Merged

apps/commander/commander.c

@@ -114,8 +114,8 @@ static bool commander_initialized = false;
 static struct vehicle_status_s current_status; /**< Main state machine */
 static orb_advert_t stat_pub;
 
-static uint16_t nofix_counter = 0;
+// static uint16_t nofix_counter = 0;
-static uint16_t gotfix_counter = 0;
+// static uint16_t gotfix_counter = 0;
 
 static unsigned int failsafe_lowlevel_timeout_ms;
 
@@ -124,7 +124,6 @@ static bool thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
 
 /* pthread loops */
-static void *command_handling_loop(void *arg);
 static void *orb_receive_loop(void *arg);
 
 __EXPORT int commander_main(int argc, char *argv[]);
@@ -164,7 +163,7 @@ static void usage(const char *reason);
  * @param a 	The array to sort
  * @param n 	The number of entries in the array
  */
-static void cal_bsort(float a[], int n);
+// static void cal_bsort(float a[], int n);
 
 static int buzzer_init()
 {
@@ -293,7 +292,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	struct sensor_combined_s raw;
 
 	/* 30 seconds */
-	int calibration_interval_ms = 30 * 1000;
+	uint64_t calibration_interval = 30 * 1000 * 1000;
 	unsigned int calibration_counter = 0;
 
 	float mag_max[3] = {FLT_MIN, FLT_MIN, FLT_MIN};
@@ -308,42 +307,74 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		0.0f,
 		1.0f,
 	};
-	if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null))
+	if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
 		warn("WARNING: failed to set scale / offsets for mag");
+		mavlink_log_info(mavlink_fd, "[commander] failed to set scale / offsets for mag");
+	}
+
 	close(fd);
 
-	mavlink_log_info(mavlink_fd, "[commander] Please rotate around X");
-	
 	uint64_t calibration_start = hrt_absolute_time();
-	while ((hrt_absolute_time() - calibration_start)/1000 < calibration_interval_ms) {
+
+	uint64_t axis_deadline = hrt_absolute_time();
+	uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
+
+	const char axislabels[3] = { 'X', 'Y', 'Z'};
+	int axis_index = 0;
+
+	while (hrt_absolute_time() < calibration_deadline) {
 
 		/* wait blocking for new data */
 		struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
 
+		/* user guidance */
+		if (hrt_absolute_time() > axis_deadline &&
+			axis_index < 3) {
+			char buf[50];
+			sprintf(buf, "[commander] Please rotate around %c", axislabels[axis_index]);
+			mavlink_log_info(mavlink_fd, buf);
+		
+			axis_deadline += calibration_interval / 3;
+			axis_index++;
+		}
+
+		if (!(axis_index < 3)) {
+			continue;
+		}
+
+		// int axis_left = (int64_t)axis_deadline - (int64_t)hrt_absolute_time();
+
+		// if ((axis_left / 1000) == 0 && axis_left > 0) {
+		// 	char buf[50];
+		// 	sprintf(buf, "[commander] %d seconds left for axis %c", axis_left, axislabels[axis_index]);
+		// 	mavlink_log_info(mavlink_fd, buf);
+		// }
+
 		if (poll(fds, 1, 1000)) {
 			orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
 			/* get min/max values */
 
-			if (raw.magnetometer_ga[0] < mag_min[0]) {
+			/* ignore other axes */
-				mag_min[0] = raw.magnetometer_ga[0];
+			if (raw.magnetometer_ga[axis_index] < mag_min[axis_index]) {
+				mag_min[axis_index] = raw.magnetometer_ga[axis_index];
 			}
-			else if (raw.magnetometer_ga[0] > mag_max[0]) {
+			else if (raw.magnetometer_ga[axis_index] > mag_max[axis_index]) {
-				mag_max[0] = raw.magnetometer_ga[0];
+				mag_max[axis_index] = raw.magnetometer_ga[axis_index];
 			}
 
-			if (raw.magnetometer_ga[1] < mag_min[1]) {
+			// if (raw.magnetometer_ga[1] < mag_min[1]) {
-				mag_min[1] = raw.magnetometer_ga[1];
+			// 	mag_min[1] = raw.magnetometer_ga[1];
-			}
+			// }
-			else if (raw.magnetometer_ga[1] > mag_max[1]) {
+			// else if (raw.magnetometer_ga[1] > mag_max[1]) {
-				mag_max[1] = raw.magnetometer_ga[1];
+			// 	mag_max[1] = raw.magnetometer_ga[1];
-			}
+			// }
 
-			if (raw.magnetometer_ga[2] < mag_min[2]) {
+			// if (raw.magnetometer_ga[2] < mag_min[2]) {
-				mag_min[2] = raw.magnetometer_ga[2];
+			// 	mag_min[2] = raw.magnetometer_ga[2];
-			}
+			// }
-			else if (raw.magnetometer_ga[2] > mag_max[2]) {
+			// else if (raw.magnetometer_ga[2] > mag_max[2]) {
-				mag_max[2] = raw.magnetometer_ga[2];
+			// 	mag_max[2] = raw.magnetometer_ga[2];
-			}
+			// }
 
 			calibration_counter++;
 		} else {
@@ -353,10 +384,6 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 		}
 	}
 
