diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 50 |
1 files changed, 33 insertions, 17 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index ce3f2ae0e..4d7b35f03 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -92,6 +92,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _mavlink(parent), status{}, hil_local_pos{}, + hil_land_detector{}, _control_mode{}, _global_pos_pub(-1), _local_pos_pub(-1), @@ -118,6 +119,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _telemetry_status_pub(-1), _rc_pub(-1), _manual_pub(-1), + _land_detector_pub(-1), _control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))), _hil_frames(0), _old_timestamp(0), @@ -433,7 +435,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) /* Use distance value for range finder report */ struct range_finder_report r; - memset(&r, 0, sizeof(f)); + memset(&r, 0, sizeof(r)); r.timestamp = hrt_absolute_time(); r.error_count = 0; @@ -615,7 +617,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t pos_sp_triplet.previous.valid = false; pos_sp_triplet.next.valid = false; pos_sp_triplet.current.valid = true; - pos_sp_triplet.current.type = SETPOINT_TYPE_POSITION; //XXX support others + pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others /* set the local pos values if the setpoint type is 'local pos' and none * of the local pos fields is set to 'ignore' */ @@ -984,10 +986,10 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg) } else if (tsync.tc1 > 0) { - int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ; + int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ; int64_t dt = _time_offset - offset_ns; - if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew + if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew _time_offset = offset_ns; warnx("[timesync] Hard setting offset."); } else { @@ -1041,10 +1043,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) gyro.temperature = imu.temperature; if (_gyro_pub < 0) { - _gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro); + _gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro); } else { - orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro); + orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro); } } @@ -1063,10 +1065,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) accel.temperature = imu.temperature; if (_accel_pub < 0) { - _accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel); + _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { - orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel); + orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } @@ -1084,10 +1086,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) mag.z = imu.zmag; if (_mag_pub < 0) { - _mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag); + /* publish to the first mag topic */ + _mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag); } else { - orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag); + orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag); } } @@ -1102,10 +1105,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) baro.temperature = imu.temperature; if (_baro_pub < 0) { - _baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro); + _baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro); } else { - orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro); + orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro); } } @@ -1353,9 +1356,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) hil_local_pos.xy_global = true; hil_local_pos.z_global = true; - bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve? - hil_local_pos.landed = landed; - if (_local_pos_pub < 0) { _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos); @@ -1364,6 +1364,22 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) } } + /* land detector */ + { + bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve? + if(hil_land_detector.landed != landed) { + hil_land_detector.landed = landed; + hil_land_detector.timestamp = hrt_absolute_time(); + + if (_land_detector_pub < 0) { + _land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector); + + } else { + orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &hil_land_detector); + } + } + } + /* accelerometer */ { struct accel_report accel; @@ -1379,10 +1395,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) accel.temperature = 25.0f; if (_accel_pub < 0) { - _accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel); + _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { - orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel); + orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } |