - int act_0_sub; - int act_1_sub; - int act_2_sub; - int act_3_sub; - int gps_sub; - int man_control_sp_sub; - int safety_sub; - int actuators_sub; - int armed_sub; - int actuators_effective_sub; - int local_pos_sub; - int spa_sub; - int spl_sub; - int triplet_sub; - int debug_key_value; - int input_rc_sub; - int optical_flow; - int rates_setpoint_sub; - int get_sub; - int airspeed_sub; - int navigation_capabilities_sub; - int position_setpoint_triplet_sub; - int rc_sub; - int status_sub; - int home_sub; - }; + MavlinkOrbSubscription *add_orb_subscription(const struct orb_metadata *topic, size_t size); - struct mavlink_subscriptions subs; - - struct mavlink_subscriptions* get_subs() { return &subs; } - mavlink_channel_t get_chan() { return _chan; } - - /** Global position */ - struct vehicle_global_position_s global_pos; - /** Local position */ - struct vehicle_local_position_s local_pos; - /** navigation capabilities */ - struct navigation_capabilities_s nav_cap; - /** Vehicle status */ - struct vehicle_status_s v_status; - /** RC channels */ - struct rc_channels_s rc; - /** Actuator armed state */ - struct actuator_armed_s armed; - /** Position setpoint triplet */ - struct position_setpoint_triplet_s pos_sp_triplet; + mavlink_channel_t get_channel(); bool _task_should_exit; /**< if true, mavlink task should exit */ protected: - /** - * Pointer to the default cdev file operations table; useful for - * registering clone devices etc. - */ - Mavlink* _next; private: @@ -270,11 +222,12 @@ private: /* states */ bool _mavlink_hil_enabled; /**< Hardware in the loop mode */ - int _params_sub; + MavlinkOrbSubscription *_subscriptions; + MavlinkStream *_streams; orb_advert_t mission_pub; struct mission_s mission; - uint8_t missionlib_msg_buf[300]; //XXX MAGIC NUMBER + uint8_t missionlib_msg_buf[sizeof(mavlink_message_t)]; MAVLINK_MODE _mode; uint8_t _mavlink_wpm_comp_id; @@ -287,7 +240,6 @@ private: unsigned int total_counter; pthread_t receive_thread; - pthread_t uorb_receive_thread; /* Allocate storage space for waypoints */ mavlink_wpm_storage wpm_s; @@ -307,21 +259,6 @@ private: bool mavlink_link_termination_allowed; /** - * Update our local parameter cache. - */ - void parameters_update(); - - /** - * Send all parameters at once. - * - * This function blocks until all parameters have been sent. - * it delays each parameter by the passed amount of microseconds. - * - * @param delay The delay in us between sending all parameters. - */ - void mavlink_pm_send_all_params(unsigned int delay); - - /** * Send one parameter. * * @param param The parameter id to send. @@ -381,12 +318,7 @@ private: int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); - int set_mavlink_interval_limit(int mavlink_msg_id, int min_interval); - - /** - * Callback for param interface. - */ - static void mavlink_pm_callback(void *arg, param_t param); + int add_stream(const char *stream_name, const float rate); static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); |