-	usleep(200000);
-
-	mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
-
 	/* disable calibration mode */
 	status->flag_preflight_mag_calibration = false;
 	state_machine_publish(status_pub, status, mavlink_fd);
@@ -379,51 +406,49 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
 	mag_offset[1] = (mag_max[1] + mag_min[1]) / 2.0f;
 	mag_offset[2] = (mag_max[2] + mag_min[2]) / 2.0f;
 
-	if (!isfinite(mag_offset[0]) || !isfinite(mag_offset[1]) || !isfinite(mag_offset[2]))
+	if (isfinite(mag_offset[0]) && isfinite(mag_offset[1]) && isfinite(mag_offset[2])) {
-	{
+
-		mavlink_log_info(mavlink_fd, "[commander] mag cal aborted: NaN");
+		/* announce and set new offset */
+
+		if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
+			fprintf(stderr, "[commander] Setting X mag offset failed!\n");
+		}
+
+		if (param_set(param_find("SENS_MAG_YOFF"), &(mag_offset[1]))) {
+			fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
+		}
+
+		if (param_set(param_find("SENS_MAG_ZOFF"), &(mag_offset[2]))) {
+			fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
+		}
+
+		fd = open(MAG_DEVICE_PATH, 0);
+		struct mag_scale mscale = {
+			mag_offset[0],
+			1.0f,
+			mag_offset[1],
+			1.0f,
+			mag_offset[2],
+			1.0f,
+		};
+		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
+			warn("WARNING: failed to set scale / offsets for mag");
+		close(fd);
+
+		/* auto-save to EEPROM */
+		int save_ret = pm_save_eeprom(false);
+		if(save_ret != 0) {
+			warn("WARNING: auto-save of params to EEPROM failed");
+		}
+		
+		// char buf[50];
+		// sprintf(buf, "[commander] mag cal: x:%d y:%d z:%d mGa", (int)(mag_offset[0]*1000), (int)(mag_offset[1]*1000), (int)(mag_offset[2]*1000));
+		// mavlink_log_info(mavlink_fd, buf);
+		mavlink_log_info(mavlink_fd, "[commander] mag calibration done");
+	} else {
+		mavlink_log_info(mavlink_fd, "[commander] mag calibration FAILED (NaN)");
 	}
 
-	//char buf[52];
-
-	//sprintf(buf, "mag off x: %4.4f, y: %4.4f, z: %4.4f\n",(double)mag_offset[0],(double)mag_offset[0],(double)mag_offset[2]);
-	//mavlink_log_info(mavlink_fd, buf);
-
-	/* announce and set new offset */
-
-	if (param_set(param_find("SENS_MAG_XOFF"), &(mag_offset[0]))) {
-		fprintf(stderr, "[commander] Setting X mag offset failed!\n");
-	}
-
-	if (param_set(param_find("SENS_MAG_YOFF"), &(mag_offset[1]))) {
-		fprintf(stderr, "[commander] Setting Y mag offset failed!\n");
-	}
-
-	if (param_set(param_find("SENS_MAG_ZOFF"), &(mag_offset[2]))) {
-		fprintf(stderr, "[commander] Setting Z mag offset failed!\n");
-	}
-
-	fd = open(MAG_DEVICE_PATH, 0);
-	struct mag_scale mscale = {
-		mag_offset[0],
-		1.0f,
-		mag_offset[1],
-		1.0f,
-		mag_offset[2],
-		1.0f,
-	};
-	if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
-		warn("WARNING: failed to set scale / offsets for mag");
-	close(fd);
-
-	/* auto-save to EEPROM */
-	int save_ret = pm_save_eeprom(false);
-	if(save_ret != 0) {
-		warn("WARNING: auto-save of params to EEPROM failed");
-	}
-
-	mavlink_log_info(mavlink_fd, "[commander] mag cal finished");
-
 	close(sub_sensor_combined);
 }
 
@@ -477,45 +502,51 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
 	gyro_offset[1] = gyro_offset[1] / calibration_count;
 	gyro_offset[2] = gyro_offset[2] / calibration_count;
 
-	if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
+	/* exit gyro calibration mode */
-		mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
-	}
-	
-	if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
-		mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
-	}
-
-	if (param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
-		mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
-	}
-
-	/* set offsets to actual value */
-	fd = open(GYRO_DEVICE_PATH, 0);
-	struct gyro_scale gscale = { 
-		gyro_offset[0],
-		1.0f,
-		gyro_offset[1],
-		1.0f,
-		gyro_offset[2],
-		1.0f,
-	};
-	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
-		warn("WARNING: failed to set scale / offsets for gyro");
-	close(fd);
-
-	/* auto-save to EEPROM */
-	int save_ret = pm_save_eeprom(false);
-	if(save_ret != 0) {
-		warn("WARNING: auto-save of params to EEPROM failed");
-	}
-
-	/* exit to gyro calibration mode */
 	status->flag_preflight_gyro_calibration = false;
 	state_machine_publish(status_pub, status, mavlink_fd);
 
-	mavlink_log_info(mavlink_fd, "[commander] gyro calibration finished");
+	if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
 
