diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 52 |
1 files changed, 48 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 5528aca5e..80404a46a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -110,6 +110,8 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _telemetry_status_pub(-1), _rc_pub(-1), _manual_pub(-1), + _telemetry_heartbeat_time(0), + _radio_status_available(false), _control_mode_sub(-1), _hil_frames(0), _old_timestamp(0), @@ -157,6 +159,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_manual_control(msg); break; + case MAVLINK_MSG_ID_HEARTBEAT: + handle_message_heartbeat(msg); + break; + default: break; } @@ -399,7 +405,7 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message } else if (ml_mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY || ml_mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) { - /*Temporary hack to use set_quad_swarm_roll_pitch_yaw_thrust msg for position or velocity */ + /*Temporary hack to use set_quad_swarm_roll_pitch_yaw_thrust msg for position or velocity */ /* Converts INT16 centimeters to float meters */ offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / 100.0f; offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / 100.0f; @@ -520,6 +526,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) memset(&tstatus, 0, sizeof(tstatus)); tstatus.timestamp = hrt_absolute_time(); + tstatus.heartbeat_time = _telemetry_heartbeat_time; tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; tstatus.rssi = rstatus.rssi; tstatus.remote_rssi = rstatus.remrssi; @@ -535,6 +542,9 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) } else { orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); } + + /* this means that heartbeats alone won't be published to the radio status no more */ + _radio_status_available = true; } void @@ -552,6 +562,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) manual.r = man.r / 1000.0f; manual.z = man.z / 1000.0f; + warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", manual.x, manual.y, manual.r, manual.z); + if (_manual_pub < 0) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); @@ -561,6 +573,36 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) } void +MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) +{ + mavlink_heartbeat_t hb; + mavlink_msg_heartbeat_decode(msg, &hb); + + /* ignore own heartbeats, accept only heartbeats from GCS */ + if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) { + _telemetry_heartbeat_time = hrt_absolute_time(); + + /* if no radio status messages arrive, lets at least publish that heartbeats were received */ + if (!_radio_status_available) { + + struct telemetry_status_s tstatus; + memset(&tstatus, 0, sizeof(tstatus)); + + tstatus.timestamp = _telemetry_heartbeat_time; + tstatus.heartbeat_time = _telemetry_heartbeat_time; + tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; + + if (_telemetry_status_pub < 0) { + _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); + + } else { + orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); + } + } + } +} + +void MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) { mavlink_hil_sensor_t imu; @@ -776,12 +818,12 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.lat = gps.lat; hil_gps.lon = gps.lon; hil_gps.alt = gps.alt; - hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m - hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m + hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m + hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m hil_gps.timestamp_variance = timestamp; hil_gps.s_variance_m_s = 5.0f; - hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m; + hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph; hil_gps.timestamp_velocity = timestamp; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s @@ -1041,6 +1083,8 @@ void *MavlinkReceiver::start_helper(void *context) rcv->receive_thread(NULL); delete rcv; + + return nullptr; } pthread_t |