diff options
Diffstat (limited to 'src/modules/mavlink')
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 68 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 2 |
2 files changed, 22 insertions, 48 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index b4fe65fd2..0762b76f2 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -88,8 +88,6 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f; MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _mavlink(parent), - _manual_sub(-1), - _global_pos_pub(-1), _local_pos_pub(-1), _attitude_pub(-1), @@ -247,6 +245,7 @@ MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg) memset(&f, 0, sizeof(f)); f.timestamp = hrt_absolute_time(); + f.flow_timestamp = flow.time_usec; f.flow_raw_x = flow.flow_x; f.flow_raw_y = flow.flow_y; f.flow_comp_x_m = flow.flow_comp_m_x; @@ -417,47 +416,20 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) mavlink_manual_control_t man; mavlink_msg_manual_control_decode(msg, &man); - /* rc channels */ - { - struct rc_channels_s rc; - memset(&rc, 0, sizeof(rc)); - - rc.timestamp = hrt_absolute_time(); - rc.chan_count = 4; + struct manual_control_setpoint_s manual; + memset(&manual, 0, sizeof(manual)); - rc.chan[0].scaled = man.x / 1000.0f; - rc.chan[1].scaled = man.y / 1000.0f; - rc.chan[2].scaled = man.r / 1000.0f; - rc.chan[3].scaled = man.z / 1000.0f; + manual.timestamp = hrt_absolute_time(); + manual.roll = man.x / 1000.0f; + manual.pitch = man.y / 1000.0f; + manual.yaw = man.r / 1000.0f; + manual.throttle = man.z / 1000.0f; - if (_rc_pub < 0) { - _rc_pub = orb_advertise(ORB_ID(rc_channels), &rc); - - } else { - orb_publish(ORB_ID(rc_channels), _rc_pub, &rc); - } - } - - /* manual control */ - { - struct manual_control_setpoint_s manual; - memset(&manual, 0, sizeof(manual)); + if (_manual_pub < 0) { + _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); - /* get a copy first, to prevent altering values that are not sent by the mavlink command */ - orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &manual); - - manual.timestamp = hrt_absolute_time(); - manual.roll = man.x / 1000.0f; - manual.pitch = man.y / 1000.0f; - manual.yaw = man.r / 1000.0f; - manual.throttle = man.z / 1000.0f; - - if (_manual_pub < 0) { - _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); - - } else { - orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual); - } + } else { + orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual); } } @@ -768,7 +740,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) memset(&hil_global_pos, 0, sizeof(hil_global_pos)); hil_global_pos.timestamp = timestamp; - hil_global_pos.global_valid = true; hil_global_pos.lat = hil_state.lat; hil_global_pos.lon = hil_state.lon; hil_global_pos.alt = hil_state.alt / 1000.0f; @@ -776,6 +747,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) hil_global_pos.vel_e = hil_state.vy / 100.0f; hil_global_pos.vel_d = hil_state.vz / 100.0f; hil_global_pos.yaw = hil_attitude.yaw; + hil_global_pos.eph = 2.0f; + hil_global_pos.epv = 4.0f; if (_global_pos_pub < 0) { _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); @@ -787,19 +760,22 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) /* local position */ { + double lat = hil_state.lat * 1e-7; + double lon = hil_state.lon * 1e-7; + if (!_hil_local_proj_inited) { _hil_local_proj_inited = true; _hil_local_alt0 = hil_state.alt / 1000.0f; - map_projection_init(hil_state.lat, hil_state.lon); + map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon); hil_local_pos.ref_timestamp = timestamp; - hil_local_pos.ref_lat = hil_state.lat; - hil_local_pos.ref_lon = hil_state.lon; + hil_local_pos.ref_lat = lat; + hil_local_pos.ref_lon = lon; hil_local_pos.ref_alt = _hil_local_alt0; } float x; float y; - map_projection_project(hil_state.lat * 1e-7, hil_state.lon * 1e-7, &x, &y); + map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y); hil_local_pos.timestamp = timestamp; hil_local_pos.xy_valid = true; hil_local_pos.z_valid = true; @@ -887,8 +863,6 @@ MavlinkReceiver::receive_thread(void *arg) sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id()); prctl(PR_SET_NAME, thread_name, getpid()); - _manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - struct pollfd fds[1]; fds[0].fd = uart_fd; fds[0].events = POLLIN; diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 8ccb2a035..9ab84b58a 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -138,9 +138,9 @@ private: orb_advert_t _telemetry_status_pub; orb_advert_t _rc_pub; orb_advert_t _manual_pub; - int _manual_sub; int _hil_frames; uint64_t _old_timestamp; bool _hil_local_proj_inited; float _hil_local_alt0; + struct map_projection_reference_s _hil_local_proj_ref; }; |