diff options
Diffstat (limited to 'src/modules/mavlink_onboard')
-rw-r--r-- | src/modules/mavlink_onboard/mavlink.c | 529 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/mavlink_bridge_header.h | 81 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/mavlink_receiver.c | 331 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/module.mk | 42 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/orb_topics.h | 100 | ||||
-rw-r--r-- | src/modules/mavlink_onboard/util.h | 54 |
6 files changed, 1137 insertions, 0 deletions
diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c new file mode 100644 index 000000000..5a2685560 --- /dev/null +++ b/src/modules/mavlink_onboard/mavlink.c @@ -0,0 +1,529 @@ +/**************************************************************************** + * + * 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.c + * MAVLink 1.0 protocol implementation. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#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 <systemlib/err.h> + +#include "orb_topics.h" +#include "util.h" + +__EXPORT int mavlink_onboard_main(int argc, char *argv[]); + +static int mavlink_thread_main(int argc, char *argv[]); + +/* thread state */ +volatile bool thread_should_exit = false; +static volatile bool thread_running = false; +static int mavlink_task; + +/* pthreads */ +static pthread_t receive_thread; + +/* terminate MAVLink on user request - disabled by default */ +static bool mavlink_link_termination_allowed = false; + +mavlink_system_t mavlink_system = { + 100, + 50, + MAV_TYPE_QUADROTOR, + 0, + 0, + 0 +}; // System ID, 1-255, Component/Subsystem ID, 1-255 + +/* XXX not widely used */ +uint8_t chan = MAVLINK_COMM_0; + +/* XXX probably should be in a header... */ +extern pthread_t receive_start(int uart); + +bool mavlink_hil_enabled = false; + +/* protocol interface */ +static int uart; +static int baudrate; +bool gcs_link = true; + +/* interface mode */ +static enum { + MAVLINK_INTERFACE_MODE_OFFBOARD, + MAVLINK_INTERFACE_MODE_ONBOARD +} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; + +static void mavlink_update_system(void); +static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); +static void usage(void); + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 0: speed = B0; break; + + case 50: speed = B50; break; + + case 75: speed = B75; break; + + case 110: speed = B110; break; + + case 134: speed = B134; break; + + case 150: speed = B150; break; + + case 200: speed = B200; break; + + case 300: speed = B300; break; + + case 600: speed = B600; break; + + case 1200: speed = B1200; break; + + case 1800: speed = B1800; break; + + case 2400: speed = B2400; break; + + case 4800: speed = B4800; break; + + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + + case 460800: speed = B460800; break; + + case 921600: speed = B921600; break; + + default: + fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); + return -EINVAL; + } + + /* open uart */ + printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud); + uart = open(uart_name, O_RDWR | O_NOCTTY); + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + *is_usb = false; + + if (strcmp(uart_name, "/dev/ttyACM0") != OK) { + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { + fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state); + close(uart); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(uart, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + close(uart); + return -1; + } + + + if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { + fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + close(uart); + return -1; + } + + } else { + *is_usb = true; + } + + return uart; +} + +void +mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length) +{ + write(uart, ch, (size_t)(sizeof(uint8_t) * length)); +} + +/* + * Internal function to give access to the channel status for each channel + */ +mavlink_status_t* mavlink_get_channel_status(uint8_t channel) +{ + static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; + return &m_mavlink_status[channel]; +} + +/* + * Internal function to give access to the channel buffer for each channel + */ +mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel) +{ + static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; + return &m_mavlink_buffer[channel]; +} + +void mavlink_update_system(void) +{ + static bool initialized = false; + param_t param_system_id; + param_t param_component_id; + param_t param_system_type; + + 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"); + } + + /* update system and component id */ + int32_t system_id; + param_get(param_system_id, &system_id); + if (system_id > 0 && system_id < 255) { + mavlink_system.sysid = system_id; + } + + int32_t component_id; + param_get(param_component_id, &component_id); + if (component_id > 0 && component_id < 255) { + mavlink_system.compid = component_id; + } + + int32_t system_type; + param_get(param_system_type, &system_type); + if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { + mavlink_system.type = system_type; + } +} + +void +get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, + uint8_t *mavlink_state, uint8_t *mavlink_mode) +{ + /* reset MAVLink mode bitfield */ + *mavlink_mode = 0; + + /* set mode flags independent of system state */ + if (v_status->flag_control_manual_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + } + + if (v_status->flag_hil_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + /* set arming state */ + if (armed->armed) { + *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + } else { + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + } + + switch (v_status->state_machine) { + case SYSTEM_STATE_PREFLIGHT: + if (v_status->flag_preflight_gyro_calibration || + v_status->flag_preflight_mag_calibration || + v_status->flag_preflight_accel_calibration) { + *mavlink_state = MAV_STATE_CALIBRATING; + } else { + *mavlink_state = MAV_STATE_UNINIT; + } + break; + + case SYSTEM_STATE_STANDBY: + *mavlink_state = MAV_STATE_STANDBY; + break; + + case SYSTEM_STATE_GROUND_READY: + *mavlink_state = MAV_STATE_ACTIVE; + break; + + case SYSTEM_STATE_MANUAL: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + break; + + case SYSTEM_STATE_STABILIZED: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + break; + + case SYSTEM_STATE_AUTO: + *mavlink_state = MAV_STATE_ACTIVE; + *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + break; + + case SYSTEM_STATE_MISSION_ABORT: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_EMCY_LANDING: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_EMCY_CUTOFF: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_GROUND_ERROR: + *mavlink_state = MAV_STATE_EMERGENCY; + break; + + case SYSTEM_STATE_REBOOT: + *mavlink_state = MAV_STATE_POWEROFF; + break; + } + +} + +/** + * MAVLink Protocol main function. + */ +int mavlink_thread_main(int argc, char *argv[]) +{ + int ch; + char *device_name = "/dev/ttyS1"; + baudrate = 57600; + + struct vehicle_status_s v_status; + struct actuator_armed_s armed; + + /* work around some stupidity in task_create's argv handling */ + argc -= 2; + argv += 2; + + while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { + switch (ch) { + case 'b': + baudrate = strtoul(optarg, NULL, 10); + if (baudrate == 0) + errx(1, "invalid baud rate '%s'", optarg); + break; + + case 'd': + device_name = optarg; + break; + + case 'e': + mavlink_link_termination_allowed = true; + break; + + case 'o': + mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; + break; + + default: + usage(); + } + } + + struct termios uart_config_original; + bool usb_uart; + + /* print welcome text */ + warnx("MAVLink v1.0 serial interface starting..."); + + /* inform about mode */ + warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); + + /* Flush stdout in case MAVLink is about to take it over */ + fflush(stdout); + + /* default values for arguments */ + uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); + if (uart < 0) + err(1, "could not open %s", device_name); + + /* Initialize system properties */ + mavlink_update_system(); + + /* start the MAVLink receiver */ + receive_thread = receive_start(uart); + + thread_running = true; + + /* arm counter to go off immediately */ + unsigned lowspeed_counter = 10; + + while (!thread_should_exit) { + + /* 1 Hz */ + if (lowspeed_counter == 10) { + mavlink_update_system(); + + /* translate the current system state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_mode = 0; + get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); + + /* send status (values already copied in the section above) */ + mavlink_msg_sys_status_send(chan, + v_status.onboard_control_sensors_present, + v_status.onboard_control_sensors_enabled, + v_status.onboard_control_sensors_health, + v_status.load, + v_status.voltage_battery * 1000.0f, + v_status.current_battery * 1000.0f, + v_status.battery_remaining, + v_status.drop_rate_comm, + v_status.errors_comm, + v_status.errors_count1, + v_status.errors_count2, + v_status.errors_count3, + v_status.errors_count4); + lowspeed_counter = 0; + } + lowspeed_counter++; + + /* sleep 1000 ms */ + usleep(1000000); + } + + /* wait for threads to complete */ + pthread_join(receive_thread, NULL); + + /* Reset the UART flags to original state */ + if (!usb_uart) + tcsetattr(uart, TCSANOW, &uart_config_original); + + thread_running = false; + + exit(0); +} + +static void +usage() +{ + fprintf(stderr, "usage: mavlink start [-d <devicename>] [-b <baud rate>]\n" + " mavlink stop\n" + " mavlink status\n"); + exit(1); +} + +int mavlink_onboard_main(int argc, char *argv[]) +{ + + if (argc < 2) { + warnx("missing command"); + usage(); + } + + if (!strcmp(argv[1], "start")) { + + /* this is not an error */ + if (thread_running) + errx(0, "mavlink already running\n"); + + thread_should_exit = false; + mavlink_task = task_spawn("mavlink_onboard", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + mavlink_thread_main, + (const char**)argv); + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + while (thread_running) { + usleep(200000); + } + warnx("terminated."); + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + errx(0, "running"); + } else { + errx(1, "not running"); + } + } + + warnx("unrecognized command"); + usage(); + /* not getting here */ + return 0; +} + diff --git a/src/modules/mavlink_onboard/mavlink_bridge_header.h b/src/modules/mavlink_onboard/mavlink_bridge_header.h new file mode 100644 index 000000000..3ad3bb617 --- /dev/null +++ b/src/modules/mavlink_onboard/mavlink_bridge_header.h @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * 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_bridge_header + * MAVLink bridge header for UART access. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +/* MAVLink adapter header */ +#ifndef MAVLINK_BRIDGE_HEADER_H +#define MAVLINK_BRIDGE_HEADER_H + +#define MAVLINK_USE_CONVENIENCE_FUNCTIONS + +/* use efficient approach, see mavlink_helpers.h */ +#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes + +#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer +#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status + +#include <v1.0/mavlink_types.h> +#include <unistd.h> + + +/* Struct that stores the communication settings of this system. + you can also define / alter these settings elsewhere, as long + as they're included BEFORE mavlink.h. + So you can set the + + mavlink_system.sysid = 100; // System ID, 1-255 + mavlink_system.compid = 50; // Component/Subsystem ID, 1-255 + + Lines also in your main.c, e.g. by reading these parameter from EEPROM. + */ +extern mavlink_system_t mavlink_system; + +/** + * @brief Send multiple chars (uint8_t) over a comm channel + * + * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0 + * @param ch Character to send + */ +extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length); + +mavlink_status_t* mavlink_get_channel_status(uint8_t chan); +mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan); + +#endif /* MAVLINK_BRIDGE_HEADER_H */ diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c new file mode 100644 index 000000000..0acbea675 --- /dev/null +++ b/src/modules/mavlink_onboard/mavlink_receiver.c @@ -0,0 +1,331 @@ +/**************************************************************************** + * + * 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, ¶m); + + 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 diff --git a/src/modules/mavlink_onboard/module.mk b/src/modules/mavlink_onboard/module.mk new file mode 100644 index 000000000..c40fa042e --- /dev/null +++ b/src/modules/mavlink_onboard/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. +# +# 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. +# +############################################################################ + +# +# MAVLink protocol to uORB interface process (XXX hack for onboard use) +# + +MODULE_COMMAND = mavlink_onboard +SRCS = mavlink.c \ + mavlink_receiver.c + +INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h new file mode 100644 index 000000000..f18f56243 --- /dev/null +++ b/src/modules/mavlink_onboard/orb_topics.h @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @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 orb_topics.h + * Common sets of topics subscribed to or published by the MAVLink driver, + * and structures maintained by those subscriptions. + */ +#pragma once + +#include <uORB/uORB.h> +#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_gps_position.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/topics/vehicle_command.h> +#include <uORB/topics/vehicle_local_position_setpoint.h> +#include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/optical_flow.h> +#include <uORB/topics/actuator_outputs.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/debug_key_value.h> +#include <drivers/drv_rc_input.h> + +struct mavlink_subscriptions { + int sensor_sub; + int att_sub; + int global_pos_sub; + int act_0_sub; + int act_1_sub; + int act_2_sub; + int act_3_sub; + int gps_sub; + int man_control_sp_sub; + int armed_sub; + int actuators_sub; + int local_pos_sub; + int spa_sub; + int spl_sub; + int spg_sub; + int debug_key_value; + int input_rc_sub; +}; + +extern struct mavlink_subscriptions mavlink_subs; + +/** Global position */ +extern struct vehicle_global_position_s global_pos; + +/** Local position */ +extern struct vehicle_local_position_s local_pos; + +/** Vehicle status */ +// extern struct vehicle_status_s v_status; + +/** RC channels */ +extern struct rc_channels_s rc; + +/** Actuator armed state */ +// extern struct actuator_armed_s armed; + +/** Worker thread starter */ +extern pthread_t uorb_receive_start(void); diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h new file mode 100644 index 000000000..38a4db372 --- /dev/null +++ b/src/modules/mavlink_onboard/util.h @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @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 util.h + * Utility and helper functions and data. + */ + +#pragma once + +#include "orb_topics.h" + +/** MAVLink communications channel */ +extern uint8_t chan; + +/** Shutdown marker */ +extern volatile bool thread_should_exit; + +/** + * Translate the custom state into standard mavlink modes and state. + */ +extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed, + uint8_t *mavlink_state, uint8_t *mavlink_mode); |