/**************************************************************************** * * 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_receiver.c * MAVLink protocol message receive and dispatch * * @author Lorenz Meier */ /* 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 __BEGIN_DECLS #include "mavlink_bridge_header.h" #include "waypoints.h" #include "orb_topics.h" #include "mavlink_hil.h" #include "mavlink_parameters.h" #include "util.h" extern bool gcs_link; __END_DECLS /* XXX should be in a header somewhere */ extern "C" pthread_t receive_start(int uart); static void handle_message(mavlink_message_t *msg); static void *receive_thread(void *arg); static mavlink_status_t status; static struct vehicle_vicon_position_s vicon_position; static struct vehicle_command_s vcmd; static struct offboard_control_setpoint_s offboard_control_sp; struct vehicle_global_position_s hil_global_pos; struct vehicle_local_position_s hil_local_pos; struct vehicle_attitude_s hil_attitude; struct vehicle_gps_position_s hil_gps; struct sensor_combined_s hil_sensors; struct battery_status_s hil_battery_status; static orb_advert_t pub_hil_global_pos = -1; static orb_advert_t pub_hil_local_pos = -1; static orb_advert_t pub_hil_attitude = -1; static orb_advert_t pub_hil_gps = -1; static orb_advert_t pub_hil_sensors = -1; static orb_advert_t pub_hil_gyro = -1; static orb_advert_t pub_hil_accel = -1; static orb_advert_t pub_hil_mag = -1; static orb_advert_t pub_hil_baro = -1; static orb_advert_t pub_hil_airspeed = -1; static orb_advert_t pub_hil_battery = -1; /* packet counter */ static int hil_counter = 0; static int hil_frames = 0; static uint64_t old_timestamp = 0; static orb_advert_t cmd_pub = -1; static orb_advert_t flow_pub = -1; static orb_advert_t offboard_control_sp_pub = -1; static orb_advert_t vicon_position_pub = -1; static orb_advert_t telemetry_status_pub = -1; // variables for HIL reference position static int32_t lat0 = 0; static int32_t lon0 = 0; static double alt0 = 0; static void handle_message(mavlink_message_t *msg) { if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { 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 */ printf("[mavlink] Terminating .. \n"); fflush(stdout); usleep(50000); /* terminate other threads and this thread */ thread_should_exit = true; } else { /* 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; /* check if topic is advertised */ if (cmd_pub <= 0) { cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); } else { /* publish */ orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); } } } } if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) { mavlink_optical_flow_t flow; mavlink_msg_optical_flow_decode(msg, &flow); struct optical_flow_s f; f.timestamp = flow.time_usec; f.flow_raw_x = flow.flow_x; f.flow_raw_y = flow.flow_y; f.flow_comp_x_m = flow.flow_comp_m_x; f.flow_comp_y_m = flow.flow_comp_m_y; f.ground_distance_m = flow.ground_distance; f.quality = flow.quality; f.sensor_id = flow.sensor_id; /* check if topic is advertised */ if (flow_pub <= 0) { flow_pub = orb_advertise(ORB_ID(optical_flow), &f); } else { /* publish */ orb_publish(ORB_ID(optical_flow), flow_pub, &f); } } if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) { /* Set mode on request */ mavlink_set_mode_t new_mode; mavlink_msg_set_mode_decode(msg, &new_mode); 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; /* check if topic is advertised */ if (cmd_pub <= 0) { cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); } else { /* create command */ orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); } } /* Handle Vicon position estimates */ if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) { mavlink_vicon_position_estimate_t pos; mavlink_msg_vicon_position_estimate_decode(msg, &pos); 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); } } /* Handle quadrotor motor setpoints */ if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) { mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); if (mavlink_system.sysid < 4) { /* switch to a receiving link mode */ gcs_link = false; /* * rate control mode - defined by MAVLink */ uint8_t ml_mode = 0; bool ml_armed = false; switch (quad_motors_setpoint.mode) { case 0: ml_armed = false; break; case 1: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; ml_armed = true; break; case 2: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; ml_armed = true; break; case 3: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; break; case 4: ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; break; } offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) { ml_armed = false; } offboard_control_sp.armed = ml_armed; offboard_control_sp.mode = static_cast(ml_mode); offboard_control_sp.timestamp = hrt_absolute_time(); /* check if topic has to be advertised */ if (offboard_control_sp_pub <= 0) { offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); } else { /* Publish */ orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp); } } } /* handle status updates of the radio */ if (msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) { struct telemetry_status_s tstatus; mavlink_radio_status_t rstatus; mavlink_msg_radio_status_decode(msg, &rstatus); /* publish telemetry status topic */ tstatus.timestamp = hrt_absolute_time(); 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; if (telemetry_status_pub <= 0) { telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); } else { orb_publish(ORB_ID(telemetry_status), telemetry_status_pub, &tstatus); } } /* * 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 */ if (mavlink_hil_enabled) { uint64_t timestamp = hrt_absolute_time(); if (msg->msgid == MAVLINK_MSG_ID_HIL_SENSOR) { mavlink_hil_sensor_t imu; mavlink_msg_hil_sensor_decode(msg, &imu); /* sensors general */ hil_sensors.timestamp = hrt_absolute_time(); /* hil gyro */ static const float mrad2rad = 1.0e-3f; hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad; hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad; hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad; 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.gyro_counter = hil_counter; /* accelerometer */ static const float mg2ms2 = 9.8f / 1000.0f; 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_counter = hil_counter; /* adc */ hil_sensors.adc_voltage_v[0] = 0.0f; hil_sensors.adc_voltage_v[1] = 0.0f; hil_sensors.adc_voltage_v[2] = 0.0f; /* magnetometer */ float mga2ga = 1.0e-3f; hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga; hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga; hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga; 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_counter = hil_counter; /* baro */ 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_counter = hil_counter; /* differential pressure */ hil_sensors.differential_pressure_pa = imu.diff_pressure * 1e2f; //from hPa to Pa hil_sensors.differential_pressure_counter = hil_counter; /* airspeed from differential pressure, ambient pressure and temp */ struct airspeed_s airspeed; float ias = calc_indicated_airspeed(hil_sensors.differential_pressure_pa); // XXX need to fix this float tas = ias; airspeed.timestamp = hrt_absolute_time(); airspeed.indicated_airspeed_m_s = ias; airspeed.true_airspeed_m_s = tas; if (pub_hil_airspeed < 0) { pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed); } else { orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); } //warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s); /* individual sensor publications */ struct gyro_report gyro; gyro.x_raw = imu.xgyro / mrad2rad; gyro.y_raw = imu.ygyro / mrad2rad; gyro.z_raw = imu.zgyro / mrad2rad; gyro.x = imu.xgyro; gyro.y = imu.ygyro; gyro.z = imu.zgyro; gyro.temperature = imu.temperature; gyro.timestamp = hrt_absolute_time(); if (pub_hil_gyro < 0) { pub_hil_gyro = orb_advertise(ORB_ID(sensor_gyro), &gyro); } else { orb_publish(ORB_ID(sensor_gyro), pub_hil_gyro, &gyro); } struct accel_report accel; 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; accel.timestamp = hrt_absolute_time(); if (pub_hil_accel < 0) { pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel); } else { orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel); } struct mag_report mag; mag.x_raw = imu.xmag / mga2ga; mag.y_raw = imu.ymag / mga2ga; mag.z_raw = imu.zmag / mga2ga; mag.x = imu.xmag; mag.y = imu.ymag; mag.z = imu.zmag; mag.timestamp = hrt_absolute_time(); if (pub_hil_mag < 0) { pub_hil_mag = orb_advertise(ORB_ID(sensor_mag), &mag); } else { orb_publish(ORB_ID(sensor_mag), pub_hil_mag, &mag); } struct baro_report baro; baro.pressure = imu.abs_pressure; baro.altitude = imu.pressure_alt; baro.temperature = imu.temperature; baro.timestamp = hrt_absolute_time(); if (pub_hil_baro < 0) { pub_hil_baro = orb_advertise(ORB_ID(sensor_baro), &baro); } else { orb_publish(ORB_ID(sensor_baro), pub_hil_baro, &baro); } /* publish combined sensor topic */ if (pub_hil_sensors > 0) { orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); } else { pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); } /* fill in HIL battery status */ hil_battery_status.timestamp = hrt_absolute_time(); hil_battery_status.voltage_v = 11.1f; hil_battery_status.current_a = 10.0f; /* lazily publish the battery voltage */ if (pub_hil_battery > 0) { orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status); } else { pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } // increment counters hil_counter++; hil_frames++; // output if ((timestamp - old_timestamp) > 10000000) { printf("receiving hil sensor at %d hz\n", hil_frames / 10); old_timestamp = timestamp; hil_frames = 0; } } if (msg->msgid == MAVLINK_MSG_ID_HIL_GPS) { mavlink_hil_gps_t gps; mavlink_msg_hil_gps_decode(msg, &gps); /* gps */ hil_gps.timestamp_position = gps.time_usec; hil_gps.time_gps_usec = gps.time_usec; hil_gps.lat = gps.lat; hil_gps.lon = gps.lon; hil_gps.alt = gps.alt; hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m hil_gps.timestamp_variance = gps.time_usec; hil_gps.s_variance_m_s = 5.0f; hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s /* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */ float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f; /* go back to -PI..PI */ if (heading_rad > M_PI_F) heading_rad -= 2.0f * M_PI_F; hil_gps.timestamp_velocity = gps.time_usec; 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; /* COG (course over ground) is spec'ed as -PI..+PI */ hil_gps.cog_rad = heading_rad; hil_gps.fix_type = gps.fix_type; hil_gps.satellites_visible = gps.satellites_visible; /* publish GPS measurement data */ if (pub_hil_gps > 0) { orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps); } else { pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); } } if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE_QUATERNION) { mavlink_hil_state_quaternion_t hil_state; mavlink_msg_hil_state_quaternion_decode(msg, &hil_state); struct airspeed_s airspeed; airspeed.timestamp = hrt_absolute_time(); airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f; airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f; if (pub_hil_airspeed < 0) { pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed); } else { orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); } uint64_t timestamp = hrt_absolute_time(); // publish global position if (pub_hil_global_pos > 0) { orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos); // global position packet hil_global_pos.timestamp = timestamp; hil_global_pos.global_valid = true; 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; } else { pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); } // publish local position if (pub_hil_local_pos > 0) { float x; float y; bool landed = hil_state.alt/1000.0f < (alt0 + 0.1); // XXX improve? double lat = hil_state.lat*1e-7; double lon = hil_state.lon*1e-7; map_projection_project(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 = 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; hil_local_pos.ref_timestamp = timestamp; hil_local_pos.ref_lat = hil_state.lat; hil_local_pos.ref_lon = hil_state.lon; hil_local_pos.ref_alt = alt0; hil_local_pos.landed = landed; orb_publish(ORB_ID(vehicle_local_position), pub_hil_local_pos, &hil_local_pos); } else { pub_hil_local_pos = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos); lat0 = hil_state.lat; lon0 = hil_state.lon; alt0 = hil_state.alt / 1000.0f; map_projection_init(hil_state.lat, hil_state.lon); } /* Calculate Rotation Matrix */ math::Quaternion q(hil_state.attitude_quaternion); math::Matrix<3,3> C_nb = q.to_dcm(); math::Vector<3> euler = C_nb.to_euler(); /* set rotation matrix */ for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) hil_attitude.R[i][j] = C_nb(i, j); hil_attitude.R_valid = true; /* set quaternion */ 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; /* set timestamp and notify processes (broadcast) */ hil_attitude.timestamp = hrt_absolute_time(); if (pub_hil_attitude > 0) { orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude); } else { pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); } struct accel_report accel; accel.x_raw = hil_state.xacc / 9.81f * 1e3f; accel.y_raw = hil_state.yacc / 9.81f * 1e3f; accel.z_raw = hil_state.zacc / 9.81f * 1e3f; accel.x = hil_state.xacc; accel.y = hil_state.yacc; accel.z = hil_state.zacc; accel.temperature = 25.0f; accel.timestamp = hrt_absolute_time(); if (pub_hil_accel < 0) { pub_hil_accel = orb_advertise(ORB_ID(sensor_accel), &accel); } else { orb_publish(ORB_ID(sensor_accel), pub_hil_accel, &accel); } /* fill in HIL battery status */ hil_battery_status.timestamp = hrt_absolute_time(); hil_battery_status.voltage_v = 11.1f; hil_battery_status.current_a = 10.0f; /* lazily publish the battery voltage */ if (pub_hil_battery > 0) { orb_publish(ORB_ID(battery_status), pub_hil_battery, &hil_battery_status); } else { pub_hil_battery = orb_advertise(ORB_ID(battery_status), &hil_battery_status); } } if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) { mavlink_manual_control_t man; mavlink_msg_manual_control_decode(msg, &man); struct rc_channels_s rc_hil; memset(&rc_hil, 0, sizeof(rc_hil)); static orb_advert_t rc_pub = 0; rc_hil.timestamp = hrt_absolute_time(); rc_hil.chan_count = 4; rc_hil.chan[0].scaled = man.x / 1000.0f; rc_hil.chan[1].scaled = man.y / 1000.0f; rc_hil.chan[2].scaled = man.r / 1000.0f; rc_hil.chan[3].scaled = man.z / 1000.0f; struct manual_control_setpoint_s mc; static orb_advert_t mc_pub = 0; int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); /* get a copy first, to prevent altering values that are not sent by the mavlink command */ orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc); mc.timestamp = rc_hil.timestamp; mc.roll = man.x / 1000.0f; mc.pitch = man.y / 1000.0f; mc.yaw = man.r / 1000.0f; mc.throttle = man.z / 1000.0f; /* fake RC channels with manual control input from simulator */ if (rc_pub == 0) { rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil); } else { orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil); } if (mc_pub == 0) { mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc); } else { orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc); } } } } /** * Receive data from UART. */ static void * receive_thread(void *arg) { int uart_fd = *((int *)arg); const int timeout = 1000; uint8_t buf[32]; mavlink_message_t msg; prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid()); struct pollfd fds[1]; fds[0].fd = uart_fd; fds[0].events = POLLIN; ssize_t nread = 0; while (!thread_should_exit) { if (poll(fds, 1, timeout) > 0) { if (nread < sizeof(buf)) { /* to avoid reading very small chunks wait for data before reading */ usleep(1000); } /* non-blocking read. read may return negative values */ nread = read(uart_fd, buf, sizeof(buf)); /* if read failed, this loop won't execute */ for (ssize_t i = 0; i < nread; i++) { if (mavlink_parse_char(chan, buf[i], &msg, &status)) { /* handle generic messages and commands */ handle_message(&msg); /* handle packet with waypoint component */ mavlink_wpm_message_handler(&msg); /* handle packet with parameter component */ mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); } } } } return NULL; } pthread_t receive_start(int uart) { pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); // set to non-blocking read int flags = fcntl(uart, F_GETFL, 0); fcntl(uart, F_SETFL, flags | O_NONBLOCK); struct sched_param param; (void)pthread_attr_getschedparam(&receiveloop_attr, ¶m); param.sched_priority = SCHED_PRIORITY_MAX - 40; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); pthread_attr_setstacksize(&receiveloop_attr, 3000); pthread_t thread; pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); pthread_attr_destroy(&receiveloop_attr); return thread; }