path: root/src/modules/mavlink/mavlink_messages.cpp

/*
 * mavlink_messages.cpp
 *
 *  Created on: 25.02.2014
 *      Author: ton
 */

#include <commander/px4_custom_mode.h>

#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/position_setpoint_triplet.h>

#include "mavlink_messages.h"


struct msgs_list_s msgs_list[] = {
		{
				.name = "HEARTBEAT",
				.callback = msg_heartbeat,
				.topics = { ORB_ID(vehicle_status), ORB_ID(position_setpoint_triplet), nullptr },
				.sizes = { sizeof(struct vehicle_status_s), sizeof(struct position_setpoint_triplet_s) }
		},
		{
				.name = "SYS_STATUS",
				.callback = msg_sys_status,
				.topics = { ORB_ID(vehicle_status), nullptr },
				.sizes = { sizeof(struct vehicle_status_s) }
		},
		{ .name = nullptr }
};

void
msg_heartbeat(const MavlinkStream *stream)
{
	struct vehicle_status_s *status = (struct vehicle_status_s *)stream->subscriptions[0]->data;
	struct position_setpoint_triplet_s *pos_sp_triplet = (struct position_setpoint_triplet_s *)stream->subscriptions[1]->data;

	uint8_t mavlink_state = 0;
	uint8_t mavlink_base_mode = 0;
	uint32_t mavlink_custom_mode = 0;

	/* HIL */
	if (status->hil_state == HIL_STATE_ON) {
		mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
	}

	/* arming state */
	if (status->arming_state == ARMING_STATE_ARMED
			|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
		mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
	}

	/* main state */
	mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
	union px4_custom_mode custom_mode;
	custom_mode.data = 0;
	if (pos_sp_triplet->nav_state == NAV_STATE_NONE) {
	/* use main state when navigator is not active */
		if (status->main_state == MAIN_STATE_MANUAL) {
			mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
		} else if (status->main_state == MAIN_STATE_SEATBELT) {
			mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
		} else if (status->main_state == MAIN_STATE_EASY) {
			mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
		} else if (status->main_state == MAIN_STATE_AUTO) {
			mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
		}
	} else {
		/* use navigation state when navigator is active */
		mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
		if (pos_sp_triplet->nav_state == NAV_STATE_READY) {
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
		} else if (pos_sp_triplet->nav_state == NAV_STATE_LOITER) {
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
		} else if (pos_sp_triplet->nav_state == NAV_STATE_MISSION) {
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
		} else if (pos_sp_triplet->nav_state == NAV_STATE_RTL) {
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
		} else if (pos_sp_triplet->nav_state == NAV_STATE_LAND) {
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
		}
	}
	mavlink_custom_mode = custom_mode.data;

	/* set system state */
	if (status->arming_state == ARMING_STATE_INIT
			|| status->arming_state == ARMING_STATE_IN_AIR_RESTORE
			|| status->arming_state == ARMING_STATE_STANDBY_ERROR) {	// TODO review
		mavlink_state = MAV_STATE_UNINIT;
	} else if (status->arming_state == ARMING_STATE_ARMED) {
		mavlink_state = MAV_STATE_ACTIVE;
	} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
		mavlink_state = MAV_STATE_CRITICAL;
	} else if (status->arming_state == ARMING_STATE_STANDBY) {
		mavlink_state = MAV_STATE_STANDBY;
	} else if (status->arming_state == ARMING_STATE_REBOOT) {
		mavlink_state = MAV_STATE_POWEROFF;
	} else {
		mavlink_state = MAV_STATE_CRITICAL;
	}