-	printf("[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
+		if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_offset[0]))) {
+			mavlink_log_critical(mavlink_fd, "[commander] Setting X gyro offset failed!");
+		}
+		
+		if (param_set(param_find("SENS_GYRO_YOFF"), &(gyro_offset[1]))) {
+			mavlink_log_critical(mavlink_fd, "[commander] Setting Y gyro offset failed!");
+		}
+
+		if (param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_offset[2]))) {
+			mavlink_log_critical(mavlink_fd, "[commander] Setting Z gyro offset failed!");
+		}
+
+		/* set offsets to actual value */
+		fd = open(GYRO_DEVICE_PATH, 0);
+		struct gyro_scale gscale = { 
+			gyro_offset[0],
+			1.0f,
+			gyro_offset[1],
+			1.0f,
+			gyro_offset[2],
+			1.0f,
+		};
+		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
+			warn("WARNING: failed to set scale / offsets for gyro");
+		close(fd);
+
+		/* auto-save to EEPROM */
+		int save_ret = pm_save_eeprom(false);
+		if(save_ret != 0) {
+			warn("WARNING: auto-save of params to EEPROM failed");
+		}
+
+		// char buf[50];
+		// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
+		// mavlink_log_info(mavlink_fd, buf);
+		mavlink_log_info(mavlink_fd, "[commander] gyro calibration done");
+	} else {
+		mavlink_log_info(mavlink_fd, "[commander] gyro calibration FAILED (NaN)");
+	}
 
 	close(sub_sensor_combined);
 }
@@ -570,61 +601,71 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
 	accel_offset[1] = accel_offset[1] / calibration_count;
 	accel_offset[2] = accel_offset[2] / calibration_count;
 
-	/* add the removed length from x / y to z, since we induce a scaling issue else */
+	if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) {
-	float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
+		
+		/* add the removed length from x / y to z, since we induce a scaling issue else */
+		float total_len = sqrtf(accel_offset[0]*accel_offset[0] + accel_offset[1]*accel_offset[1] + accel_offset[2]*accel_offset[2]);
 
-	/* if length is correct, zero results here */
+		/* if length is correct, zero results here */
-	accel_offset[2] = accel_offset[2] + total_len;
+		accel_offset[2] = accel_offset[2] + total_len;
 
-	float scale = 9.80665f / total_len;
+		float scale = 9.80665f / total_len;
 
-	if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
+		if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0]))) {
-		mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
+			mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
-	}
+		}
-	
+		
-	if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
+		if (param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1]))) {
-		mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
+			mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
+		}
+
+		if (param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))) {
+			mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
+		}
+
+		if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
+			mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
+		}
+		
+		if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
+			mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
+		}
+
+		if (param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
+			mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
+		}
+
+		fd = open(ACCEL_DEVICE_PATH, 0);
+		struct accel_scale ascale = {
+			accel_offset[0],
+			scale,
+			accel_offset[1],
+			scale,
+			accel_offset[2],
+			scale,
+		};
+		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
+			warn("WARNING: failed to set scale / offsets for accel");
+		close(fd);
+
+		/* auto-save to EEPROM */
+		int save_ret = pm_save_eeprom(false);
+		if(save_ret != 0) {
+			warn("WARNING: auto-save of params to EEPROM failed");
+		}
+
+		//char buf[50];
+		//sprintf(buf, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
+		//mavlink_log_info(mavlink_fd, buf);
+		mavlink_log_info(mavlink_fd, "[commander] accel calibration done");
+	} else {
+		mavlink_log_info(mavlink_fd, "[commander] accel calibration FAILED (NaN)");
 	}
 
-	if (param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2]))) {
+	/* exit accel calibration mode */
-		mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
-	}
-
-	if (param_set(param_find("SENS_ACC_XSCALE"), &(scale))) {
-		mavlink_log_critical(mavlink_fd, "[commander] Setting X accel offset failed!");
-	}
-	
-	if (param_set(param_find("SENS_ACC_YSCALE"), &(scale))) {
-		mavlink_log_critical(mavlink_fd, "[commander] Setting Y accel offset failed!");
-	}
-
-	if (param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) {
-		mavlink_log_critical(mavlink_fd, "[commander] Setting Z accel offset failed!");
-	}
-
-	fd = open(ACCEL_DEVICE_PATH, 0);
-	struct accel_scale ascale = {
-		accel_offset[0],
-		scale,
-		accel_offset[1],
-		scale,
-		accel_offset[2],
-		scale,
-	};
-	if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
-		warn("WARNING: failed to set scale / offsets for accel");
-	close(fd);
-
-	/* auto-save to EEPROM */
-	int save_ret = pm_save_eeprom(false);
-	if(save_ret != 0) {
-		warn("WARNING: auto-save of params to EEPROM failed");
-	}
-	/* exit to gyro calibration mode */
 	status->flag_preflight_accel_calibration = false;
 	state_machine_publish(status_pub, status, mavlink_fd);
-	mavlink_log_info(mavlink_fd, "[commander] acceleration calibration finished");
+
-	printf("[commander] accel calibration: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0],(double)accel_offset[1], (double)accel_offset[2]);
 	close(sub_sensor_combined);
 }
 
