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diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c
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+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_receiver.c
+ * MAVLink protocol message receive and dispatch
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+/* XXX trim includes */
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <mqueue.h>
+#include <string.h>
+#include "mavlink_bridge_header.h"
+#include <v1.0/common/mavlink.h>
+#include <drivers/drv_hrt.h>
+#include <time.h>
+#include <float.h>
+#include <unistd.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+
+#include "util.h"
+#include "orb_topics.h"
+
+/* XXX should be in a header somewhere */
+pthread_t receive_start(int uart);
+
+static void handle_message(mavlink_message_t *msg);
+static void *receive_thread(void *arg);
+
+static mavlink_status_t status;
+static struct vehicle_vicon_position_s vicon_position;
+static struct vehicle_command_s vcmd;
+static struct offboard_control_setpoint_s offboard_control_sp;
+
+struct vehicle_global_position_s hil_global_pos;
+struct vehicle_attitude_s hil_attitude;
+orb_advert_t pub_hil_global_pos = -1;
+orb_advert_t pub_hil_attitude = -1;
+
+static orb_advert_t cmd_pub = -1;
+static orb_advert_t flow_pub = -1;
+
+static orb_advert_t offboard_control_sp_pub = -1;
+static orb_advert_t vicon_position_pub = -1;
+
+extern bool gcs_link;
+
+static void
+handle_message(mavlink_message_t *msg)
+{
+ if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
+
+ mavlink_command_long_t cmd_mavlink;
+ mavlink_msg_command_long_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 */
+ printf("[mavlink] Terminating .. \n");
+ fflush(stdout);
+ usleep(50000);
+
+ /* terminate other threads and this thread */
+ thread_should_exit = true;
+
+ } else {
+
+ /* Copy the content of mavlink_command_long_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;
+ vcmd.param5 = cmd_mavlink.param5;
+ vcmd.param6 = cmd_mavlink.param6;
+ vcmd.param7 = cmd_mavlink.param7;
+ vcmd.command = 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;
+ vcmd.confirmation = cmd_mavlink.confirmation;
+
+ /* check if topic is advertised */
+ if (cmd_pub <= 0) {
+ cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+ }
+ /* publish */
+ orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
+ }
+ }
+ }
+
+ if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
+ mavlink_optical_flow_t flow;
+ mavlink_msg_optical_flow_decode(msg, &flow);
+
+ struct optical_flow_s f;
+
+ f.timestamp = hrt_absolute_time();
+ f.flow_raw_x = flow.flow_x;
+ f.flow_raw_y = flow.flow_y;
+ f.flow_comp_x_m = flow.flow_comp_m_x;
+ f.flow_comp_y_m = flow.flow_comp_m_y;
+ f.ground_distance_m = flow.ground_distance;
+ f.quality = flow.quality;
+ f.sensor_id = flow.sensor_id;
+
+ /* check if topic is advertised */
+ if (flow_pub <= 0) {
+ flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+ } else {
+ /* publish */
+ orb_publish(ORB_ID(optical_flow), flow_pub, &f);
+ }
+
+ }
+
+ if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
+ /* Set mode on request */
+ mavlink_set_mode_t new_mode;
+ mavlink_msg_set_mode_decode(msg, &new_mode);
+
+ /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+ vcmd.param1 = new_mode.base_mode;
+ vcmd.param2 = new_mode.custom_mode;
+ vcmd.param3 = 0;
+ vcmd.param4 = 0;
+ vcmd.param5 = 0;
+ vcmd.param6 = 0;
+ vcmd.param7 = 0;
+ vcmd.command = MAV_CMD_DO_SET_MODE;
+ vcmd.target_system = new_mode.target_system;
+ vcmd.target_component = MAV_COMP_ID_ALL;
+ vcmd.source_system = msg->sysid;
+ vcmd.source_component = msg->compid;
+ vcmd.confirmation = 1;
+
+ /* check if topic is advertised */
+ if (cmd_pub <= 0) {
+ cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
+ } else {
+ /* create command */
+ orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
+ }
+ }
+
+ /* Handle Vicon position estimates */
+ if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
+ mavlink_vicon_position_estimate_t pos;
+ mavlink_msg_vicon_position_estimate_decode(msg, &pos);
+
+ vicon_position.x = pos.x;
+ vicon_position.y = pos.y;
+ vicon_position.z = pos.z;
+
+ if (vicon_position_pub <= 0) {
+ vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
+ } else {
+ orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
+ }
+ }
+
+ /* Handle quadrotor motor setpoints */
+
+ if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
+ mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
+ mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
+
+ if (mavlink_system.sysid < 4) {
+
+ /* switch to a receiving link mode */
+ gcs_link = false;
+
+ /*
+ * rate control mode - defined by MAVLink
+ */
+
+ uint8_t ml_mode = 0;
+ bool ml_armed = false;
+
+ switch (quad_motors_setpoint.mode) {
+ case 0:
+ ml_armed = false;
+ break;
+ case 1:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
+ ml_armed = true;
+
+ break;
+ case 2:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
+ ml_armed = true;
+
+ break;
+ case 3:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
+ break;
+ case 4:
+ ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
+ break;
+ }
+
+ offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid-1] / (float)INT16_MAX;
+ offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid-1] / (float)INT16_MAX;
+ offboard_control_sp.p3= (float)quad_motors_setpoint.yaw[mavlink_system.sysid-1] / (float)INT16_MAX;
+ offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid-1]/(float)UINT16_MAX;
+
+ if (quad_motors_setpoint.thrust[mavlink_system.sysid-1] == 0) {
+ ml_armed = false;
+ }
+
+ offboard_control_sp.armed = ml_armed;
+ offboard_control_sp.mode = ml_mode;
+
+ offboard_control_sp.timestamp = hrt_absolute_time();
+
+ /* check if topic has to be advertised */
+ if (offboard_control_sp_pub <= 0) {
+ offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
+ } else {
+ /* Publish */
+ orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
+ }
+ }
+ }
+
+}
+
+
+/**
+ * Receive data from UART.
+ */
+static void *
+receive_thread(void *arg)
+{
+ int uart_fd = *((int*)arg);
+
+ const int timeout = 1000;
+ uint8_t ch;
+
+ mavlink_message_t msg;
+
+ prctl(PR_SET_NAME, "mavlink offb rcv", getpid());
+
+ while (!thread_should_exit) {
+
+ struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
+
+ if (poll(fds, 1, timeout) > 0) {
+ /* non-blocking read until buffer is empty */
+ int nread = 0;
+
+ do {
+ nread = read(uart_fd, &ch, 1);
+
+ if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
+ /* handle generic messages and commands */
+ handle_message(&msg);
+ }
+ } while (nread > 0);
+ }
+ }
+
+ return NULL;
+}
+
+pthread_t
+receive_start(int uart)
+{
+ pthread_attr_t receiveloop_attr;
+ pthread_attr_init(&receiveloop_attr);
+
+ struct sched_param param;
+ param.sched_priority = SCHED_PRIORITY_MAX - 40;
+ (void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+ pthread_attr_setstacksize(&receiveloop_attr, 2048);
+
+ pthread_t thread;
+ pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
+ return thread;
+} \ No newline at end of file
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