1 files changed, 0 insertions, 390 deletions

diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c
deleted file mode 100644
index fa23f996f..000000000
--- a/src/modules/mavlink/missionlib.c
+++ /dev/null
@@ -1,390 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 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 missionlib.h
- * MAVLink missionlib components
- */
-
-// XXX trim includes
-#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 <string.h>
-#include "mavlink_bridge_header.h"
-#include <drivers/drv_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 <systemlib/err.h>
-#include <systemlib/param/param.h>
-#include <systemlib/systemlib.h>
-#include <mavlink/mavlink_log.h>
-
-#include "geo/geo.h"
-#include "waypoints.h"
-#include "orb_topics.h"
-#include "missionlib.h"
-#include "mavlink_hil.h"
-#include "util.h"
-#include "waypoints.h"
-#include "mavlink_parameters.h"
-
-static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
-static uint64_t loiter_start_time;
-
-static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
-	struct vehicle_global_position_setpoint_s *sp);
-
-int
-mavlink_missionlib_send_message(mavlink_message_t *msg)
-{
-	uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
-
-	mavlink_send_uart_bytes(chan, missionlib_msg_buf, len);
-	return 0;
-}
-
-int
-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);
-		return mavlink_missionlib_send_message(&msg);
-
-	} else {
-		return 1;
-	}
-}
-
-/**
- * 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();
-}
-
-/**
- * Set special vehicle setpoint fields based on current mission item.
- *
- * @return true if the mission item could be interpreted
- * successfully, it return false on failure.
- */
-bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
-	struct vehicle_global_position_setpoint_s *sp)
-{
-	switch (command) {
-		case MAV_CMD_NAV_LOITER_UNLIM:
-			sp->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
-			break;
-		case MAV_CMD_NAV_LOITER_TIME:
-			sp->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
-			loiter_start_time = hrt_absolute_time();
-			break;
-		// case MAV_CMD_NAV_LOITER_TURNS:
-		// 	sp->nav_cmd = NAV_CMD_LOITER_TURN_COUNT;
-		// 	break;
-		case MAV_CMD_NAV_WAYPOINT:
-			sp->nav_cmd = NAV_CMD_WAYPOINT;
-			break;
-		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
-			sp->nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
-			break;
-		case MAV_CMD_NAV_LAND:
-			sp->nav_cmd = NAV_CMD_LAND;
-			break;
-		case MAV_CMD_NAV_TAKEOFF:
-			sp->nav_cmd = NAV_CMD_TAKEOFF;
-			break;
-		default:
-			/* abort */
-			return false;
-	}
-
-	sp->loiter_radius = param3;
-	sp->loiter_direction = (param3 >= 0) ? 1 : -1;
-
-	sp->param1 = param1;
-	sp->param2 = param2;
-	sp->param3 = param3;
-	sp->param4 = param4;
-
-
-	/* define the turn distance */
-	float orbit = 15.0f;
-
-	if (command == (int)MAV_CMD_NAV_WAYPOINT) {
-
-		orbit = param2;
-
-	} else if (command == (int)MAV_CMD_NAV_LOITER_TURNS ||
-			command == (int)MAV_CMD_NAV_LOITER_TIME ||
-			command == (int)MAV_CMD_NAV_LOITER_UNLIM) {
-
-		orbit = param3;
-	} else {
-
-		// XXX set default orbit via param
-		// 15 initialized above
-	}
-
-	sp->turn_distance_xy = orbit;
-	sp->turn_distance_z = orbit;
-}
-
-/**
- * This callback is executed each time a waypoint changes.
