From d8a3454538e2a634513defd50b40fb49c194b670 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Apr 2013 00:10:20 +0200 Subject: Cut over MAVLink to new build system --- src/modules/mavlink/mavlink.c | 825 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 825 insertions(+) create mode 100644 src/modules/mavlink/mavlink.c (limited to 'src/modules/mavlink/mavlink.c') diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c new file mode 100644 index 000000000..de78cd139 --- /dev/null +++ b/src/modules/mavlink/mavlink.c @@ -0,0 +1,825 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * 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 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "mavlink_bridge_header.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "waypoints.h" +#include "orb_topics.h" +#include "missionlib.h" +#include "mavlink_hil.h" +#include "util.h" +#include "waypoints.h" +#include "mavlink_parameters.h" + +/* define MAVLink specific parameters */ +PARAM_DEFINE_INT32(MAV_SYS_ID, 1); +PARAM_DEFINE_INT32(MAV_COMP_ID, 50); +PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); + +__EXPORT int mavlink_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; +static pthread_t uorb_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_FIXED_WING, + 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); + +/* Allocate storage space for waypoints */ +static mavlink_wpm_storage wpm_s; +mavlink_wpm_storage *wpm = &wpm_s; + +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 struct mavlink_logbuffer lb; + +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); +int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval); + + + +int +set_hil_on_off(bool hil_enabled) +{ + int ret = OK; + + /* Enable HIL */ + if (hil_enabled && !mavlink_hil_enabled) { + + /* Advertise topics */ + pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); + pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); + + /* sensore level hil */ + pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); + pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); + + mavlink_hil_enabled = true; + + /* ramp up some HIL-related subscriptions */ + unsigned hil_rate_interval; + + if (baudrate < 19200) { + /* 10 Hz */ + hil_rate_interval = 100; + + } else if (baudrate < 38400) { + /* 10 Hz */ + hil_rate_interval = 100; + + } else if (baudrate < 115200) { + /* 20 Hz */ + hil_rate_interval = 50; + + } else { + /* 200 Hz */ + hil_rate_interval = 5; + } + + orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval); + } + + if (!hil_enabled && mavlink_hil_enabled) { + mavlink_hil_enabled = false; + orb_set_interval(mavlink_subs.spa_sub, 200); + + } else { + ret = ERROR; + } + + return ret; +} + +void +get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) +{ + /* reset MAVLink mode bitfield */ + *mavlink_mode = 0; + + /* set mode flags independent of system state */ + + /* HIL */ + if (v_status.flag_hil_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + /* manual input */ + if (v_status.flag_control_manual_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + } + + /* attitude or rate control */ + if (v_status.flag_control_attitude_enabled || + v_status.flag_control_rates_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + } + + /* vector control */ + if (v_status.flag_control_velocity_enabled || + v_status.flag_control_position_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + } + + /* autonomous mode */ + if (v_status.state_machine == SYSTEM_STATE_AUTO) { + *mavlink_mode |= MAV_MODE_FLAG_AUTO_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; + break; + + case SYSTEM_STATE_STABILIZED: + *mavlink_state = MAV_STATE_ACTIVE; + break; + + case SYSTEM_STATE_AUTO: + *mavlink_state = MAV_STATE_ACTIVE; + 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; + } + +} + + +int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval) +{ + int ret = OK; + + switch (mavlink_msg_id) { + case MAVLINK_MSG_ID_SCALED_IMU: + /* sensor sub triggers scaled IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_HIGHRES_IMU: + /* sensor sub triggers highres IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_RAW_IMU: + /* sensor sub triggers RAW IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_ATTITUDE: + /* attitude sub triggers attitude */ + orb_set_interval(subs->att_sub, min_interval); + break; + + case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: + /* actuator_outputs triggers this message */ + orb_set_interval(subs->act_0_sub, min_interval); + orb_set_interval(subs->act_1_sub, min_interval); + orb_set_interval(subs->act_2_sub, min_interval); + orb_set_interval(subs->act_3_sub, min_interval); + orb_set_interval(subs->actuators_sub, min_interval); + break; + + case MAVLINK_MSG_ID_MANUAL_CONTROL: + /* manual_control_setpoint triggers this message */ + orb_set_interval(subs->man_control_sp_sub, min_interval); + break; + + case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: + orb_set_interval(subs->debug_key_value, min_interval); + break; + + default: + /* not found */ + ret = ERROR; + break; + } + + return ret; +} + + +/**************************************************************************** + * MAVLink text message logger + ****************************************************************************/ + +static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); + +static const struct file_operations mavlink_fops = { + .ioctl = mavlink_dev_ioctl +}; + +static int +mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) +{ + static unsigned int total_counter = 0; + + switch (cmd) { + case (int)MAVLINK_IOC_SEND_TEXT_INFO: + case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: + case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { + const char *txt = (const char *)arg; + struct mavlink_logmessage msg; + strncpy(msg.text, txt, sizeof(msg.text)); + mavlink_logbuffer_write(&lb, &msg); + total_counter++; + return OK; + } + + default: + return ENOTTY; + } +} + +#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10 + +/**************************************************************************** + * 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; + + /* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */ + if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != 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; + static param_t param_system_id; + static param_t param_component_id; + static 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"); + initialized = true; + } + + /* 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; + } +} + +/** + * MAVLink Protocol main function. + */ +int mavlink_thread_main(int argc, char *argv[]) +{ + /* initialize mavlink text message buffering */ + mavlink_logbuffer_init(&lb, 5); + + int ch; + char *device_name = "/dev/ttyS1"; + baudrate = 57600; + + /* 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); + + /* create the device node that's used for sending text log messages, etc. */ + register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL); + + /* Initialize system properties */ + mavlink_update_system(); + + /* start the MAVLink receiver */ + receive_thread = receive_start(uart); + + /* start the ORB receiver */ + uorb_receive_thread = uorb_receive_start(); + + /* initialize waypoint manager */ + mavlink_wpm_init(wpm); + + /* all subscriptions are now active, set up initial guess about rate limits */ + if (baudrate >= 230400) { + /* 200 Hz / 5 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); + /* 50 Hz / 20 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30); + /* 20 Hz / 50 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100); + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); + + } else if (baudrate >= 115200) { + /* 20 Hz / 50 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + + } else if (baudrate >= 57600) { + /* 10 Hz / 100 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300); + /* 10 Hz / 100 ms ATTITUDE */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500); + + } else { + /* very low baud rate, limit to 1 Hz / 1000 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000); + /* 1 Hz / 1000 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000); + /* 0.5 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000); + /* 0.1 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000); + } + + 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(&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); + + /* switch HIL mode if required */ + set_hil_on_off(v_status.flag_hil_enabled); + + /* 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 quarter the time */ + usleep(25000); + + /* check if waypoint has been reached against the last positions */ + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); + + /* sleep quarter the time */ + usleep(25000); + + /* send parameters at 20 Hz (if queued for sending) */ + mavlink_pm_queued_send(); + + /* sleep quarter the time */ + usleep(25000); + + if (baudrate > 57600) { + mavlink_pm_queued_send(); + } + + /* sleep 10 ms */ + usleep(10000); + + /* send one string at 10 Hz */ + if (!mavlink_logbuffer_is_empty(&lb)) { + struct mavlink_logmessage msg; + int lb_ret = mavlink_logbuffer_read(&lb, &msg); + + if (lb_ret == OK) { + mavlink_missionlib_send_gcs_string(msg.text); + } + } + + /* sleep 15 ms */ + usleep(15000); + } + + /* wait for threads to complete */ + pthread_join(receive_thread, NULL); + pthread_join(uorb_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 ] [-b ]\n" + " mavlink stop\n" + " mavlink status\n"); + exit(1); +} + +int mavlink_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", + 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); + printf("."); + } + + 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; +} + -- cgit v1.2.3