	/* send heartbeat */
	mavlink_msg_heartbeat_send(stream->mavlink->get_chan(),
				   mavlink_system.type,
				   MAV_AUTOPILOT_PX4,
				   mavlink_base_mode,
				   mavlink_custom_mode,
				   mavlink_state);
}

void
msg_sys_status(const MavlinkStream *stream)
{
	struct vehicle_status_s *status = (struct vehicle_status_s *)stream->subscriptions[0]->data;

	mavlink_msg_sys_status_send(stream->mavlink->get_chan(),
				    status->onboard_control_sensors_present,
				    status->onboard_control_sensors_enabled,
				    status->onboard_control_sensors_health,
				    status->load * 1000.0f,
				    status->battery_voltage * 1000.0f,
				    status->battery_current * 1000.0f,
				    status->battery_remaining,
				    status->drop_rate_comm,
				    status->errors_comm,
				    status->errors_count1,
				    status->errors_count2,
				    status->errors_count3,
				    status->errors_count4);
}

//void
//MavlinkOrbListener::l_sensor_combined(const struct listener *l)
//{
//	struct sensor_combined_s raw;
//
//	/* copy sensors raw data into local buffer */
//	orb_copy(ORB_ID(sensor_combined), l->mavlink->get_subs()->sensor_sub, &raw);
//
//	/* mark individual fields as _mavlink->get_chan()ged */
//	uint16_t fields_updated = 0;
//
//	// if (accel_counter != raw.accelerometer_counter) {
//	// 	/* mark first three dimensions as _mavlink->get_chan()ged */
//	// 	fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
//	// 	accel_counter = raw.accelerometer_counter;
//	// }
//
//	// if (gyro_counter != raw.gyro_counter) {
//	// 	/* mark second group dimensions as _mavlink->get_chan()ged */
//	// 	fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
//	// 	gyro_counter = raw.gyro_counter;
//	// }
//
//	// if (mag_counter != raw.magnetometer_counter) {
//	// 	/* mark third group dimensions as _mavlink->get_chan()ged */
//	// 	fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
//	// 	mag_counter = raw.magnetometer_counter;
//	// }
//
//	// if (baro_counter != raw.baro_counter) {
//	// 	/* mark last group dimensions as _mavlink->get_chan()ged */
//	// 	fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
//	// 	baro_counter = raw.baro_counter;
//	// }
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
//		mavlink_msg_highres_imu_send(l->mavlink->get_chan(), l->listener->last_sensor_timestamp,
//					     raw.accelerometer_m_s2[0], raw.accelerometer_m_s2[1],
//					     raw.accelerometer_m_s2[2], raw.gyro_rad_s[0],
//					     raw.gyro_rad_s[1], raw.gyro_rad_s[2],
//					     raw.magnetometer_ga[0],
//					     raw.magnetometer_ga[1], raw.magnetometer_ga[2],
//					     raw.baro_pres_mbar, raw.differential_pressure_pa,
//					     raw.baro_alt_meter, raw.baro_temp_celcius,
//					     fields_updated);
//
//	l->listener->sensors_raw_counter++;
//}
//
//void
//MavlinkOrbListener::l_vehicle_attitude(const struct listener *l)
//{
//	/* copy attitude data into local buffer */
//	orb_copy(ORB_ID(vehicle_attitude), l->mavlink->get_subs()->att_sub, &l->listener->att);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) {
//		/* send sensor values */
//		mavlink_msg_attitude_send(l->mavlink->get_chan(),
//					  l->listener->last_sensor_timestamp / 1000,
//					  l->listener->att.roll,
//					  l->listener->att.pitch,
//					  l->listener->att.yaw,
//					  l->listener->att.rollspeed,
//					  l->listener->att.pitchspeed,
//					  l->listener->att.yawspeed);
//
//		/* limit VFR message rate to 10Hz */
//		hrt_abstime t = hrt_absolute_time();
//		if (t >= l->listener->last_sent_vfr + 100000) {
//			l->listener->last_sent_vfr = t;
//			float groundspeed = sqrtf(l->listener->global_pos.vel_n * l->listener->global_pos.vel_n + l->listener->global_pos.vel_e * l->listener->global_pos.vel_e);
