/**************************************************************************** * * Copyright (c) 2012-2015 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. * ****************************************************************************/ /** * @file mavlink_receiver.cpp * MAVLink protocol message receive and dispatch * * @author Lorenz Meier * @author Anton Babushkin * @author Thomas Gubler */ /* XXX trim includes */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include __BEGIN_DECLS #include "mavlink_bridge_header.h" #include "mavlink_receiver.h" #include "mavlink_main.h" __END_DECLS static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f; MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : _mavlink(parent), status{}, hil_local_pos{}, hil_land_detector{}, _control_mode{}, _global_pos_pub(-1), _local_pos_pub(-1), _attitude_pub(-1), _gps_pub(-1), _sensors_pub(-1), _gyro_pub(-1), _accel_pub(-1), _mag_pub(-1), _baro_pub(-1), _airspeed_pub(-1), _battery_pub(-1), _cmd_pub(-1), _flow_pub(-1), _range_pub(-1), _offboard_control_mode_pub(-1), _actuator_controls_pub(-1), _global_vel_sp_pub(-1), _att_sp_pub(-1), _rates_sp_pub(-1), _force_sp_pub(-1), _pos_sp_triplet_pub(-1), _vicon_position_pub(-1), _vision_position_pub(-1), _telemetry_status_pub(-1), _rc_pub(-1), _manual_pub(-1), _land_detector_pub(-1), _control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))), _hil_frames(0), _old_timestamp(0), _hil_local_proj_inited(0), _hil_local_alt0(0.0f), _hil_local_proj_ref{}, _time_offset_avg_alpha(0.6), _time_offset(0) { // make sure the FTP server is started (void)MavlinkFTP::get_server(); } MavlinkReceiver::~MavlinkReceiver() { } void MavlinkReceiver::handle_message(mavlink_message_t *msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_COMMAND_LONG: handle_message_command_long(msg); break; case MAVLINK_MSG_ID_COMMAND_INT: handle_message_command_int(msg); break; case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD: handle_message_optical_flow_rad(msg); break; case MAVLINK_MSG_ID_SET_MODE: handle_message_set_mode(msg); break; case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE: handle_message_vicon_position_estimate(msg); break; case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED: handle_message_set_position_target_local_ned(msg); break; case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: handle_message_set_attitude_target(msg); break; case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET: handle_message_set_actuator_control_target(msg); break; case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: handle_message_vision_position_estimate(msg); break; case MAVLINK_MSG_ID_RADIO_STATUS: handle_message_radio_status(msg); break; case MAVLINK_MSG_ID_MANUAL_CONTROL: handle_message_manual_control(msg); break; case MAVLINK_MSG_ID_HEARTBEAT: handle_message_heartbeat(msg); break; case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: handle_message_request_data_stream(msg); break; case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL: MavlinkFTP::get_server()->handle_message(_mavlink, msg); break; case MAVLINK_MSG_ID_SYSTEM_TIME: handle_message_system_time(msg); break; case MAVLINK_MSG_ID_TIMESYNC: handle_message_timesync(msg); break; default: break; } /* * Only decode hil messages in HIL mode. * * The HIL mode is enabled by the HIL bit flag * in the system mode. Either send a set mode * COMMAND_LONG message or a SET_MODE message * * Accept HIL GPS messages if use_hil_gps flag is true. * This allows to provide fake gps measurements to the system. */ if (_mavlink->get_hil_enabled()) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_SENSOR: handle_message_hil_sensor(msg); break; case MAVLINK_MSG_ID_HIL_STATE_QUATERNION: handle_message_hil_state_quaternion(msg); break; case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW: handle_message_hil_optical_flow(msg); break; default: break; } } if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_GPS: handle_message_hil_gps(msg); break; default: break; } } /* If we've received a valid message, mark the flag indicating so. This is used in the '-w' command-line flag. */ _mavlink->set_has_received_messages(true); } void MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) { /* command */ 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 */ warnx("terminated by remote"); 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 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_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; // 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; vcmd.confirmation = cmd_mavlink.confirmation; 