1 files changed, 372 insertions, 0 deletions

diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c
new file mode 100644
index 000000000..be88b8794
--- /dev/null
+++ b/src/modules/mavlink/missionlib.c
@@ -0,0 +1,372 @@
+/****************************************************************************
+ *
+ *   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 "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->param1 = param2;
+	sp->param1 = param3;
+	sp->param1 = param4;
+}
+
+/**
+ * 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 = (param4 / 180.0f) * M_PI_F - 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;
+
+		/* at first waypoint, but cycled once through mission */
+		if (index == 0 && last_waypoint_index > 0) {
+			last_setpoint_index = last_waypoint_index;
+		} else {
+			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;
+
+		/* at last waypoint, try to re-loop through mission as default */
+		if (index == (wpm->size - 1) && wpm->size > 1) {
+			next_setpoint_index = 0;
+		} else 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);
+}