//			uint16_t heading = _wrap_2pi(l->listener->att.yaw) * M_RAD_TO_DEG_F;
//			float throttle = l->listener->armed.armed ? l->listener->actuators_0.control[3] * 100.0f : 0.0f;
//			mavlink_msg_vfr_hud_send(l->mavlink->get_chan(), l->listener->airspeed.true_airspeed_m_s, groundspeed, heading, throttle, l->listener->global_pos.alt, -l->listener->global_pos.vel_d);
//		}
//
//		/* send quaternion values if it exists */
//		if(l->listener->att.q_valid) {
//			mavlink_msg_attitude_quaternion_send(l->mavlink->get_chan(),
//												l->listener->last_sensor_timestamp / 1000,
//												l->listener->att.q[0],
//												l->listener->att.q[1],
//												l->listener->att.q[2],
//												l->listener->att.q[3],
//												l->listener->att.rollspeed,
//												l->listener->att.pitchspeed,
//												l->listener->att.yawspeed);
//		}
//	}
//
//	l->listener->attitude_counter++;
//}
//
//void
//MavlinkOrbListener::l_vehicle_gps_position(const struct listener *l)
//{
//	struct vehicle_gps_position_s gps;
//
//	/* copy gps data into local buffer */
//	orb_copy(ORB_ID(vehicle_gps_position), l->mavlink->get_subs()->gps_sub, &gps);
//
//	/* GPS COG is 0..2PI in degrees * 1e2 */
//	float cog_deg = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F;
//
//	/* GPS position */
//	mavlink_msg_gps_raw_int_send(l->mavlink->get_chan(),
//				     gps.timestamp_position,
//				     gps.fix_type,
//				     gps.lat,
//				     gps.lon,
//				     gps.alt,
//				     cm_uint16_from_m_float(gps.eph_m),
//				     cm_uint16_from_m_float(gps.epv_m),
//				     gps.vel_m_s * 1e2f, // from m/s to cm/s
//				     cog_deg * 1e2f, // from deg to deg * 100
//				     gps.satellites_visible);
//
//	/* update SAT info every 10 seconds */
//	if (gps.satellite_info_available && (l->listener->gps_counter % 50 == 0)) {
//		mavlink_msg_gps_status_send(l->mavlink->get_chan(),
//					    gps.satellites_visible,
//					    gps.satellite_prn,
//					    gps.satellite_used,
//					    gps.satellite_elevation,
//					    gps.satellite_azimuth,
//					    gps.satellite_snr);
//	}
//
//	l->listener->gps_counter++;
//}
//
//
//void
//MavlinkOrbListener::l_rc_channels(const struct listener *l)
//{
//	/* copy rc channels into local buffer */
//	orb_copy(ORB_ID(rc_channels), l->mavlink->get_subs()->rc_sub, &l->listener->rc);
//	// XXX Add RC channels scaled message here
//}
//
//void
//MavlinkOrbListener::l_input_rc(const struct listener *l)
//{
//	/* copy rc _mavlink->get_chan()nels into local buffer */
//	orb_copy(ORB_ID(input_rc), l->mavlink->get_subs()->input_rc_sub, &l->listener->rc_raw);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) {
//
//		const unsigned port_width = 8;
//
//		for (unsigned i = 0; (i * port_width) < l->listener->rc_raw.channel_count; i++) {
//			/* Channels are sent in MAVLink main loop at a fixed interval */
//			mavlink_msg_rc_channels_raw_send(l->mavlink->get_chan(),
//							 l->listener->rc_raw.timestamp_publication / 1000,
//							 i,
//							 (l->listener->rc_raw.channel_count > (i * port_width) + 0) ? l->listener->rc_raw.values[(i * port_width) + 0] : UINT16_MAX,
//							 (l->listener->rc_raw.channel_count > (i * port_width) + 1) ? l->listener->rc_raw.values[(i * port_width) + 1] : UINT16_MAX,
//							 (l->listener->rc_raw.channel_count > (i * port_width) + 2) ? l->listener->rc_raw.values[(i * port_width) + 2] : UINT16_MAX,
//							 (l->listener->rc_raw.channel_count > (i * port_width) + 3) ? l->listener->rc_raw.values[(i * port_width) + 3] : UINT16_MAX,