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_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"); 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 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_rad(mavlink_message_t *msg) { /* optical flow */ mavlink_optical_flow_rad_t flow; mavlink_msg_optical_flow_rad_decode(msg, &flow); enum Rotation flow_rot; param_get(param_find("SENS_FLOW_ROT"),&flow_rot); struct optical_flow_s f; memset(&f, 0, sizeof(f)); f.timestamp = flow.time_usec; f.integration_timespan = flow.integration_time_us; f.pixel_flow_x_integral = flow.integrated_x; f.pixel_flow_y_integral = flow.integrated_y; f.gyro_x_rate_integral = flow.integrated_xgyro; f.gyro_y_rate_integral = flow.integrated_ygyro; f.gyro_z_rate_integral = flow.integrated_zgyro; f.time_since_last_sonar_update = flow.time_delta_distance_us; f.ground_distance_m = flow.distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; f.gyro_temperature = flow.temperature; /* rotate measurements according to parameter */ float zeroval = 0.0f; rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval); if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); } else { orb_publish(ORB_ID(optical_flow), _flow_pub, &f); } } void MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg) { /* optical flow */ mavlink_hil_optical_flow_t flow; mavlink_msg_hil_optical_flow_decode(msg, &flow); struct optical_flow_s f; memset(&f, 0, sizeof(f)); f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec; f.integration_timespan = flow.integration_time_us; f.pixel_flow_x_integral = flow.integrated_x; f.pixel_flow_y_integral = flow.integrated_y; f.gyro_x_rate_integral = flow.integrated_xgyro; f.gyro_y_rate_integral = flow.integrated_ygyro; f.gyro_z_rate_integral = flow.integrated_zgyro; f.time_since_last_sonar_update = flow.time_delta_distance_us; f.ground_distance_m = flow.distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; f.gyro_temperature = flow.temperature; if (_flow_pub < 0) { _flow_pub = orb_advertise(ORB_ID(optical_flow), &f); } else { orb_publish(ORB_ID(optical_flow), _flow_pub, &f); } /* Use distance value for range finder report */ struct range_finder_report r; memset(&r, 0, sizeof(r)); r.timestamp = hrt_absolute_time(); r.error_count = 0; r.type = RANGE_FINDER_TYPE_LASER; r.distance = flow.distance; r.minimum_distance = 0.0f; r.maximum_distance = 40.0f; // this is set to match the typical range of real sensors, could be made configurable r.valid = (r.distance > r.minimum_distance) && (r.distance < r.maximum_distance); if (_range_pub < 0) { _range_pub = orb_advertise(ORB_ID(sensor_range_finder), &r); } else { orb_publish(ORB_ID(sensor_range_finder), _range_pub, &r); } } void MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg) { mavlink_set_mode_t new_mode; mavlink_msg_set_mode_decode(msg, &new_mode); struct vehicle_command_s vcmd; memset(&vcmd, 0, sizeof(vcmd)); union px4_custom_mode custom_mode; custom_mode.data = new_mode.custom_mode; /* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ vcmd.param1 = new_mode.base_mode; vcmd.param2 = custom_mode.main_mode; vcmd.param3 = 0; vcmd.param4 = 0; vcmd.param5 = 0; vcmd.param6 = 0; vcmd.param7 = 0; vcmd.command = VEHICLE_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; 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_vicon_position_estimate(mavlink_message_t *msg) { mavlink_vicon_position_estimate_t pos; mavlink_msg_vicon_position_estimate_decode(msg, &pos); struct vehicle_vicon_position_s vicon_position; memset(&vicon_position, 0, sizeof(vicon_position)); vicon_position.timestamp = hrt_absolute_time(); vicon_position.x = pos.x; vicon_position.y = pos.y; vicon_position.z = pos.z; vicon_position.roll = pos.roll; vicon_position.pitch = pos.pitch; vicon_position.yaw = pos.yaw; 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); } } void MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg) { mavlink_set_position_target_local_ned_t set_position_target_local_ned; mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned); struct offboard_control_mode_s offboard_control_mode; memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints /* Only accept messages which are intended for this system */ if ((mavlink_system.sysid == set_position_target_local_ned.target_system || set_position_target_local_ned.target_system == 0) && (mavlink_system.compid == set_position_target_local_ned.target_component || set_position_target_local_ned.target_component == 0)) { /* convert mavlink type (local, NED) to uORB offboard control struct */ offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7); offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38); offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0); bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9)); /* yaw ignore flag mapps to ignore_attitude */ offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400); /* yawrate ignore flag mapps to ignore_bodyrate */ offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800); offboard_control_mode.timestamp = hrt_absolute_time(); if (_offboard_control_mode_pub < 0) { _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode); } else { orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); } /* If we are in offboard control mode and offboard control loop through is enabled * also publish the setpoint topic which is read by the controller */ if (_mavlink->get_forward_externalsp()) { bool updated; orb_check(_control_mode_sub, &updated); if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } if (_control_mode.flag_control_offboard_enabled) { if (is_force_sp && offboard_control_mode.ignore_position && offboard_control_mode.ignore_velocity) { /* The offboard setpoint is a force setpoint only, directly writing to the force * setpoint topic and not publishing the setpoint triplet topic */ struct vehicle_force_setpoint_s force_sp; force_sp.x = set_position_target_local_ned.afx; force_sp.y = set_position_target_local_ned.afy; force_sp.z = set_position_target_local_ned.afz; //XXX: yaw if (_force_sp_pub < 0) { _force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp); } else { orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp); } } else { /* It's not a pure force setpoint: publish to setpoint triplet topic */ struct position_setpoint_triplet_s pos_sp_triplet; pos_sp_triplet.previous.valid = false; pos_sp_triplet.next.valid = false; pos_sp_triplet.current.valid = true; pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others /* set the local pos values */ if (!offboard_control_mode.ignore_position) { pos_sp_triplet.current.position_valid = true; pos_sp_triplet.current.x = set_position_target_local_ned.x; pos_sp_triplet.current.y = set_position_target_local_ned.y; pos_sp_triplet.current.z = set_position_target_local_ned.z; } else { pos_sp_triplet.current.position_valid = false; } /* set the local vel values */ if (!offboard_control_mode.ignore_velocity) { pos_sp_triplet.current.velocity_valid = true; pos_sp_triplet.current.vx = set_position_target_local_ned.vx; pos_sp_triplet.current.vy = set_position_target_local_ned.vy; pos_sp_triplet.current.vz = set_position_target_local_ned.vz; } else { pos_sp_triplet.current.velocity_valid = false; } /* set the local acceleration values if the setpoint type is 'local pos' and none * of the accelerations fields is set to 'ignore' */ if (!offboard_control_mode.ignore_acceleration_force) { pos_sp_triplet.current.acceleration_valid = true; pos_sp_triplet.current.a_x = set_position_target_local_ned.afx; pos_sp_triplet.current.a_y = set_position_target_local_ned.afy; pos_sp_triplet.current.a_z = set_position_target_local_ned.afz; pos_sp_triplet.current.acceleration_is_force = is_force_sp; } else { pos_sp_triplet.current.acceleration_valid = false; } /* set the yaw sp value */ if (!offboard_control_mode.ignore_attitude) { pos_sp_triplet.current.yaw_valid = true; pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw; } else { pos_sp_triplet.current.yaw_valid = false; } /* set the yawrate sp value */ if (!offboard_control_mode.ignore_bodyrate) { pos_sp_triplet.current.yawspeed_valid = true; pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate; } else { pos_sp_triplet.current.yawspeed_valid = false; } //XXX handle global pos setpoints (different MAV frames) if (_pos_sp_triplet_pub < 0) { _pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &pos_sp_triplet); } else { orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &pos_sp_triplet); } } } } } } void MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg) { mavlink_set_actuator_control_target_t set_actuator_control_target; mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target); struct offboard_control_mode_s offboard_control_mode; memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints struct actuator_controls_s actuator_controls; memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints if ((mavlink_system.sysid == set_actuator_control_target.target_system || set_actuator_control_target.target_system == 0) && (mavlink_system.compid == set_actuator_control_target.target_component || set_actuator_control_target.target_component == 0)) { /* ignore all since we are setting raw actuators here */ offboard_control_mode.ignore_thrust = true; offboard_control_mode.ignore_attitude = true; offboard_control_mode.ignore_bodyrate = true; offboard_control_mode.ignore_position = true; offboard_control_mode.ignore_velocity = true; offboard_control_mode.ignore_acceleration_force = true; offboard_control_mode.timestamp = hrt_absolute_time(); if (_offboard_control_mode_pub < 0) { _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode); } else { orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); } /* If we are in offboard control mode, publish the actuator controls */ bool updated; orb_check(_control_mode_sub, &updated); if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } if (_control_mode.flag_control_offboard_enabled) { actuator_controls.timestamp = hrt_absolute_time(); /* Set duty cycles for the servos in actuator_controls_0 */ for(size_t i = 0; i < 8; i++) { actuator_controls.control[i] = set_actuator_control_target.controls[i]; } if (_actuator_controls_pub < 0) { _actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls); } else { orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls); } } } } void MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg) { mavlink_vision_position_estimate_t pos; mavlink_msg_vision_position_estimate_decode(msg, &pos); struct vision_position_estimate vision_position; memset(&vision_position, 0, sizeof(vision_position)); // Use the component ID to identify the vision sensor vision_position.id = msg->compid; vision_position.timestamp_boot = to_hrt(pos.usec); // Synced time vision_position.timestamp_computer = pos.usec; vision_position.x = pos.x; vision_position.y = pos.y; vision_position.z = pos.z; // XXX fix this vision_position.vx = 0.0f; vision_position.vy = 0.0f; vision_position.vz = 0.0f; math::Quaternion q; q.from_euler(pos.roll, pos.pitch, pos.yaw); vision_position.q[0] = q(0); vision_position.q[1] = q(1); vision_position.q[2] = q(2); vision_position.q[3] = q(3); if (_vision_position_pub < 0) { _vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position); } else { orb_publish(ORB_ID(vision_position_estimate), _vision_position_pub, &vision_position); } } void MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg) { mavlink_set_attitude_target_t set_attitude_target; mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target); static struct offboard_control_mode_s offboard_control_mode = {}; /* Only accept messages which are intended for this system */ if ((mavlink_system.sysid == set_attitude_target.target_system || set_attitude_target.target_system == 0) && (mavlink_system.compid == set_attitude_target.target_component || set_attitude_target.target_component == 0)) { /* set correct ignore flags for thrust field: copy from mavlink message */ offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6)); /* * The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust * using different messages. Eg.: First send set_attitude_target containing the attitude and ignore * bits set for everything else and then send set_attitude_target containing the thrust and ignore bits * set for everything else. */ /* * if attitude or body rate have been used (not ignored) previously and this message only sends * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and * body rates to keep the controllers running */ bool ignore_bodyrate = (bool)(set_attitude_target.type_mask & 0x7); bool ignore_attitude = (bool)(set_attitude_target.type_mask & (1 << 7)); if (ignore_bodyrate && ignore_attitude && !offboard_control_mode.ignore_thrust) { /* Message want's us to ignore everything except thrust: only ignore if previously ignored */ offboard_control_mode.ignore_bodyrate = ignore_bodyrate && offboard_control_mode.ignore_bodyrate; offboard_control_mode.ignore_attitude = ignore_attitude && offboard_control_mode.ignore_attitude; } else { offboard_control_mode.ignore_bodyrate = ignore_bodyrate; offboard_control_mode.ignore_attitude = ignore_attitude; } offboard_control_mode.ignore_position = true; offboard_control_mode.ignore_velocity = true; offboard_control_mode.ignore_acceleration_force = true; offboard_control_mode.timestamp = hrt_absolute_time(); if (_offboard_control_mode_pub < 0) { _offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode); } else { orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode); } /* If we are in offboard control mode and offboard control loop through is enabled * also publish the setpoint topic which is read by the controller */ if (_mavlink->get_forward_externalsp()) { bool updated; orb_check(_control_mode_sub, &updated); if (updated) { orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); } if (_control_mode.flag_control_offboard_enabled) { /* Publish attitude setpoint if attitude and thrust ignore bits are not set */ if (!