@@ -742,8 +783,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
 					mavlink_log_info(mavlink_fd, "[commander] CMD starting gyro calibration");
+					ioctl(buzzer, TONE_SET_ALARM, 2);
 					do_gyro_calibration(status_pub, &current_status);
 					mavlink_log_info(mavlink_fd, "[commander] CMD finished gyro calibration");
+					ioctl(buzzer, TONE_SET_ALARM, 2);
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = MAV_RESULT_ACCEPTED;
 				} else {
@@ -760,8 +803,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 				if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
 					mavlink_log_info(mavlink_fd, "[commander] CMD starting mag calibration");
+					ioctl(buzzer, TONE_SET_ALARM, 2);
 					do_mag_calibration(status_pub, &current_status);
 					mavlink_log_info(mavlink_fd, "[commander] CMD finished mag calibration");
+					ioctl(buzzer, TONE_SET_ALARM, 2);
 					do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
 					result = MAV_RESULT_ACCEPTED;
 				} else {
@@ -823,37 +868,6 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 }
 
-/**
- * Handle commands sent by the ground control station via MAVLink.
- */
-static void *command_handling_loop(void *arg)
-{
-	/* Set thread name */
-	prctl(PR_SET_NAME, "commander cmd handler", getpid());
-
-	/* Subscribe to command topic */
-	int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	struct vehicle_command_s cmd;
-
-	while (!thread_should_exit) {
-		struct pollfd fds[1] = { { .fd = cmd_sub, .events = POLLIN } };
-
-		if (poll(fds, 1, 5000) == 0) {
-			/* timeout, but this is no problem, silently ignore */
-		} else {
-			/* got command */
-			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
-
-			/* handle it */
-			handle_command(stat_pub, &current_status, &cmd);
-		}
-	}
-
-	close(cmd_sub);
-
-	return NULL;
-}
-
 static void *orb_receive_loop(void *arg)  //handles status information coming from subsystems (present, enabled, health), these values do not indicate the quality (variance) of the signal
 {
 	/* Set thread name */
@@ -1002,7 +1016,7 @@ int commander_thread_main(int argc, char *argv[])
 	printf("[commander] I am in command now!\n");
 
 	/* pthreads for command and subsystem info handling */
-	pthread_t command_handling_thread;
+	// pthread_t command_handling_thread;
 	pthread_t subsystem_info_thread;
 
 	/* initialize */
@@ -1044,11 +1058,6 @@ int commander_thread_main(int argc, char *argv[])
 	mavlink_log_info(mavlink_fd, "[commander] system is running");
 
 	/* create pthreads */
-	pthread_attr_t command_handling_attr;
-	pthread_attr_init(&command_handling_attr);
-	pthread_attr_setstacksize(&command_handling_attr, 6000);
-	pthread_create(&command_handling_thread, &command_handling_attr, command_handling_loop, NULL);
-
 	pthread_attr_t subsystem_info_attr;
 	pthread_attr_init(&subsystem_info_attr);
 	pthread_attr_setstacksize(&subsystem_info_attr, 2048);
@@ -1093,6 +1102,11 @@ int commander_thread_main(int argc, char *argv[])
 	struct sensor_combined_s sensors;
 	memset(&sensors, 0, sizeof(sensors));
 
+	/* Subscribe to command topic */
+	int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
+	struct vehicle_command_s cmd;
+	memset(&cmd, 0, sizeof(cmd));
+
 	// uint8_t vehicle_state_previous = current_status.state_machine;
 	float voltage_previous = 0.0f;
 
@@ -1122,6 +1136,15 @@ int commander_thread_main(int argc, char *argv[])
 		orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
 		orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
 
+		orb_check(cmd_sub, &new_data);
+		if (new_data) {
+			/* got command */
+			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
+
+			/* handle it */
+			handle_command(stat_pub, &current_status, &cmd);
+		}
+
 		battery_voltage = sensors.battery_voltage_v;
 		battery_voltage_valid = sensors.battery_voltage_valid;
 
@@ -1480,7 +1503,7 @@ int commander_thread_main(int argc, char *argv[])
 	}
 
 	/* wait for threads to complete */
-	pthread_join(command_handling_thread, NULL);
+	// pthread_join(command_handling_thread, NULL);
 	pthread_join(subsystem_info_thread, NULL);
 
 	/* close fds */
@@ -1490,6 +1513,7 @@ int commander_thread_main(int argc, char *argv[])
 	close(sp_offboard_sub);
 	close(gps_sub);
 	close(sensor_sub);
+	close(cmd_sub);
 
 	printf("[commander] exiting..\n");
 	fflush(stdout);

apps/drivers/drv_mag.h

@@ -99,7 +99,10 @@ ORB_DECLARE(sensor_mag);
 /** copy the mag scaling constants to the structure pointed to by (arg) */
 #define MAGIOCGSCALE		_MAGIOC(3)
 
+/** set the measurement range to handle (at least) arg Gauss */
+#define MAGIOCSRANGE		_MAGIOC(4)
+
 /** perform self-calibration, update scale factors to canonical units */
-#define MAGIOCCALIBRATE		_MAGIOC(4)
+#define MAGIOCCALIBRATE		_MAGIOC(5)
 
 #endif /* _DRV_MAG_H */

apps/drivers/hmc5883/Makefile

@@ -37,6 +37,6 @@
 
 APPNAME		 = hmc5883
 PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
+STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk

apps/drivers/hmc5883/hmc5883.cpp

@@ -175,6 +175,24 @@ private:
 	 */
 	void			stop();
 