//							 (l->listener->rc_raw.channel_count > (i * port_width) + 4) ? l->listener->rc_raw.values[(i * port_width) + 4] : UINT16_MAX,
//							 (l->listener->rc_raw.channel_count > (i * port_width) + 5) ? l->listener->rc_raw.values[(i * port_width) + 5] : UINT16_MAX,
//							 (l->listener->rc_raw.channel_count > (i * port_width) + 6) ? l->listener->rc_raw.values[(i * port_width) + 6] : UINT16_MAX,
//							 (l->listener->rc_raw.channel_count > (i * port_width) + 7) ? l->listener->rc_raw.values[(i * port_width) + 7] : UINT16_MAX,
//							  l->listener->rc_raw.rssi);
//		}
//	}
//}
//
//void
//MavlinkOrbListener::l_global_position(const struct listener *l)
//{
//	/* copy global position data into local buffer */
//	orb_copy(ORB_ID(vehicle_global_position), l->mavlink->get_subs()->global_pos_sub, &l->listener->global_pos);
//
//	mavlink_msg_global_position_int_send(l->mavlink->get_chan(),
//						 l->listener->global_pos.timestamp / 1000,
//					     l->listener->global_pos.lat * 1e7,
//					     l->listener->global_pos.lon * 1e7,
//					     l->listener->global_pos.alt * 1000.0f,
//					     (l->listener->global_pos.alt - l->listener->home.alt) * 1000.0f,
//					     l->listener->global_pos.vel_n * 100.0f,
//					     l->listener->global_pos.vel_e * 100.0f,
//					     l->listener->global_pos.vel_d * 100.0f,
//					     _wrap_2pi(l->listener->global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f);
//}
//
//void
//MavlinkOrbListener::l_local_position(const struct listener *l)
//{
//	/* copy local position data into local buffer */
//	orb_copy(ORB_ID(vehicle_local_position), l->mavlink->get_subs()->local_pos_sub, &l->listener->local_pos);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
//		mavlink_msg_local_position_ned_send(l->mavlink->get_chan(),
//						    l->listener->local_pos.timestamp / 1000,
//						    l->listener->local_pos.x,
//						    l->listener->local_pos.y,
//						    l->listener->local_pos.z,
//						    l->listener->local_pos.vx,
//						    l->listener->local_pos.vy,
//						    l->listener->local_pos.vz);
//}
//
//void
//MavlinkOrbListener::l_global_position_setpoint(const struct listener *l)
//{
//	struct position_setpoint_triplet_s triplet;
//	orb_copy(ORB_ID(position_setpoint_triplet), l->mavlink->get_subs()->triplet_sub, &triplet);
//
//	if (!triplet.current.valid)
//		return;
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
//		mavlink_msg_global_position_setpoint_int_send(l->mavlink->get_chan(),
//				MAV_FRAME_GLOBAL,
//				(int32_t)(triplet.current.lat * 1e7d),
//				(int32_t)(triplet.current.lon * 1e7d),
//				(int32_t)(triplet.current.alt * 1e3f),
//				(int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f));
//}
//
//void
//MavlinkOrbListener::l_local_position_setpoint(const struct listener *l)
//{
//	struct vehicle_local_position_setpoint_s local_sp;
//
//	/* copy local position data into local buffer */
//	orb_copy(ORB_ID(vehicle_local_position_setpoint), l->mavlink->get_subs()->spl_sub, &local_sp);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
//		mavlink_msg_local_position_setpoint_send(l->mavlink->get_chan(),
//				MAV_FRAME_LOCAL_NED,
//				local_sp.x,
//				local_sp.y,
//				local_sp.z,
//				local_sp.yaw);
//}
//
//void
//MavlinkOrbListener::l_attitude_setpoint(const struct listener *l)
//{
//	struct vehicle_attitude_setpoint_s att_sp;
//
//	/* copy local position data into local buffer */
//	orb_copy(ORB_ID(vehicle_attitude_setpoint), l->mavlink->get_subs()->spa_sub, &att_sp);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
//		mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(l->mavlink->get_chan(),
//				att_sp.timestamp / 1000,
//				att_sp.roll_body,
//				att_sp.pitch_body,
