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-rw-r--r--src/modules/mavlink/mavlink_main.cpp16
-rw-r--r--src/modules/mavlink/mavlink_main.h2
-rw-r--r--src/modules/mavlink/mavlink_mission.cpp21
-rw-r--r--src/modules/mavlink/mavlink_mission.h2
-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp90
-rw-r--r--src/modules/mavlink/mavlink_receiver.h2
6 files changed, 95 insertions, 38 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 2faf8ab76..ed7e879d3 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -217,6 +217,8 @@ Mavlink::Mavlink() :
errx(1, "instance ID is out of range");
break;
}
+
+ _rstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
}
Mavlink::~Mavlink()
@@ -1227,7 +1229,10 @@ Mavlink::task_main(int argc, char *argv[])
_mode = MAVLINK_MODE_CUSTOM;
} else if (strcmp(optarg, "camera") == 0) {
- _mode = MAVLINK_MODE_CAMERA;
+ // left in here for compatibility
+ _mode = MAVLINK_MODE_ONBOARD;
+ } else if (strcmp(optarg, "onboard") == 0) {
+ _mode = MAVLINK_MODE_ONBOARD;
}
break;
@@ -1287,8 +1292,8 @@ Mavlink::task_main(int argc, char *argv[])
warnx("mode: CUSTOM");
break;
- case MAVLINK_MODE_CAMERA:
- warnx("mode: CAMERA");
+ case MAVLINK_MODE_ONBOARD:
+ warnx("mode: ONBOARD");
break;
default:
@@ -1391,9 +1396,10 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
+ configure_stream("OPTICAL_FLOW", 0.5f);
break;
- case MAVLINK_MODE_CAMERA:
+ case MAVLINK_MODE_ONBOARD:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("ATTITUDE", 15.0f);
configure_stream("GLOBAL_POSITION_INT", 15.0f);
@@ -1653,6 +1659,8 @@ Mavlink::display_status()
printf("\tGCS heartbeat:\t%llu us ago\n", hrt_elapsed_time(&_rstatus.heartbeat_time));
}
+ printf("\tmavlink chan: #%u\n", _channel);
+
if (_rstatus.timestamp > 0) {
printf("\ttype:\t\t");
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 1e2e94cef..7f9d225bb 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -127,7 +127,7 @@ public:
enum MAVLINK_MODE {
MAVLINK_MODE_NORMAL = 0,
MAVLINK_MODE_CUSTOM,
- MAVLINK_MODE_CAMERA
+ MAVLINK_MODE_ONBOARD
};
void set_mode(enum MAVLINK_MODE);
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 7a761588a..d436c95e9 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -58,6 +58,10 @@
#endif
static const int ERROR = -1;
+#define CHECK_SYSID_COMPID_MISSION(_msg) (_msg.target_system == mavlink_system.sysid && \
+ ((_msg.target_component == mavlink_system.compid) || \
+ (_msg.target_component == MAV_COMP_ID_MISSIONPLANNER) || \
+ (_msg.target_component == MAV_COMP_ID_ALL)))
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink),
_state(MAVLINK_WPM_STATE_IDLE),
@@ -79,8 +83,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m
_mission_result_sub(-1),
_offboard_mission_pub(-1),
_slow_rate_limiter(_interval / 10.0f),
- _verbose(false),
- _comp_id(MAV_COMP_ID_MISSIONPLANNER)
+ _verbose(false)
{
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
@@ -384,7 +387,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
- if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) {
+ if (CHECK_SYSID_COMPID_MISSION(wpa)) {
if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) {
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
@@ -416,7 +419,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
- if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
+ if (CHECK_SYSID_COMPID_MISSION(wpc)) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
_time_last_recv = hrt_absolute_time();
@@ -451,7 +454,7 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
- if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
+ if (CHECK_SYSID_COMPID_MISSION(wprl)) {
if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
@@ -487,7 +490,7 @@ MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg)
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
- if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
+ if (CHECK_SYSID_COMPID_MISSION(wpr)) {
if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) {
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
@@ -558,7 +561,7 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
- if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
+ if (CHECK_SYSID_COMPID_MISSION(wpc)) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
_time_last_recv = hrt_absolute_time();
@@ -624,7 +627,7 @@ MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
- if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) {
+ if (CHECK_SYSID_COMPID_MISSION(wp)) {
if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
@@ -710,7 +713,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
- if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
+ if (CHECK_SYSID_COMPID_MISSION(wpca)) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
/* don't touch mission items storage itself, but only items count in mission state */
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
