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/missionlib.c | 200 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 200 insertions(+) create mode 100644 src/modules/mavlink/missionlib.c (limited to 'src/modules/mavlink/missionlib.c') diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c new file mode 100644 index 000000000..d369e05ff --- /dev/null +++ b/src/modules/mavlink/missionlib.c @@ -0,0 +1,200 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @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 missionlib.h + * MAVLink missionlib components + */ + +// XXX trim includes +#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 "waypoints.h" +#include "orb_topics.h" +#include "missionlib.h" +#include "mavlink_hil.h" +#include "util.h" +#include "waypoints.h" +#include "mavlink_parameters.h" + +static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN]; + +int +mavlink_missionlib_send_message(mavlink_message_t *msg) +{ + uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); + + mavlink_send_uart_bytes(chan, missionlib_msg_buf, len); + return 0; +} + +int +mavlink_missionlib_send_gcs_string(const char *string) +{ + const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; + mavlink_statustext_t statustext; + int i = 0; + + while (i < len - 1) { + statustext.text[i] = string[i]; + + if (string[i] == '\0') + break; + + i++; + } + + if (i > 1) { + /* Enforce null termination */ + statustext.text[i] = '\0'; + mavlink_message_t msg; + + mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext); + return mavlink_missionlib_send_message(&msg); + + } else { + return 1; + } +} + +/** + * Get system time since boot in microseconds + * + * @return the system time since boot in microseconds + */ +uint64_t mavlink_missionlib_get_system_timestamp() +{ + return hrt_absolute_time(); +} + +/** + * This callback is executed each time a waypoint changes. + * + * It publishes the vehicle_global_position_setpoint_s or the + * vehicle_local_position_setpoint_s topic, depending on the type of waypoint + */ +void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, + float param2, float param3, float param4, float param5_lat_x, + float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command) +{ + static orb_advert_t global_position_setpoint_pub = -1; + static orb_advert_t local_position_setpoint_pub = -1; + char buf[50] = {0}; + + /* Update controller setpoints */ + if (frame == (int)MAV_FRAME_GLOBAL) { + /* global, absolute waypoint */ + struct vehicle_global_position_setpoint_s sp; + sp.lat = param5_lat_x * 1e7f; + sp.lon = param6_lon_y * 1e7f; + sp.altitude = param7_alt_z; + sp.altitude_is_relative = false; + sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + + /* Initialize publication if necessary */ + if (global_position_setpoint_pub < 0) { + global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); + + } else { + orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); + } + + sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); + + } else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) { + /* global, relative alt (in relation to HOME) waypoint */ + struct vehicle_global_position_setpoint_s sp; + sp.lat = param5_lat_x * 1e7f; + sp.lon = param6_lon_y * 1e7f; + sp.altitude = param7_alt_z; + sp.altitude_is_relative = true; + sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + + /* Initialize publication if necessary */ + if (global_position_setpoint_pub < 0) { + global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp); + + } else { + orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp); + } + + sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); + + } else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) { + /* local, absolute waypoint */ + struct vehicle_local_position_setpoint_s sp; + sp.x = param5_lat_x; + sp.y = param6_lon_y; + sp.z = param7_alt_z; + sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + + /* Initialize publication if necessary */ + if (local_position_setpoint_pub < 0) { + local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp); + + } else { + orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp); + } + + sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4); + } + + mavlink_missionlib_send_gcs_string(buf); + printf("%s\n", buf); + //printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000); +} -- cgit v1.2.3