+	/**
+	 * Perform the on-sensor scale calibration routine.
+	 *
+	 * @note The sensor will continue to provide measurements, these
+	 *	 will however reflect the uncalibrated sensor state until
+	 *	 the calibration routine has been completed.
+	 *
+	 * @param enable set to 1 to enable self-test strap, 0 to disable
+	 */
+	int			calibrate(unsigned enable);
+
+	/**
+	 * Set the sensor range.
+	 *
+	 * Sets the internal range to handle at least the argument in Gauss.
+	 */
+	int 			set_range(unsigned range);
+
 	/**
 	 * Perform a poll cycle; collect from the previous measurement
 	 * and start a new one.
@@ -255,8 +273,8 @@ HMC5883::HMC5883(int bus) :
 	_oldest_report(0),
 	_reports(nullptr),
 	_mag_topic(-1),
-	_range_scale(1.0f / 1090.0f), /* default range scale from counts to gauss */
+	_range_scale(0), /* default range scale from counts to gauss */
-	_range_ga(0.88f),
+	_range_ga(1.3f),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows"))
@@ -308,11 +326,71 @@ HMC5883::init()
 	if (_mag_topic < 0)
 		debug("failed to create sensor_mag object");
 
+	/* set range */
+	set_range(_range_ga);
+
 	ret = OK;
 out:
 	return ret;
 }
 
+int HMC5883::set_range(unsigned range)
+{
+	uint8_t range_bits;
+
+	if (range < 1) {
+		range_bits = 0x00;
+		_range_scale = 1.0f / 1370.0f;
+		_range_ga = 0.88f;
+	} else if (range <= 1) {
+		range_bits = 0x01;
+		_range_scale = 1.0f / 1090.0f;
+		_range_ga = 1.3f;
+	} else if (range <= 2) {
+		range_bits = 0x02;
+		_range_scale = 1.0f / 820.0f;
+		_range_ga = 1.9f;
+	} else if (range <= 3) {
+		range_bits = 0x03;
+		_range_scale = 1.0f / 660.0f;
+		_range_ga = 2.5f;
+	} else if (range <= 4) {
+		range_bits = 0x04;
+		_range_scale = 1.0f / 440.0f;
+		_range_ga = 4.0f;
+	} else if (range <= 4.7f) {
+		range_bits = 0x05;
+		_range_scale = 1.0f / 390.0f;
+		_range_ga = 4.7f;
+	} else if (range <= 5.6f) {
+		range_bits = 0x06;
+		_range_scale = 1.0f / 330.0f;
+		_range_ga = 5.6f;
+	} else {
+		range_bits = 0x07;
+		_range_scale = 1.0f / 230.0f;
+		_range_ga = 8.1f;
+	}
+
+	int ret;
+
+	/*
+	 * Send the command to set the range
+	 */
+	ret = write_reg(ADDR_CONF_B, (range_bits << 5));
+
+	if (OK != ret)
+		perf_count(_comms_errors);
+
+	uint8_t range_bits_in;
+	ret = read_reg(ADDR_CONF_B, range_bits_in);
+
+	if (OK != ret)
+		perf_count(_comms_errors);
+
+	return !(range_bits_in == (range_bits << 5));
+}
+
 int
 HMC5883::probe()
 {
@@ -495,6 +573,9 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 		/* not supported, always 1 sample per poll */
 		return -EINVAL;
 
+	case MAGIOCSRANGE:
+		return set_range(arg);
+
 	case MAGIOCSLOWPASS:
 		/* not supported, no internal filtering */
 		return -EINVAL;
@@ -510,8 +591,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return 0;
 
 	case MAGIOCCALIBRATE:
-		/* XXX perform auto-calibration */
+		return calibrate(arg);
-		return -EINVAL;
 
 	default:
 		/* give it to the superclass */
@@ -718,6 +798,29 @@ out:
 	return ret;
 }
 
+int HMC5883::calibrate(unsigned enable)
+{
+	int ret;
+	/* arm the excitement strap */
+	uint8_t conf_reg;
+	ret = read_reg(ADDR_CONF_A, conf_reg);
+	if (OK != ret)
+		perf_count(_comms_errors);
+	if (enable) {
+		conf_reg |= 0x01;
+	} else {
+		conf_reg &= ~0x03;
+	}
+	ret = write_reg(ADDR_CONF_A, conf_reg);
+	if (OK != ret)
+		perf_count(_comms_errors);
+
+	uint8_t conf_reg_ret;
+	read_reg(ADDR_CONF_A, conf_reg_ret);
+
+	return !(conf_reg == conf_reg_ret);
+}
+
 int
 HMC5883::write_reg(uint8_t reg, uint8_t val)
 {
@@ -775,6 +878,7 @@ void	start();
 void	test();
 void	reset();
 void	info();
+int	calibrate();
 
