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/****************************************************************************
*
* Copyright (c) 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.cpp
* Dummy mavlink node that interfaces to a mavros node via UDP
* This simulates the onboard mavlink app to some degree. It should be possible to
* send offboard setpoints via mavros to the SITL setup the same way as on the real system
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "mavlink.h"
#include <platforms/px4_middleware.h>
using namespace px4;
Mavlink::Mavlink() :
_n(),
_v_att_sub(_n.subscribe("vehicle_attitude", 1, &Mavlink::VehicleAttitudeCallback, this)),
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1))
{
_link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560");
_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "mavlink");
Mavlink m;
ros::spin();
return 0;
}
void Mavlink::VehicleAttitudeCallback(const vehicle_attitudeConstPtr &msg)
{
mavlink_message_t msg_m;
mavlink_msg_attitude_quaternion_pack_chan(
_link->get_system_id(),
_link->get_component_id(),
_link->get_channel(),
&msg_m, //XXX hardcoded
get_time_micros() / 1000,
msg->q[0],
msg->q[1],
msg->q[2],
msg->q[3],
msg->rollspeed,
msg->pitchspeed,
msg->yawspeed);
_link->send_message(&msg_m);
}
void Mavlink::handle_msg(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid) {
(void)sysid;
(void)compid;
switch(mmsg->msgid) {
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
handle_msg_set_attitude_target(mmsg);
break;
default:
break;
}
}
void Mavlink::handle_msg_set_attitude_target(const mavlink_message_t *mmsg)
{
mavlink_set_attitude_target_t set_att_target;
mavlink_msg_set_attitude_target_decode(mmsg, &set_att_target);
offboard_control_mode offboard_control_mode_msg;
/* set correct ignore flags for body rate fields: copy from mavlink message */
offboard_control_mode_msg.ignore_bodyrate = (bool)(set_att_target.type_mask & 0x7);
/* set correct ignore flags for thrust field: copy from mavlink message */
offboard_control_mode_msg.ignore_thrust = (bool)(set_att_target.type_mask & (1 << 6));
/* set correct ignore flags for attitude field: copy from mavlink message */
offboard_control_mode_msg.ignore_attitude = (bool)(set_att_target.type_mask & (1 << 7));
offboard_control_mode_msg.timestamp = get_time_micros();
_offboard_control_mode_pub.publish(offboard_control_mode_msg);
vehicle_attitude_setpoint v_att_sp_msg;
/* The real mavlink app has a ckeck at this location which makes sure that the attitude setpoint
* gets published only if in offboard mode. We leave that out for now.
* */
v_att_sp_msg.timestamp = get_time_micros();
mavlink_quaternion_to_euler(set_att_target.q, &v_att_sp_msg.roll_body, &v_att_sp_msg.pitch_body,
&v_att_sp_msg.yaw_body);
mavlink_quaternion_to_dcm(set_att_target.q, (float(*)[3])v_att_sp_msg.R_body.data());
v_att_sp_msg.R_valid = true;
v_att_sp_msg.thrust = set_att_target.thrust;
for (ssize_t i = 0; i < 4; i++) {
v_att_sp_msg.q_d[i] = set_att_target.q[i];
}
v_att_sp_msg.q_d_valid = true;
_v_att_sp_pub.publish(v_att_sp_msg);
}
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