From 0d87dc992312526bb96269d706e2869d540926f6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 18 Aug 2014 16:50:13 +0200 Subject: mavlink: Handle command int packets --- src/modules/mavlink/mavlink_main.cpp | 2 ++ src/modules/mavlink/mavlink_receiver.cpp | 60 ++++++++++++++++++++++++++++++++ src/modules/mavlink/mavlink_receiver.h | 1 + 3 files changed, 63 insertions(+) (limited to 'src') diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index c27716f74..976b6d4d5 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1655,6 +1655,8 @@ Mavlink::display_status() printf("\tGCS heartbeat:\t%llu us ago\n", hrt_elapsed_time(&_rstatus.heartbeat_time)); } + printf("\tmavlink chan: #%u\n", _channel); + if (_rstatus.timestamp > 0) { printf("\ttype:\t\t"); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index e9a9ff133..a602344fd 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -136,6 +136,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) handle_message_command_long(msg); break; + case MAVLINK_MSG_ID_COMMAND_INT: + handle_message_command_int(msg); + break; + case MAVLINK_MSG_ID_OPTICAL_FLOW: handle_message_optical_flow(msg); break; @@ -275,6 +279,62 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) } } +void +MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) +{ + /* command */ + mavlink_command_int_t cmd_mavlink; + mavlink_msg_command_int_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 */ + warnx("terminated by remote command"); + fflush(stdout); + usleep(50000); + + /* terminate other threads and this thread */ + _mavlink->_task_should_exit = true; + + } else { + + if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { + warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID", + mavlink_system.sysid, mavlink_system.compid); + return; + } + + struct vehicle_command_s vcmd; + memset(&vcmd, 0, sizeof(vcmd)); + + /* Copy the content of mavlink_command_int_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; + /* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */ + vcmd.param5 = ((double)cmd_mavlink.x) / 1e7; + vcmd.param6 = ((double)cmd_mavlink.y) / 1e7; + vcmd.param7 = cmd_mavlink.z; + // XXX do proper translation + vcmd.command = (enum VEHICLE_CMD)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; + + if (_cmd_pub < 0) { + _cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); + + } else { + orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd); + } + } + } +} + void MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg) { diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 3999b8b01..91125736c 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -110,6 +110,7 @@ private: void handle_message(mavlink_message_t *msg); void handle_message_command_long(mavlink_message_t *msg); + void handle_message_command_int(mavlink_message_t *msg); void handle_message_optical_flow(mavlink_message_t *msg); void handle_message_set_mode(mavlink_message_t *msg); void handle_message_vicon_position_estimate(mavlink_message_t *msg); -- cgit v1.2.3