 /**
  * Start the driver.
@@ -872,6 +976,273 @@ test()
 	errx(0, "PASS");
 }
 
+
+/**
+ * Automatic scale calibration.
+ *
+ * Basic idea:
+ *
+ *   output = (ext field +- 1.1 Ga self-test) * scale factor
+ * 
+ * and consequently:
+ *
+ *   1.1 Ga = (excited - normal) * scale factor
+ *   scale factor = (excited - normal) / 1.1 Ga
+ *
+ *   sxy = (excited - normal) / 766	| for conf reg. B set to 0x60 / Gain = 3
+ *   sz  = (excited - normal) / 713	| for conf reg. B set to 0x60 / Gain = 3
+ *
+ * By subtracting the non-excited measurement the pure 1.1 Ga reading
+ * can be extracted and the sensitivity of all axes can be matched.
+ *
+ * SELF TEST OPERATION
+ * To check the HMC5883L for proper operation, a self test feature in incorporated
+ * in which the sensor offset straps are excited to create a nominal field strength
+ * (bias field) to be measured. To implement self test, the least significant bits
+ * (MS1 and MS0) of configuration register A are changed from 00 to 01 (positive bias)
+ * or 10 (negetive bias), e.g. 0x11 or 0x12.
+ * Then, by placing the mode register into single-measurement mode (0x01),
+ * two data acquisition cycles will be made on each magnetic vector.
+ * The first acquisition will be a set pulse followed shortly by measurement
+ * data of the external field. The second acquisition will have the offset strap
+ * excited (about 10 mA) in the positive bias mode for X, Y, and Z axes to create
+ * about a ±1.1 gauss self test field plus the external field. The first acquisition
+ * values will be subtracted from the second acquisition, and the net measurement
+ * will be placed into the data output registers.
+ * Since self test adds ~1.1 Gauss additional field to the existing field strength,
+ * using a reduced gain setting prevents sensor from being saturated and data registers
+ * overflowed. For example, if the configuration register B is set to 0x60 (Gain=3),
+ * values around +766 LSB (1.16 Ga * 660 LSB/Ga) will be placed in the X and Y data
+ * output registers and around +713 (1.08 Ga * 660 LSB/Ga) will be placed in Z data
+ * output register. To leave the self test mode, change MS1 and MS0 bit of the
+ * configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10.
+ * Using the self test method described above, the user can scale sensor
+ */
+int calibrate()
+{
+
+	struct mag_report report;
+	ssize_t sz;
+	int ret;
+
+	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	if (fd < 0)
+		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
+
+	/* do a simple demand read */
+	sz = read(fd, &report, sizeof(report));
+	if (sz != sizeof(report))
+		err(1, "immediate read failed");
+
+	warnx("single read");
+	warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
+	warnx("time:        %lld", report.timestamp);
+
+	/* set the queue depth to 10 */
+	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
+		errx(1, "failed to set queue depth");
+
+	/* start the sensor polling at 10 Hz */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10))
+		errx(1, "failed to set 2Hz poll rate");
+
+	/* Set to 2.5 Gauss */
+	if (OK != ioctl(fd, MAGIOCSRANGE, 2)) {
+		warnx("failed to set 2.5 Ga range");
+	}
+
+	if (OK != ioctl(fd, MAGIOCCALIBRATE, 1)) {
+		warnx("failed to enable sensor calibration mode");
+	}
+
+	struct mag_scale mscale_null = {
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+		0.0f,
+		1.0f,
+	};
+
+	if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
+		warn("WARNING: failed to set null scale / offsets for mag");
+	}
+
+	float avg_excited[3];
+	unsigned i;
+
+	/* read the sensor 10x and report each value */
+	for (i = 0; i < 10; i++) {
+		struct pollfd fds;
+
+		/* wait for data to be ready */
+		fds.fd = fd;
+		fds.events = POLLIN;
+		ret = poll(&fds, 1, 2000);
+
+		if (ret != 1)
+			errx(1, "timed out waiting for sensor data");
+
+		/* now go get it */
+		sz = read(fd, &report, sizeof(report));
+
+		if (sz != sizeof(report)) {
+			err(1, "periodic read failed");
+		} else {
+			avg_excited[0] += report.x;
+			avg_excited[1] += report.y;
+			avg_excited[2] += report.z;
+		}
+
+		warnx("periodic read %u", i);
+		warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
+		warnx("time:        %lld", report.timestamp);
+	}
+
+	// warnx("starting calibration");
+
+	// struct mag_report report;
+	// ssize_t sz;
+	// int ret;
+
+	// int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	// if (fd < 0)
+	// 	err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
+
+	// /* do a simple demand read */
+	// sz = read(fd, &report, sizeof(report));
+	// if (sz != sizeof(report))
+	// 	err(1, "immediate read failed");
+
+	// warnx("single read");
+	// warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
+	// warnx("time:        %lld", report.timestamp);
+
+	// /* get scaling, set to zero */
+	// struct mag_scale mscale_previous;
+
+	// if (OK != ioctl(fd, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
+	// 	warn("WARNING: failed to get scale / offsets for mag");
+	// }
+
+	// struct mag_scale mscale_null = {
+	// 	0.0f,
+	// 	1.0f,
+	// 	0.0f,
+	// 	1.0f,
+	// 	0.0f,
+	// 	1.0f,
+	// };
+
+	// if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
+	// 	warn("WARNING: failed to set null scale / offsets for mag");
+	// }
+
+	// warnx("sensor ready");
+
+	// float avg_excited[3] = {0.0f, 0.0f, 0.0f};
+
+	// if (OK != ioctl(fd, MAGIOCCALIBRATE, 1)) {
+	// 	warnx("failed to enable sensor calibration mode");
+	// }
+
+	// /* Set to 2.5 Gauss */
+	// if (OK != ioctl(fd, MAGIOCSRANGE, 2)) {
+	// 	warnx("failed to set 2.5 Ga range");
+	// }
+
+	// /* set the queue depth to 10 */
+	// if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
+	// 	warnx("failed to set queue depth");
+	// 	return 1;
+	// } else {
+	// 	warnx("set queue depth");
+	// }
+
+	// /* start the sensor polling at 100Hz */
+	// if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 100)) {
+	// 	warnx("failed to set 100 Hz poll rate");
+	// 	return 1;
+	// } else {
+	// 	warnx("set 100 Hz poll rate");
+	// }
+
+	// int i;
+	// for (i = 0; i < 10; i++) {
+	// 	struct pollfd fds;
+
+	// 	(void) ioctl(fd, MAGIOCCALIBRATE, 1);
+
+	// 	/* wait for data to be ready */
+	// 	fds.fd = fd;
+	// 	fds.events = POLLIN;
+	// 	ret = poll(&fds, 1, 2000);
+
+	// 	if (ret != 1) {
+	// 		warnx("timed out waiting for sensor data");
+	// 		return 1;
+	// 	}
+
+	// 	/* now go get it */
+	// 	sz = read(fd, &report, sizeof(report));
+
+	// 	if (sz != sizeof(report)) {
+	// 		warn("periodic read failed");
+	// 		return 1;
+	// 	} else {
+	// 		avg_excited[0] += report.x;
+	// 		avg_excited[1] += report.y;
+	// 		avg_excited[2] += report.z;
+	// 	}
+	// 	warnx("excited read %u", i);
+	// 	warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
+	// 	warnx("time:        %lld", report.timestamp);
+
+	// }
+
+	avg_excited[0] /= i;
+	avg_excited[1] /= i;
+	avg_excited[2] /= i;
+
+	warnx("periodic excited reads %u", i);
+	warnx("measurement avg: %.6f  %.6f  %.6f", (double)avg_excited[0], (double)avg_excited[1], (double)avg_excited[2]);
+
+	/* Set to 1.1 Gauss and end calibration */
+	ret = ioctl(fd, MAGIOCCALIBRATE, 0);
+	ret = ioctl(fd, MAGIOCSRANGE, 1);
+
+	float scaling[3];
+
+	/* calculate axis scaling */
+	scaling[0] = 1.16f / avg_excited[0];
+	/* second axis inverted */
+	scaling[1] = 1.16f / -avg_excited[1];
+	scaling[2] = 1.08f / avg_excited[2];
+
+	warnx("axes scaling: %.6f  %.6f  %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
+	
+	/* set back to normal mode */
+	/* Set to 1.1 Gauss */
+	if (OK != ioctl(fd, MAGIOCSRANGE, 1)) {
+		warnx("failed to set 1.1 Ga range");
+	}
+
+	if (OK != ioctl(fd, MAGIOCCALIBRATE, 0)) {
+		warnx("failed to disable sensor calibration mode");
+	}
+
+	/* set scaling in device */
+	// mscale_previous.x_scale = scaling[0];
+	// mscale_previous.y_scale = scaling[1];
+	// mscale_previous.z_scale = scaling[2];
+
+	// if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
+	// 	warn("WARNING: failed to set new scale / offsets for mag");
+	// }
+
+	errx(0, "PASS");
+}
+
 /**
  * Reset the driver.
  */
@@ -930,8 +1301,19 @@ hmc5883_main(int argc, char *argv[])
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info"))
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
 		hmc5883::info();
 