- *
- * It publishes the vehicle_global_position_setpoint_s or the
- * vehicle_local_position_setpoint_s topic, depending on the type of waypoint
- */
-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)
-{
-	static orb_advert_t global_position_setpoint_pub = -1;
-	static orb_advert_t global_position_set_triplet_pub = -1;
-	static orb_advert_t local_position_setpoint_pub = -1;
-	static unsigned last_waypoint_index = -1;
-	char buf[50] = {0};
-
-	// XXX include check if WP is supported, jump to next if not
-
-	/* Update controller setpoints */
-	if (frame == (int)MAV_FRAME_GLOBAL) {
-		/* global, absolute waypoint */
-		struct vehicle_global_position_setpoint_s sp;
-		sp.lat = param5_lat_x * 1e7f;
-		sp.lon = param6_lon_y * 1e7f;
-		sp.altitude = param7_alt_z;
-		sp.altitude_is_relative = false;
-		sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
-		set_special_fields(param1, param2, param3, param4, command, &sp);
-
-		/* Initialize setpoint publication if necessary */
-		if (global_position_setpoint_pub < 0) {
-			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
-
-		} else {
-			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
-		}
-
-
-		/* fill triplet: previous, current, next waypoint */
-		struct vehicle_global_position_set_triplet_s triplet;
-
-		/* current waypoint is same as sp */
-		memcpy(&(triplet.current), &sp, sizeof(sp));
-
-		/*
-		 * Check if previous WP (in mission, not in execution order) 
-		 * is available and identify correct index
-		 */
-		int last_setpoint_index = -1;
-		bool last_setpoint_valid = false;
-
-		if (index > 0) {
-			last_setpoint_index = index - 1;
-		}
-
-		while (last_setpoint_index >= 0) {
-
-			if (wpm->waypoints[last_setpoint_index].frame == (int)MAV_FRAME_GLOBAL &&
-				(wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
-				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
-				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
-				wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
-				last_setpoint_valid = true;
-				break;
-			}
-
-			last_setpoint_index--;
-		}
-
-		/*
-		 * Check if next WP (in mission, not in execution order) 
-		 * is available and identify correct index
-		 */
-		int next_setpoint_index = -1;
-		bool next_setpoint_valid = false;
-
-		/* next waypoint */
-		if (wpm->size > 1) {
-			next_setpoint_index = index + 1;
-		}
-
-		while (next_setpoint_index < wpm->size - 1) {
-
-			if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
-					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
-					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
-					wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
-				next_setpoint_valid = true;
-				break;
-			}
-
-			next_setpoint_index++;
-		}
-
-		/* populate last and next */
-
-		triplet.previous_valid = false;
-		triplet.next_valid = false;
-
-		if (last_setpoint_valid) {
-			triplet.previous_valid = true;
-			struct vehicle_global_position_setpoint_s sp;
-			sp.lat = wpm->waypoints[last_setpoint_index].x * 1e7f;
-			sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
-			sp.altitude = wpm->waypoints[last_setpoint_index].z;
-			sp.altitude_is_relative = false;
-			sp.yaw = (wpm->waypoints[last_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
-			set_special_fields(wpm->waypoints[last_setpoint_index].param1,
-				wpm->waypoints[last_setpoint_index].param2,
-				wpm->waypoints[last_setpoint_index].param3,
-				wpm->waypoints[last_setpoint_index].param4,
-				wpm->waypoints[last_setpoint_index].command, &sp);
-			memcpy(&(triplet.previous), &sp, sizeof(sp));
-		}
-
-		if (next_setpoint_valid) {
-			triplet.next_valid = true;
-			struct vehicle_global_position_setpoint_s sp;
-			sp.lat = wpm->waypoints[next_setpoint_index].x * 1e7f;
-			sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
-			sp.altitude = wpm->waypoints[next_setpoint_index].z;
-			sp.altitude_is_relative = false;
-			sp.yaw = (wpm->waypoints[next_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
-			set_special_fields(wpm->waypoints[next_setpoint_index].param1,
-				wpm->waypoints[next_setpoint_index].param2,
-				wpm->waypoints[next_setpoint_index].param3,
-				wpm->waypoints[next_setpoint_index].param4,
-				wpm->waypoints[next_setpoint_index].command, &sp);
-			memcpy(&(triplet.next), &sp, sizeof(sp));
-		}
-
-		/* Initialize triplet publication if necessary */
-		if (global_position_set_triplet_pub < 0) {
-			global_position_set_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &triplet);
-
-		} else {
-			orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet);
-		}
-
-		sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
-
-	} 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 * 1e7f;
-		sp.lon = param6_lon_y * 1e7f;
-		sp.altitude = param7_alt_z;
-		sp.altitude_is_relative = true;
-		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
-		set_special_fields(param1, param2, param3, param4, command, &sp);
-
-		/* Initialize publication if necessary */
-		if (global_position_setpoint_pub < 0) {
-			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
-
-		} else {
-			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
-		}
-
-
-
-		sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
-
-	} 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) * M_PI_F - M_PI_F;
-
-		/* Initialize publication if necessary */
-		if (local_position_setpoint_pub < 0) {
-			local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
-
-		} else {
-			orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
-		}
-
-		sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
-	} else {
-		warnx("non-navigation WP, ignoring");
-		mavlink_missionlib_send_gcs_string("[mp] Unknown waypoint type, ignoring.");
-		return;
-	}
-
-	/* only set this for known waypoint types (non-navigation types would have returned earlier) */
-	last_waypoint_index = index;
-
-	mavlink_missionlib_send_gcs_string(buf);
-	printf("%s\n", buf);
-	//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
-}