(offboard_control_mode.ignore_attitude)) { static struct vehicle_attitude_setpoint_s att_sp = {}; att_sp.timestamp = hrt_absolute_time(); mavlink_quaternion_to_euler(set_attitude_target.q, &att_sp.roll_body, &att_sp.pitch_body, &att_sp.yaw_body); mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body); att_sp.R_valid = true; if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid att_sp.thrust = set_attitude_target.thrust; } att_sp.yaw_sp_move_rate = 0.0; memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d)); att_sp.q_d_valid = true; if (_att_sp_pub < 0) { _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); } else { orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp); } } /* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */ ///XXX add support for ignoring individual axes if (!(offboard_control_mode.ignore_bodyrate)) { static struct vehicle_rates_setpoint_s rates_sp = {}; rates_sp.timestamp = hrt_absolute_time(); rates_sp.roll = set_attitude_target.body_roll_rate; rates_sp.pitch = set_attitude_target.body_pitch_rate; rates_sp.yaw = set_attitude_target.body_yaw_rate; if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid rates_sp.thrust = set_attitude_target.thrust; } if (_att_sp_pub < 0) { _rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); } else { orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &rates_sp); } } } } } } void MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg) { /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */ if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) { mavlink_radio_status_t rstatus; mavlink_msg_radio_status_decode(msg, &rstatus); struct telemetry_status_s &tstatus = _mavlink->get_rx_status(); tstatus.timestamp = hrt_absolute_time(); tstatus.telem_time = tstatus.timestamp; /* tstatus.heartbeat_time is set by system heartbeats */ tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO; tstatus.rssi = rstatus.rssi; tstatus.remote_rssi = rstatus.remrssi; tstatus.txbuf = rstatus.txbuf; tstatus.noise = rstatus.noise; tstatus.remote_noise = rstatus.remnoise; tstatus.rxerrors = rstatus.rxerrors; tstatus.fixed = rstatus.fixed; tstatus.system_id = msg->sysid; tstatus.component_id = msg->compid; if (_telemetry_status_pub < 0) { _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus); } else { orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus); } } } void MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) { mavlink_manual_control_t man; mavlink_msg_manual_control_decode(msg, &man); struct manual_control_setpoint_s manual; memset(&manual, 0, sizeof(manual)); manual.timestamp = hrt_absolute_time(); manual.x = man.x / 1000.0f; manual.y = man.y / 1000.0f; manual.r = man.r / 1000.0f; manual.z = man.z / 1000.0f; // warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z); if (_manual_pub < 0) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); } else { orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual); } } void MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) { /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */ if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) { mavlink_heartbeat_t hb; mavlink_msg_heartbeat_decode(msg, &hb); /* ignore own heartbeats, accept only heartbeats from GCS */ if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) { struct telemetry_status_s &tstatus = _mavlink->get_rx_status(); /* set heartbeat time and topic time and publish - * the telem status also gets updated on telemetry events */ tstatus.timestamp = hrt_absolute_time(); tstatus.heartbeat_time = tstatus.timestamp; if (_telemetry_status_pub < 0) { _telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus); } else { orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus); } } } } void MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg) { mavlink_request_data_stream_t req; mavlink_msg_request_data_stream_decode(msg, &req); if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid && req.req_message_rate != 0) { float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f; MavlinkStream *stream; LL_FOREACH(_mavlink->get_streams(), stream) { if (req.req_stream_id == stream->get_id()) { _mavlink->configure_stream_threadsafe(stream->get_name(), rate); } } } } void MavlinkReceiver::handle_message_system_time(mavlink_message_t *msg) { mavlink_system_time_t time; mavlink_msg_system_time_decode(msg, &time); timespec tv; clock_gettime(CLOCK_REALTIME, &tv); // date -d @1234567890: Sat Feb 14 02:31:30 MSK 2009 bool onb_unix_valid = tv.tv_sec > PX4_EPOCH_SECS; bool ofb_unix_valid = time.time_unix_usec > PX4_EPOCH_SECS * 1000ULL; if (!onb_unix_valid && ofb_unix_valid) { tv.tv_sec = time.time_unix_usec / 1000000ULL; tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL; if(clock_settime(CLOCK_REALTIME, &tv)) { warn("failed setting clock"); } else { warnx("[timesync] UTC time synced."); } } } void MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg) { mavlink_timesync_t tsync; mavlink_msg_timesync_decode(msg, &tsync); uint64_t now_ns = hrt_absolute_time() * 1000LL ; if (tsync.tc1 == 0) { mavlink_timesync_t rsync; // return timestamped sync message rsync.tc1 = now_ns; rsync.ts1 = tsync.ts1; _mavlink->send_message(MAVLINK_MSG_ID_TIMESYNC, &rsync); return; } else if (tsync.tc1 > 0) { int64_t offset_ns = (tsync.ts1 + now_ns - tsync.tc1*2)/2 ; int64_t dt = _time_offset - offset_ns; if (dt > 10000000LL || dt < -10000000LL) { // 10 millisecond skew _time_offset = offset_ns; warnx("[timesync] Hard setting offset."); } else { smooth_time_offset(offset_ns); } } } void MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg) { mavlink_hil_sensor_t imu; mavlink_msg_hil_sensor_decode(msg, &imu); uint64_t timestamp = hrt_absolute_time(); /* airspeed */ { struct airspeed_s airspeed; memset(&airspeed, 0, sizeof(airspeed)); float ias = calc_indicated_airspeed(imu.diff_pressure * 1e2f); // XXX need to fix this float tas = ias; airspeed.timestamp = timestamp; airspeed.indicated_airspeed_m_s = ias; airspeed.true_airspeed_m_s = tas; if (_airspeed_pub < 0) { _airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed); } else { orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed); } } /* gyro */ { struct gyro_report gyro; memset(&gyro, 0, sizeof(gyro)); gyro.timestamp = timestamp; gyro.x_raw = imu.xgyro * 1000.0f; gyro.y_raw = imu.ygyro * 1000.0f; gyro.z_raw = imu.zgyro * 1000.0f; gyro.x = imu.xgyro; gyro.y = imu.ygyro; gyro.z = imu.zgyro; gyro.temperature = imu.temperature; if (_gyro_pub < 0) { _gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro); } else { orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro); } } /* accelerometer */ { struct accel_report accel; memset(&accel, 0, sizeof(accel)); accel.timestamp = timestamp; accel.x_raw = imu.xacc / mg2ms2; accel.y_raw = imu.yacc / mg2ms2; accel.z_raw = imu.zacc / mg2ms2; accel.x = imu.xacc; accel.y = imu.yacc; accel.z = imu.zacc; accel.temperature = imu.temperature; if (_accel_pub < 0) { _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } /* magnetometer */ { struct mag_report mag; memset(&mag, 0, sizeof(mag)); mag.timestamp = timestamp; mag.x_raw = imu.xmag * 1000.0f; mag.y_raw = imu.ymag * 1000.0f; mag.z_raw = imu.zmag * 1000.0f; mag.x = imu.xmag; mag.y = imu.ymag; mag.z = imu.zmag; if (_mag_pub < 0) { /* publish to the first mag topic */ _mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag); } else { orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag); } } /* baro */ { struct baro_report baro; memset(&baro, 0, sizeof(baro)); baro.timestamp = timestamp; baro.pressure = imu.abs_pressure; baro.altitude = imu.pressure_alt; baro.temperature = imu.temperature; if (_baro_pub < 0) { _baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro); } else { orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro); } } /* sensor combined */ { struct sensor_combined_s hil_sensors; memset(&hil_sensors, 0, sizeof(hil_sensors)); hil_sensors.timestamp = timestamp; hil_sensors.gyro_raw[0] = imu.xgyro * 1000.0f; hil_sensors.gyro_raw[1] = imu.ygyro * 1000.0f; hil_sensors.gyro_raw[2] = imu.zgyro * 1000.0f; hil_sensors.gyro_rad_s[0] = imu.xgyro; hil_sensors.gyro_rad_s[1] = imu.ygyro; hil_sensors.gyro_rad_s[2] = imu.zgyro; hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2; hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2; hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2; hil_sensors.accelerometer_m_s2[0] = imu.xacc; hil_sensors.accelerometer_m_s2[1] = imu.yacc; hil_sensors.accelerometer_m_s2[2] = imu.zacc; hil_sensors.accelerometer_mode = 0; // TODO what is this? hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 hil_sensors.accelerometer_timestamp = timestamp; hil_sensors.adc_voltage_v[0] = 0.0f; hil_sensors.adc_voltage_v[1] = 0.0f; hil_sensors.adc_voltage_v[2] = 0.0f; hil_sensors.magnetometer_raw[0] = imu.xmag * 1000.0f; hil_sensors.magnetometer_raw[1] = imu.ymag * 1000.0f; hil_sensors.magnetometer_raw[2] = imu.zmag * 1000.0f; hil_sensors.magnetometer_ga[0] = imu.xmag; hil_sensors.magnetometer_ga[1] = imu.ymag; hil_sensors.magnetometer_ga[2] = imu.zmag; hil_sensors.magnetometer_range_ga = 32.7f; // int16 hil_sensors.magnetometer_mode = 0; // TODO what