//				att_sp.yaw_body,
//				att_sp.thrust);
//}
//
//void
//MavlinkOrbListener::l_vehicle_rates_setpoint(const struct listener *l)
//{
//	struct vehicle_rates_setpoint_s rates_sp;
//
//	/* copy local position data into local buffer */
//	orb_copy(ORB_ID(vehicle_rates_setpoint), l->mavlink->get_subs()->rates_setpoint_sub, &rates_sp);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
//		mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(l->mavlink->get_chan(),
//				rates_sp.timestamp / 1000,
//				rates_sp.roll,
//				rates_sp.pitch,
//				rates_sp.yaw,
//				rates_sp.thrust);
//}
//
//void
//MavlinkOrbListener::l_actuator_outputs(const struct listener *l)
//{
//	struct actuator_outputs_s act_outputs;
//
//	orb_id_t ids[] = {
//		ORB_ID(actuator_outputs_0),
//		ORB_ID(actuator_outputs_1),
//		ORB_ID(actuator_outputs_2),
//		ORB_ID(actuator_outputs_3)
//	};
//
//	/* copy actuator data into local buffer */
//	orb_copy(ids[l->arg], *l->subp, &act_outputs);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) {
//		mavlink_msg_servo_output_raw_send(l->mavlink->get_chan(), l->listener->last_sensor_timestamp / 1000,
//						  l->arg /* port number - needs GCS support */,
//							 /* QGC has port number support already */
//						  act_outputs.output[0],
//						  act_outputs.output[1],
//						  act_outputs.output[2],
//						  act_outputs.output[3],
//						  act_outputs.output[4],
//						  act_outputs.output[5],
//						  act_outputs.output[6],
//						  act_outputs.output[7]);
//
//		/* only send in HIL mode and only send first group for HIL */
//		if (l->mavlink->get_hil_enabled() && l->listener->armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) {
//
//			/* translate the current syste state to mavlink state and mode */
//			uint8_t mavlink_state = 0;
//			uint8_t mavlink_base_mode = 0;
//			uint32_t mavlink_custom_mode = 0;
//			l->mavlink->get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
//
//			/* HIL message as per MAVLink spec */
//
//			/* scale / assign outputs depending on system type */
//
//			if (mavlink_system.type == MAV_TYPE_QUADROTOR) {
//				mavlink_msg_hil_controls_send(l->mavlink->get_chan(),
//							      hrt_absolute_time(),
//							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
//							      -1,
//							      -1,
//							      -1,
//							      -1,
//							      mavlink_base_mode,
//							      0);
//
//			} else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) {
//				mavlink_msg_hil_controls_send(l->mavlink->get_chan(),
//							      hrt_absolute_time(),
//							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
//							      -1,
//							      -1,
//							      mavlink_base_mode,
//							      0);
//
//			} else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) {
//				mavlink_msg_hil_controls_send(l->mavlink->get_chan(),
//							      hrt_absolute_time(),
//							      ((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
//							      ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
//							      mavlink_base_mode,
//							      0);
//
//			} else {
//				mavlink_msg_hil_controls_send(l->mavlink->get_chan(),
//							      hrt_absolute_time(),
//							      (act_outputs.output[0] - 1500.0f) / 500.0f,
//							      (act_outputs.output[1] - 1500.0f) / 500.0f,
//							      (act_outputs.output[2] - 1500.0f) / 500.0f,
//							      (act_outputs.output[3] - 1000.0f) / 1000.0f,
//							      (act_outputs.output[4] - 1500.0f) / 500.0f,
//							      (act_outputs.output[5] - 1500.0f) / 500.0f,
//							      (act_outputs.output[6] - 1500.0f) / 500.0f,
//							      (act_outputs.output[7] - 1500.0f) / 500.0f,
