From 2c2c4af59907a1a2dd9fb0635fd9a179f8c8860f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 25 Mar 2014 12:21:07 +0100
Subject: mavlink / HIL: Split handling of actuator feedback between fixed wing
 and multicopters

---
 src/modules/mavlink/mavlink_messages.cpp | 84 ++++++++++++++++++++------------
 1 file changed, 53 insertions(+), 31 deletions(-)

(limited to 'src/modules/mavlink/mavlink_messages.cpp')

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 96852bb0e..e292f52ba 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -71,6 +71,7 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/navigation_capabilities.h>
 #include <drivers/drv_rc_input.h>
+#include <drivers/drv_pwm_output.h>
 
 #include "mavlink_messages.h"
 
@@ -762,6 +763,9 @@ private:
 	MavlinkOrbSubscription *act_sub;
 	struct actuator_outputs_s *act;
 
+	MavlinkOrbSubscription *ctrl_sub;
+	struct actuator_controls_s *ctrl;
+
 protected:
 	void subscribe(Mavlink *mavlink)
 	{
@@ -773,6 +777,9 @@ protected:
 
 		act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0));
 		act = (struct actuator_outputs_s *)act_sub->get_data();
+
+		ctrl_sub = mavlink->add_orb_subscription(ORB_ID(actuator_controls_0));
+		ctrl = (struct actuator_controls_s *)ctrl_sub->get_data();
 	}
 
 	void send(const hrt_abstime t)
@@ -780,6 +787,7 @@ protected:
 		bool updated = status_sub->update(t);
 		updated |= pos_sp_triplet_sub->update(t);
 		updated |= act_sub->update(t);
+		updated |= ctrl_sub->update(t);
 
 		if (updated) {
 			/* translate the current syste state to mavlink state and mode */
@@ -788,47 +796,61 @@ protected:
 			uint32_t mavlink_custom_mode;
 			get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
 
-			/* set number of valid outputs depending on vehicle type */
-			unsigned n;
+			if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
+				mavlink_system.type == MAV_TYPE_HEXAROTOR ||
+				mavlink_system.type == MAV_TYPE_OCTOROTOR) {
+				/* set number of valid outputs depending on vehicle type */
+				unsigned n;
 
-			switch (mavlink_system.type) {
-			case MAV_TYPE_QUADROTOR:
-				n = 4;
-				break;
+				switch (mavlink_system.type) {
+				case MAV_TYPE_QUADROTOR:
+					n = 4;
+					break;
 
-			case MAV_TYPE_HEXAROTOR:
-				n = 6;
-				break;
+				case MAV_TYPE_HEXAROTOR:
+					n = 6;
+					break;
 
-			default:
-				n = 8;
-				break;
-			}
+				default:
+					n = 8;
+					break;
+				}
 
-			/* scale / assign outputs depending on system type */
-			float out[8];
+				/* scale / assign outputs depending on system type */
+				float out[8];
 
-			for (unsigned i = 0; i < 8; i++) {
-				if (i < n) {
-					if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-						/* scale fake PWM out 900..2100 us to -1..1*/
-						out[i] = (act->output[i] - 1500.0f) / 600.0f;
+				for (unsigned i = 0; i < 8; i++) {
+					if (i < n) {
+						if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
+							/* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */
+							out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
+
+						} else {
+							/* send 0 when disarmed */
+							out[i] = 0.0f;
+						}
 
 					} else {
-						/* send 0 when disarmed */
-						out[i] = 0.0f;
+						out[i] = -1.0f;
 					}
-
-				} else {
-					out[i] = -1.0f;
 				}
-			}
 
-			mavlink_msg_hil_controls_send(_channel,
-						      hrt_absolute_time(),
-						      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
-						      mavlink_base_mode,
-						      0);
+				mavlink_msg_hil_controls_send(_channel,
+							      hrt_absolute_time(),
+							      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
+							      mavlink_base_mode,
+							      0);
+			} else {
+
+				/* no special handling required, just send the controls */
+
+				mavlink_msg_hil_controls_send(_channel,
+							      hrt_absolute_time(),
+							      ctrl->control[0], ctrl->control[1], ctrl->control[2], ctrl->control[3],
+							      ctrl->control[4], ctrl->control[5], ctrl->control[6], ctrl->control[7],
+							      mavlink_base_mode,
+							      0);
+			}
 		}
 	}
 };
-- 
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