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Diffstat (limited to 'src/modules/mavlink/orb_listener.c')
-rw-r--r--src/modules/mavlink/orb_listener.c94
1 files changed, 29 insertions, 65 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index abc91d34f..c37c35a63 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -54,6 +54,7 @@
#include <sys/prctl.h>
#include <stdlib.h>
#include <poll.h>
+#include <lib/geo/geo.h>
#include <mavlink/mavlink_log.h>
@@ -72,7 +73,6 @@ struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
-struct actuator_controls_effective_s actuators_effective_0;
struct actuator_controls_s actuators_0;
struct vehicle_attitude_s att;
struct airspeed_s airspeed;
@@ -119,7 +119,6 @@ static void l_attitude_setpoint(const struct listener *l);
static void l_actuator_outputs(const struct listener *l);
static void l_actuator_armed(const struct listener *l);
static void l_manual_control_setpoint(const struct listener *l);
-static void l_vehicle_attitude_controls_effective(const struct listener *l);
static void l_vehicle_attitude_controls(const struct listener *l);
static void l_debug_key_value(const struct listener *l);
static void l_optical_flow(const struct listener *l);
@@ -147,7 +146,6 @@ static const struct listener listeners[] = {
{l_actuator_armed, &mavlink_subs.armed_sub, 0},
{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
- {l_vehicle_attitude_controls_effective, &mavlink_subs.actuators_effective_sub, 0},
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
{l_optical_flow, &mavlink_subs.optical_flow, 0},
{l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0},
@@ -242,16 +240,29 @@ l_vehicle_attitude(const struct listener *l)
att.rollspeed,
att.pitchspeed,
att.yawspeed);
-
+
/* limit VFR message rate to 10Hz */
hrt_abstime t = hrt_absolute_time();
if (t >= last_sent_vfr + 100000) {
last_sent_vfr = t;
float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
- uint16_t heading = (att.yaw + M_PI_F) / M_PI_F * 180.0f;
- float throttle = actuators_effective_0.control_effective[3] * (UINT16_MAX - 1);
+ uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
+ float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f;
mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
}
+
+ /* send quaternion values if it exists */
+ if(att.q_valid) {
+ mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_0,
+ last_sensor_timestamp / 1000,
+ att.q[0],
+ att.q[1],
+ att.q[2],
+ att.q[3],
+ att.rollspeed,
+ att.pitchspeed,
+ att.yawspeed);
+ }
}
attitude_counter++;
@@ -266,13 +277,7 @@ l_vehicle_gps_position(const struct listener *l)
orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
/* GPS COG is 0..2PI in degrees * 1e2 */
- float cog_deg = gps.cog_rad;
-
- if (cog_deg > M_PI_F)
- cog_deg -= 2.0f * M_PI_F;
-
- cog_deg *= M_RAD_TO_DEG_F;
-
+ float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F;
/* GPS position */
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
@@ -365,28 +370,16 @@ l_global_position(const struct listener *l)
/* copy global position data into local buffer */
orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
- uint64_t timestamp = global_pos.timestamp;
- int32_t lat = global_pos.lat;
- int32_t lon = global_pos.lon;
- int32_t alt = (int32_t)(global_pos.alt * 1000);
- int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
- int16_t vx = (int16_t)(global_pos.vx * 100.0f);
- int16_t vy = (int16_t)(global_pos.vy * 100.0f);
- int16_t vz = (int16_t)(global_pos.vz * 100.0f);
-
- /* heading in degrees * 10, from 0 to 36.000) */
- uint16_t hdg = (global_pos.yaw / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f);
-
mavlink_msg_global_position_int_send(MAVLINK_COMM_0,
- timestamp / 1000,
- lat,
- lon,
- alt,
- relative_alt,
- vx,
- vy,
- vz,
- hdg);
+ global_pos.timestamp / 1000,
+ global_pos.lat,
+ global_pos.lon,
+ global_pos.alt * 1000.0f,
+ global_pos.relative_alt * 1000.0f,
+ global_pos.vx * 100.0f,
+ global_pos.vy * 100.0f,
+ global_pos.vz * 100.0f,
+ _wrap_2pi(global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f);
}
void
@@ -424,8 +417,8 @@ l_global_position_setpoint(const struct listener *l)
coordinate_frame,
global_sp.lat,
global_sp.lon,
- global_sp.altitude,
- global_sp.yaw);
+ global_sp.altitude * 1000.0f,
+ global_sp.yaw * M_RAD_TO_DEG_F * 100.0f);
}
void
@@ -604,32 +597,6 @@ l_manual_control_setpoint(const struct listener *l)
}
void
-l_vehicle_attitude_controls_effective(const struct listener *l)
-{
- orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_effective_sub, &actuators_effective_0);
-
- if (gcs_link) {
- /* send, add spaces so that string buffer is at least 10 chars long */
- mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
- last_sensor_timestamp / 1000,
- "eff ctrl0 ",
- actuators_effective_0.control_effective[0]);
- mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
- last_sensor_timestamp / 1000,
- "eff ctrl1 ",
- actuators_effective_0.control_effective[1]);
- mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
- last_sensor_timestamp / 1000,
- "eff ctrl2 ",
- actuators_effective_0.control_effective[2]);
- mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
- last_sensor_timestamp / 1000,
- "eff ctrl3 ",
- actuators_effective_0.control_effective[3]);
- }
-}
-
-void
l_vehicle_attitude_controls(const struct listener *l)
{
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators_0);
@@ -839,9 +806,6 @@ uorb_receive_start(void)
orb_set_interval(mavlink_subs.man_control_sp_sub, 100); /* 10Hz updates */
/* --- ACTUATOR CONTROL VALUE --- */
- mavlink_subs.actuators_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
- orb_set_interval(mavlink_subs.actuators_effective_sub, 100); /* 10Hz updates */
-
mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(mavlink_subs.actuators_sub, 100); /* 10Hz updates */
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-23 17:30:04 +0000