index 8ff27f87d..a7bb94c22 100644
--- a/src/modules/mavlink/mavlink_mission.h
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -126,8 +126,6 @@ private:
bool _verbose;
- uint8_t _comp_id;
-
/* do not allow top copying this class */
MavlinkMissionManager(MavlinkMissionManager &);
MavlinkMissionManager& operator = (const MavlinkMissionManager &);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index c0fae0a2f..a602344fd 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -112,7 +112,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
- _radio_status_available(false),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
@@ -137,6 +136,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_command_long(msg);
break;
+ case MAVLINK_MSG_ID_COMMAND_INT:
+ handle_message_command_int(msg);
+ break;
+
case MAVLINK_MSG_ID_OPTICAL_FLOW:
handle_message_optical_flow(msg);
break;
@@ -277,6 +280,62 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
}
void
+MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
+{
+ /* command */
+ mavlink_command_int_t cmd_mavlink;
+ mavlink_msg_command_int_decode(msg, &cmd_mavlink);
+
+ if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
+ || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
+ //check for MAVLINK terminate command
+ if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
+ /* This is the link shutdown command, terminate mavlink */
+ warnx("terminated by remote command");
+ fflush(stdout);
+ usleep(50000);
+
+ /* terminate other threads and this thread */
+ _mavlink->_task_should_exit = true;
+
+ } else {
+
+ if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
+ warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
+ mavlink_system.sysid, mavlink_system.compid);
+ return;
+ }
+
+ struct vehicle_command_s vcmd;
+ memset(&vcmd, 0, sizeof(vcmd));
+
+ /* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
+ vcmd.param1 = cmd_mavlink.param1;
+ vcmd.param2 = cmd_mavlink.param2;
+ vcmd.param3 = cmd_mavlink.param3;
+ vcmd.param4 = cmd_mavlink.param4;
+ /* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
+ vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
+ vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
+ vcmd.param7 = cmd_mavlink.z;
+ // XXX do proper translation
+ vcmd.command = (enum VEHICLE_CMD)cmd_mavlink.command;
+ vcmd.target_system = cmd_mavlink.target_system;
+ vcmd.target_component = cmd_mavlink.target_component;
+ vcmd.source_system = msg->sysid;
+ vcmd.source_component = msg->compid;
+
+ if (_cmd_pub < 0) {
+ _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+
+ } else {
+ orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
+ }
+ }
+ }
+}
+
+void
MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
{
/* optical flow */
@@ -430,9 +489,6 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
} else {
orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
-
- /* this means that heartbeats alone won't be published to the radio status no more */
- _radio_status_available = true;
}
}
@@ -474,25 +530,17 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
- hrt_abstime tnow = hrt_absolute_time();
-
- /* always set heartbeat, publish only if telemetry link not up */
- tstatus.heartbeat_time = tnow;
-
- /* if no radio status messages arrive, lets at least publish that heartbeats were received */
- if (!_radio_status_available) {
+ /* set heartbeat time and topic time and publish -
+ * the telem status also gets updated on telemetry events
+ */
+ tstatus.timestamp = hrt_absolute_time();
+ tstatus.heartbeat_time = tstatus.timestamp;
- tstatus.timestamp = tnow;
- /* telem_time indicates the timestamp of a telemetry status packet and we got none */
- tstatus.telem_time = 0;
- tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
+ if (_telemetry_status_pub < 0) {
+ _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
- if (_telemetry_status_pub < 0) {
- _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
-
- } else {
- orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
- }
+ } else {
+ orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
}
}
}
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 014193100..91125736c 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -110,6 +110,7 @@ private:
void handle_message(mavlink_message_t *msg);
void handle_message_command_long(mavlink_message_t *msg);
+ void handle_message_command_int(mavlink_message_t *msg);
void handle_message_optical_flow(mavlink_message_t *msg);
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_vicon_position_estimate(mavlink_message_t *msg);
@@ -151,7 +152,6 @@ private:
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
- bool _radio_status_available;
int _control_mode_sub;
int _hil_frames;
uint64_t _old_timestamp;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-11 17:01:34 +0000