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Added required additional fields: If system is ok to launch (required for LED indicator), if system is ok to override fully by RC (required for multirotors which should not support this), desired PWM output rate in Hz (again required for some multirotors).

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This commit is contained in:
Lorenz Meier
2012-12-13 10:23:02 +01:00
parent 154035279f
commit 03076a72ca
13 changed files with 390 additions and 53 deletions
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apps/mavlink/mavlink_receiver.c
+22 -2
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@@ -261,8 +261,8 @@ handle_message(mavlink_message_t *msg)
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;
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;
@@ -298,6 +298,26 @@ handle_message(mavlink_message_t *msg)
mavlink_hil_state_t hil_state;
mavlink_msg_hil_state_decode(msg, &hil_state);
/* Calculate Rotation Matrix */
//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
if (mavlink_system.type == MAV_TYPE_FIXED_WING) {
//TODO: assuming low pitch and roll values for now
hil_attitude.R[0][0] = cosf(hil_state.yaw);
hil_attitude.R[0][1] = sinf(hil_state.yaw);
hil_attitude.R[0][2] = 0.0f;
hil_attitude.R[1][0] = -sinf(hil_state.yaw);
hil_attitude.R[1][1] = cosf(hil_state.yaw);
hil_attitude.R[1][2] = 0.0f;
hil_attitude.R[2][0] = 0.0f;
hil_attitude.R[2][1] = 0.0f;
hil_attitude.R[2][2] = 1.0f;
hil_attitude.R_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;