-	errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
+	/*
+	 * Autocalibrate the scaling
+	 */
+	if (!strcmp(argv[1], "calibrate")) {
+		if (hmc5883::calibrate() == 0) {
+			errx(0, "calibration successful");
+		} else {
+			errx(1, "calibration failed");
+		}
+	}
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' 'calibrate' or 'info'");
 }

apps/drivers/l3gd20/l3gd20.cpp

@@ -864,5 +864,5 @@ l3gd20_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "info"))
 		l3gd20::info();
 
-	errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
 }

apps/mavlink/mavlink_bridge_header.h

@@ -62,28 +62,12 @@
  */
 extern mavlink_system_t mavlink_system;
 
-
-mqd_t gps_queue;
-int uart;
-
-
 /**
  * @brief Send multiple chars (uint8_t) over a comm channel
  *
  * @param chan MAVLink channel to use, usually MAVLINK_COMM_0 = UART0
  * @param ch Character to send
  */
-static inline void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, uint16_t length)
+extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int length);
-{
-	ssize_t ret;
-
-	if (chan == MAVLINK_COMM_0) {
-		ret = write(uart, ch, (size_t)(sizeof(uint8_t) * length));
-
-		if (ret != length) {
-			printf("[mavlink] Error: Written %u instead of %u\n", ret, length);
-		}
-	}
-}
 
 #endif /* MAVLINK_BRIDGE_HEADER_H */

apps/mavlink/mavlink_hil.h

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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_hil.h
+ * Hardware-in-the-loop simulation support.
+ */
+
+#pragma once
+
+extern bool mavlink_hil_enabled;
+
+extern struct vehicle_global_position_s hil_global_pos;
+extern struct vehicle_attitude_s hil_attitude;
+extern orb_advert_t pub_hil_global_pos;
+extern orb_advert_t pub_hil_attitude;
+
+/**
+ * Enable / disable Hardware in the Loop simulation mode.
+ *
+ * @param hil_enabled	The new HIL enable/disable state.
+ * @return		OK if the HIL state changed, ERROR if the 
+ *			requested change could not be made or was
+ *			redundant.
+ */
+extern int set_hil_on_off(bool hil_enabled);

