diff options
Diffstat (limited to 'src/modules/mavlink')
-rw-r--r-- | src/modules/mavlink/mavlink.c | 6 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 14 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 3 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 49 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 22 | ||||
-rw-r--r-- | src/modules/mavlink/module.mk | 2 |
6 files changed, 89 insertions, 7 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index ad435b251..e49288a74 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -62,6 +62,12 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50); * @group MAVLink */ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); +/** + * Use/Accept HIL GPS message (even if not in HIL mode) + * If set to 1 incomming HIL GPS messages are parsed. + * @group MAVLink + */ +PARAM_DEFINE_INT32(MAV_USEHILGPS, 0); mavlink_system_t mavlink_system = { 100, diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 2416a1264..7ecca0d65 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -208,6 +208,7 @@ Mavlink::Mavlink() : _mavlink_fd(-1), _task_running(false), _hil_enabled(false), + _use_hil_gps(false), _is_usb_uart(false), _wait_to_transmit(false), _received_messages(false), @@ -487,11 +488,13 @@ void Mavlink::mavlink_update_system(void) static param_t param_system_id; static param_t param_component_id; static param_t param_system_type; + static param_t param_use_hil_gps; if (!initialized) { param_system_id = param_find("MAV_SYS_ID"); param_component_id = param_find("MAV_COMP_ID"); param_system_type = param_find("MAV_TYPE"); + param_use_hil_gps = param_find("MAV_USEHILGPS"); initialized = true; } @@ -516,6 +519,11 @@ void Mavlink::mavlink_update_system(void) if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { mavlink_system.type = system_type; } + + int32_t use_hil_gps; + param_get(param_use_hil_gps, &use_hil_gps); + + _use_hil_gps = (bool)use_hil_gps; } int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) @@ -574,6 +582,11 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * /* open uart */ _uart_fd = open(uart_name, O_RDWR | O_NOCTTY); + if (_uart_fd < 0) { + return _uart_fd; + } + + /* Try to set baud rate */ struct termios uart_config; int termios_state; @@ -1953,6 +1966,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult); configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult); configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult); + configure_stream("DISTANCE_SENSOR", 0.5f); break; case MAVLINK_MODE_CAMERA: diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 66d82b471..1bf51fd31 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -157,6 +157,8 @@ public: bool get_hil_enabled() { return _hil_enabled; } + bool get_use_hil_gps() { return _use_hil_gps; } + bool get_flow_control_enabled() { return _flow_control_enabled; } bool get_forwarding_on() { return _forwarding_on; } @@ -223,6 +225,7 @@ private: /* states */ bool _hil_enabled; /**< Hardware In the Loop mode */ + bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */ bool _is_usb_uart; /**< Port is USB */ bool _wait_to_transmit; /**< Wait to transmit until received messages. */ bool _received_messages; /**< Whether we've received valid mavlink messages. */ diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 648228e3b..678ce1645 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -72,6 +72,7 @@ #include <uORB/topics/navigation_capabilities.h> #include <drivers/drv_rc_input.h> #include <drivers/drv_pwm_output.h> +#include <drivers/drv_range_finder.h> #include "mavlink_messages.h" @@ -270,7 +271,7 @@ protected: status->load * 1000.0f, status->battery_voltage * 1000.0f, status->battery_current * 1000.0f, - status->battery_remaining, + status->battery_remaining * 100.0f, status->drop_rate_comm, status->errors_comm, status->errors_count1, @@ -1312,6 +1313,51 @@ protected: } }; +class MavlinkStreamDistanceSensor : public MavlinkStream +{ +public: + const char *get_name() + { + return "DISTANCE_SENSOR"; + } + + MavlinkStream *new_instance() + { + return new MavlinkStreamDistanceSensor(); + } + +private: + MavlinkOrbSubscription *range_sub; + struct range_finder_report *range; + +protected: + void subscribe(Mavlink *mavlink) + { + range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder)); + range = (struct range_finder_report *)range_sub->get_data(); + } + + void send(const hrt_abstime t) + { + (void)range_sub->update(t); + + uint8_t type; + + switch (range->type) { + case RANGE_FINDER_TYPE_LASER: + type = MAV_DISTANCE_SENSOR_LASER; + break; + } + + uint8_t id = 0; + uint8_t orientation = 0; + uint8_t covariance = 20; + + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); + } +}; + MavlinkStream *streams_list[] = { new MavlinkStreamHeartbeat(), new MavlinkStreamSysStatus(), @@ -1338,6 +1384,7 @@ MavlinkStream *streams_list[] = { new MavlinkStreamAttitudeControls(), new MavlinkStreamNamedValueFloat(), new MavlinkStreamCameraCapture(), + new MavlinkStreamDistanceSensor(), new MavlinkStreamViconPositionEstimate(), nullptr }; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 0762b76f2..33a4fef12 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -160,6 +160,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) * The HIL mode is enabled by the HIL bit flag * in the system mode. Either send a set mode * COMMAND_LONG message or a SET_MODE message + * + * Accept HIL GPS messages if use_hil_gps flag is true. + * This allows to provide fake gps measurements to the system. */ if (_mavlink->get_hil_enabled()) { switch (msg->msgid) { @@ -167,10 +170,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_hil_sensor(msg); break; - case MAVLINK_MSG_ID_HIL_GPS: - handle_message_hil_gps(msg); - break; - case MAVLINK_MSG_ID_HIL_STATE_QUATERNION: handle_message_hil_state_quaternion(msg); break; @@ -180,7 +179,20 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) } } - /* If we've received a valid message, mark the flag indicating so. + + if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) { + switch (msg->msgid) { + case MAVLINK_MSG_ID_HIL_GPS: + handle_message_hil_gps(msg); + break; + + default: + break; + } + + } + + /* If we've received a valid message, mark the flag indicating so. This is used in the '-w' command-line flag. */ _mavlink->set_has_received_messages(true); } diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index c44354ff0..dcca11977 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -47,4 +47,4 @@ SRCS += mavlink_main.cpp \ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink -MAXOPTIMIZATION = -Os +MAXOPTIMIZATION = -Os |