is this hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; hil_sensors.magnetometer_timestamp = timestamp; hil_sensors.baro_pres_mbar = imu.abs_pressure; hil_sensors.baro_alt_meter = imu.pressure_alt; hil_sensors.baro_temp_celcius = imu.temperature; hil_sensors.baro_timestamp = timestamp; hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa hil_sensors.differential_pressure_timestamp = timestamp; /* publish combined sensor topic */ if (_sensors_pub < 0) { _sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); } else { orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors); } } /* battery status */ { struct battery_status_s hil_battery_status; memset(&hil_battery_status, 0, sizeof(hil_battery_status)); hil_battery_status.timestamp = timestamp; hil_battery_status.voltage_v = 11.1f; hil_battery_status.voltage_filtered_v = 11.1f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; if (_battery_pub < 0) { _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } else { orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); } } /* increment counters */ _hil_frames++; /* print HIL sensors rate */ if ((timestamp - _old_timestamp) > 10000000) { // printf("receiving HIL sensors at %d hz\n", _hil_frames / 10); _old_timestamp = timestamp; _hil_frames = 0; } } void MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) { mavlink_hil_gps_t gps; mavlink_msg_hil_gps_decode(msg, &gps); uint64_t timestamp = hrt_absolute_time(); struct vehicle_gps_position_s hil_gps; memset(&hil_gps, 0, sizeof(hil_gps)); hil_gps.timestamp_time = timestamp; hil_gps.time_utc_usec = gps.time_usec; hil_gps.timestamp_position = timestamp; hil_gps.lat = gps.lat; hil_gps.lon = gps.lon; hil_gps.alt = gps.alt; hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m hil_gps.timestamp_variance = timestamp; hil_gps.s_variance_m_s = 5.0f; hil_gps.timestamp_velocity = timestamp; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m hil_gps.vel_ned_valid = true; hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f); hil_gps.fix_type = gps.fix_type; hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used? if (_gps_pub < 0) { _gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); } else { orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps); } } void MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) { mavlink_hil_state_quaternion_t hil_state; mavlink_msg_hil_state_quaternion_decode(msg, &hil_state); uint64_t timestamp = hrt_absolute_time(); /* airspeed */ { struct airspeed_s airspeed; memset(&airspeed, 0, sizeof(airspeed)); airspeed.timestamp = timestamp; airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f; airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f; if (_airspeed_pub < 0) { _airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed); } else { orb_publish(ORB_ID(airspeed), _airspeed_pub, &airspeed); } } /* attitude */ struct vehicle_attitude_s hil_attitude; { memset(&hil_attitude, 0, sizeof(hil_attitude)); math::Quaternion q(hil_state.attitude_quaternion); math::Matrix<3, 3> C_nb = q.to_dcm(); math::Vector<3> euler = C_nb.to_euler(); hil_attitude.timestamp = timestamp; memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R)); hil_attitude.R_valid = true; hil_attitude.q[0] = q(0); hil_attitude.q[1] = q(1); hil_attitude.q[2] = q(2); hil_attitude.q[3] = q(3); hil_attitude.q_valid = true; hil_attitude.roll = euler(0); hil_attitude.pitch = euler(1); hil_attitude.yaw = euler(2); hil_attitude.rollspeed = hil_state.rollspeed; hil_attitude.pitchspeed = hil_state.pitchspeed; hil_attitude.yawspeed = hil_state.yawspeed; if (_attitude_pub < 0) { _attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); } else { orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude); } } /* global position */ { struct vehicle_global_position_s hil_global_pos; memset(&hil_global_pos, 0, sizeof(hil_global_pos)); hil_global_pos.timestamp = timestamp; hil_global_pos.lat = hil_state.lat; hil_global_pos.lon = hil_state.lon; hil_global_pos.alt = hil_state.alt / 1000.0f; hil_global_pos.vel_n = hil_state.vx / 100.0f; hil_global_pos.vel_e = hil_state.vy / 100.0f; hil_global_pos.vel_d = hil_state.vz / 100.0f; hil_global_pos.yaw = hil_attitude.yaw; hil_global_pos.eph = 2.0f; hil_global_pos.epv = 4.0f; if (_global_pos_pub < 0) { _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); } else { orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos); } } /* local position */ { double lat = hil_state.lat * 1e-7; double lon = hil_state.lon * 1e-7; if (!