//							      mavlink_base_mode,
//							      0);
//			}
//		}
//	}
//}
//
//void
//MavlinkOrbListener::l_actuator_armed(const struct listener *l)
//{
//	orb_copy(ORB_ID(actuator_armed), l->mavlink->get_subs()->armed_sub, &l->listener->armed);
//}
//
//void
//MavlinkOrbListener::l_manual_control_setpoint(const struct listener *l)
//{
//	struct manual_control_setpoint_s man_control;
//
//	/* copy manual control data into local buffer */
//	orb_copy(ORB_ID(manual_control_setpoint), l->mavlink->get_subs()->man_control_sp_sub, &man_control);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD)
//		mavlink_msg_manual_control_send(l->mavlink->get_chan(),
//						mavlink_system.sysid,
//						man_control.roll * 1000,
//						man_control.pitch * 1000,
//						man_control.yaw * 1000,
//						man_control.throttle * 1000,
//						0);
//}
//
//void
//MavlinkOrbListener::l_vehicle_attitude_controls(const struct listener *l)
//{
//	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, l->mavlink->get_subs()->actuators_sub, &l->listener->actuators_0);
//
//	if (l->mavlink->get_mode() == Mavlink::MODE_OFFBOARD) {
//		/* send, add spaces so that string buffer is at least 10 chars long */
//		mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
//						   l->listener->last_sensor_timestamp / 1000,
//						   "ctrl0    ",
//						   l->listener->actuators_0.control[0]);
//		mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
//						   l->listener->last_sensor_timestamp / 1000,
//						   "ctrl1    ",
//						   l->listener->actuators_0.control[1]);
//		mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
//						   l->listener->last_sensor_timestamp / 1000,
//						   "ctrl2     ",
//						   l->listener->actuators_0.control[2]);
//		mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
//						   l->listener->last_sensor_timestamp / 1000,
//						   "ctrl3     ",
//						   l->listener->actuators_0.control[3]);
//	}
//}
//
//void
//MavlinkOrbListener::l_debug_key_value(const struct listener *l)
//{
//	struct debug_key_value_s debug;
//
//	orb_copy(ORB_ID(debug_key_value), l->mavlink->get_subs()->debug_key_value, &debug);
//
//	/* Enforce null termination */
//	debug.key[sizeof(debug.key) - 1] = '\0';
//
//	mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
//					   l->listener->last_sensor_timestamp / 1000,
//					   debug.key,
//					   debug.value);
//}
//
//void
//MavlinkOrbListener::l_optical_flow(const struct listener *l)
//{
//	struct optical_flow_s flow;
//
//	orb_copy(ORB_ID(optical_flow), l->mavlink->get_subs()->optical_flow, &flow);
//
//	mavlink_msg_optical_flow_send(l->mavlink->get_chan(), flow.timestamp, flow.sensor_id, flow.flow_raw_x, flow.flow_raw_y,
//				      flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
//}
//
//void
//MavlinkOrbListener::l_home(const struct listener *l)
//{
//	orb_copy(ORB_ID(home_position), l->mavlink->get_subs()->home_sub, &l->listener->home);
//
//	mavlink_msg_gps_global_origin_send(l->mavlink->get_chan(), (int32_t)(l->listener->home.lat*1e7d), (int32_t)(l->listener->home.lon*1e7d), (int32_t)(l->listener->home.alt)*1e3f);
//}
//
//void
//MavlinkOrbListener::l_airspeed(const struct listener *l)
//{
//	orb_copy(ORB_ID(airspeed), l->mavlink->get_subs()->airspeed_sub, &l->listener->airspeed);
//}
//
//void
//MavlinkOrbListener::l_nav_cap(const struct listener *l)
//{
//
//	orb_copy(ORB_ID(navigation_capabilities), l->mavlink->get_subs()->navigation_capabilities_sub, &l->listener->nav_cap);
//
//	mavlink_msg_named_value_float_send(l->mavlink->get_chan(),
//				   hrt_absolute_time() / 1000,
//				   "turn dist",
//				   l->listener->nav_cap.turn_distance);
//
//}