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-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp11
-rw-r--r--src/modules/mavlink/missionlib.c8
-rw-r--r--src/modules/mavlink/orb_listener.c79
3 files changed, 23 insertions, 75 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index bfccd5fb0..7b6fad658 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -382,16 +382,15 @@ handle_message(mavlink_message_t *msg)
/* hil gyro */
static const float mrad2rad = 1.0e-3f;
- hil_sensors.gyro_counter = hil_counter;
hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
hil_sensors.gyro_rad_s[0] = imu.xgyro;
hil_sensors.gyro_rad_s[1] = imu.ygyro;
hil_sensors.gyro_rad_s[2] = imu.zgyro;
+ hil_sensors.gyro_counter = hil_counter;
/* accelerometer */
- hil_sensors.accelerometer_counter = hil_counter;
static const float mg2ms2 = 9.8f / 1000.0f;
hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
@@ -401,6 +400,7 @@ handle_message(mavlink_message_t *msg)
hil_sensors.accelerometer_m_s2[2] = imu.zacc;
hil_sensors.accelerometer_mode = 0; // TODO what is this?
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
+ hil_sensors.accelerometer_counter = hil_counter;
/* adc */
hil_sensors.adc_voltage_v[0] = 0.0f;
@@ -409,7 +409,6 @@ handle_message(mavlink_message_t *msg)
/* magnetometer */
float mga2ga = 1.0e-3f;
- hil_sensors.magnetometer_counter = hil_counter;
hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
@@ -419,15 +418,13 @@ handle_message(mavlink_message_t *msg)
hil_sensors.magnetometer_range_ga = 32.7f; // int16
hil_sensors.magnetometer_mode = 0; // TODO what is this
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
+ hil_sensors.magnetometer_counter = hil_counter;
/* baro */
hil_sensors.baro_pres_mbar = imu.abs_pressure;
hil_sensors.baro_alt_meter = imu.pressure_alt;
hil_sensors.baro_temp_celcius = imu.temperature;
-
- hil_sensors.gyro_counter = hil_counter;
- hil_sensors.magnetometer_counter = hil_counter;
- hil_sensors.accelerometer_counter = hil_counter;
+ hil_sensors.baro_counter = hil_counter;
/* differential pressure */
hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa
diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c
index bb857dc69..124b3b2ae 100644
--- a/src/modules/mavlink/missionlib.c
+++ b/src/modules/mavlink/missionlib.c
@@ -301,7 +301,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
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;
+ sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F);
set_special_fields(wpm->waypoints[last_setpoint_index].param1,
wpm->waypoints[last_setpoint_index].param2,
wpm->waypoints[last_setpoint_index].param3,
@@ -317,7 +317,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
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;
+ sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F);
set_special_fields(wpm->waypoints[next_setpoint_index].param1,
wpm->waypoints[next_setpoint_index].param2,
wpm->waypoints[next_setpoint_index].param3,
@@ -343,7 +343,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
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;
+ sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
set_special_fields(param1, param2, param3, param4, command, &sp);
/* Initialize publication if necessary */
@@ -364,7 +364,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
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;
+ sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
/* Initialize publication if necessary */
if (local_position_setpoint_pub < 0) {
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 564bf806a..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},
@@ -248,8 +246,8 @@ l_vehicle_attitude(const struct listener *l)
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);
}
@@ -279,13 +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,
@@ -378,28 +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
@@ -437,8 +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
@@ -617,32 +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);
@@ -852,9 +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 2024-07-09 15:03:48 +0000