_hil_local_proj_inited) { _hil_local_proj_inited = true; _hil_local_alt0 = hil_state.alt / 1000.0f; map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon); hil_local_pos.ref_timestamp = timestamp; hil_local_pos.ref_lat = lat; hil_local_pos.ref_lon = lon; hil_local_pos.ref_alt = _hil_local_alt0; } float x; float y; map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y); hil_local_pos.timestamp = timestamp; hil_local_pos.xy_valid = true; hil_local_pos.z_valid = true; hil_local_pos.v_xy_valid = true; hil_local_pos.v_z_valid = true; hil_local_pos.x = x; hil_local_pos.y = y; hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f; hil_local_pos.vx = hil_state.vx / 100.0f; hil_local_pos.vy = hil_state.vy / 100.0f; hil_local_pos.vz = hil_state.vz / 100.0f; hil_local_pos.yaw = hil_attitude.yaw; hil_local_pos.xy_global = true; hil_local_pos.z_global = true; if (_local_pos_pub < 0) { _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos); } else { orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos); } } /* land detector */ { bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve? if(hil_land_detector.landed != landed) { hil_land_detector.landed = landed; hil_land_detector.timestamp = hrt_absolute_time(); if (_land_detector_pub < 0) { _land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector); } else { orb_publish(ORB_ID(vehicle_land_detected), _land_detector_pub, &hil_land_detector); } } } /* accelerometer */ { struct accel_report accel; memset(&accel, 0, sizeof(accel)); accel.timestamp = timestamp; accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f; accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f; accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f; accel.x = hil_state.xacc; accel.y = hil_state.yacc; accel.z = hil_state.zacc; accel.temperature = 25.0f; if (_accel_pub < 0) { _accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel); } else { orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel); } } /* battery status */ { struct battery_status_s hil_battery_status; memset(&hil_battery_status, 0, sizeof(hil_battery_status)); hil_battery_status.timestamp = timestamp; hil_battery_status.voltage_v = 11.1f; hil_battery_status.voltage_filtered_v = 11.1f; hil_battery_status.current_a = 10.0f; hil_battery_status.discharged_mah = -1.0f; if (_battery_pub < 0) { _battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } else { orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status); } } } /** * Receive data from UART. */ void * MavlinkReceiver::receive_thread(void *arg) { int uart_fd = _mavlink->get_uart_fd(); const int timeout = 500; uint8_t buf[32]; mavlink_message_t msg; /* set thread name */ char thread_name[24]; sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id()); prctl(PR_SET_NAME, thread_name, getpid()); struct pollfd fds[1]; fds[0].fd = uart_fd; fds[0].events = POLLIN; ssize_t nread = 0; while (!_mavlink->_task_should_exit) { if (poll(fds, 1, timeout) > 0) { /* non-blocking read. read may return negative values */ if ((nread = read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) { /* to avoid reading very small chunks wait for data before reading */ usleep(1000); } /* if read failed, this loop won't execute */ for (ssize_t i = 0; i < nread; i++) { if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &status)) { /* handle generic messages and commands */ handle_message(&msg); /* handle packet with parent object */ _mavlink->handle_message(&msg); } } /* count received bytes */ _mavlink->count_rxbytes(nread); } } return NULL; } void MavlinkReceiver::print_status() { } uint64_t MavlinkReceiver::to_hrt(uint64_t usec) { return usec - (_time_offset / 1000) ; } void MavlinkReceiver::smooth_time_offset(uint64_t offset_ns) { /* alpha = 0.6 fixed for now. The closer alpha is to 1.0, * the faster the moving average updates in response to * new offset samples. */ _time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset; } void *MavlinkReceiver::start_helper(void *context) { MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink *)context); rcv->receive_thread(NULL); delete rcv; return nullptr; } pthread_t MavlinkReceiver::receive_start(Mavlink *parent) { pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); // set to non-blocking read int flags = fcntl(parent->get_uart_fd(), F_GETFL, 0); fcntl(parent->get_uart_fd(), F_SETFL, flags | O_NONBLOCK); struct sched_param param; (void)pthread_attr_getschedparam(&receiveloop_attr, ¶m); param.sched_priority = SCHED_PRIORITY_MAX - 80; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); pthread_attr_setstacksize(&receiveloop_attr, 2100); pthread_t thread; pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent); pthread_attr_destroy(&receiveloop_attr); return thread; }