apps/mavlink/mavlink_parameters.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +35,8 @@
 /**
  * @file mavlink_parameters.c
  * MAVLink parameter protocol implementation (BSD-relicensed).
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include "mavlink_parameters.h"

apps/mavlink/mavlink_parameters.h

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +35,8 @@
 /**
  * @file mavlink_parameters.h
  * MAVLink parameter protocol definitions (BSD-relicensed).
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 /* This assumes you have the mavlink headers on your include path

apps/mavlink/mavlink_receiver.c

@@ -0,0 +1,495 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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
+ */
+
+/* XXX trim includes */
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <mqueue.h>
+#include <string.h>
+#include "mavlink_bridge_header.h"
+#include <v1.0/common/mavlink.h>
+#include <arch/board/up_hrt.h>
+#include <time.h>
+#include <float.h>
+#include <unistd.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+
+#include "waypoints.h"
+#include "mavlink_log.h"
+#include "orb_topics.h"
+#include "missionlib.h"
+#include "mavlink_hil.h"
+#include "mavlink_parameters.h"
+#include "util.h"
+
+/* XXX should be in a header somewhere */
+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_attitude_s hil_attitude;
+orb_advert_t pub_hil_global_pos = -1;
+orb_advert_t pub_hil_attitude = -1;
+
+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 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;
+				vcmd.command = 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);
+				}
+				/* 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);
+
+		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+		vcmd.param1 = new_mode.base_mode;
+		vcmd.param2 = new_mode.custom_mode;
+		vcmd.param3 = 0;
+		vcmd.param4 = 0;
+		vcmd.param5 = 0;
+		vcmd.param6 = 0;
+		vcmd.param7 = 0;
+		vcmd.command = MAV_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.x = pos.x;
+		vicon_position.y = pos.y;
+		vicon_position.z = pos.z;
+
+		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);
+		//printf("got message\n");
+		//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
+
+		if (mavlink_system.sysid < 4) {
+			/* 
+			 * rate control mode - defined by MAVLink
+			 */
+
+			uint8_t ml_mode = 0;
+			bool ml_armed = false;
+
+//			if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
+//				ml_armed = true;
+//			}
+
+			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 = quad_motors_setpoint.roll[mavlink_system.sysid]   / (float)INT16_MAX;
+			offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid]  / (float)INT16_MAX;
+			offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid]    / (float)INT16_MAX;
+			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
+			//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
+
+			if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
+				ml_armed = false;
+
+			}
+
+			offboard_control_sp.armed = ml_armed;
+			offboard_control_sp.mode = 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);
+			}
+
+			// /* change armed status if required */
+			// bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
+
+			// bool cmd_generated = false;
+
+			// if (v_status.flag_control_offboard_enabled != cmd_armed) {
+			// 	vcmd.param1 = cmd_armed;
+			// 	vcmd.param2 = 0;
+			// 	vcmd.param3 = 0;
+			// 	vcmd.param4 = 0;
+			// 	vcmd.param5 = 0;
+			// 	vcmd.param6 = 0;
+			// 	vcmd.param7 = 0;
+			// 	vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
+			// 	vcmd.target_system = mavlink_system.sysid;
+			// 	vcmd.target_component = MAV_COMP_ID_ALL;
+			// 	vcmd.source_system = msg->sysid;
+			// 	vcmd.source_component = msg->compid;
+			// 	vcmd.confirmation = 1;
+
+			// 	cmd_generated = true;
+			// }
+
+			// /* check if input has to be enabled */
+			// if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
+			// 	(v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
+			// 	(v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
+			// 	(v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
+			// 	vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
+			// 	vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
+			// 	vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
+			// 	vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
+			// 	vcmd.param5 = 0;
+			// 	vcmd.param6 = 0;
+			// 	vcmd.param7 = 0;
+			// 	vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
+			// 	vcmd.target_system = mavlink_system.sysid;
+			// 	vcmd.target_component = MAV_COMP_ID_ALL;
+			// 	vcmd.source_system = msg->sysid;
+			// 	vcmd.source_component = msg->compid;
+			// 	vcmd.confirmation = 1;
+
+			// 	cmd_generated = true;
+			// }
+
+			// if (cmd_generated) {
+			// 	/* 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);
+			// 	}
+			// }
+		}
+	}
+
+	/*
+	 * 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
+	 */
+
+	// printf("\n HIL ENABLED?: %s \n",(mavlink_hil_enabled)?"true":"false");
+
+	if (mavlink_hil_enabled) {
+
+		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
+
+			mavlink_hil_state_t hil_state;
+			mavlink_msg_hil_state_decode(msg, &hil_state);
+
+			//	printf("\n HILSTATE : \n LAT: %i \n LON: %i \n ALT: %i \n "
+			//		"ROLL %i \n PITCH %i \n YAW %i \n"
+			//		"ROLLSPEED: %i \n PITCHSPEED: %i \n, YAWSPEED: %i \n",
+			//			hil_state.lat/1000000,	// 1e7
+			//			hil_state.lon/1000000,	// 1e7
+			//			hil_state.alt/1000,  // mm
+			//			hil_state.roll, // float rad
+			//			hil_state.pitch, // float rad
+			//			hil_state.yaw, // float rad
+			//			hil_state.rollspeed, // float rad/s
+			//			hil_state.pitchspeed, // float rad/s
+			//			hil_state.yawspeed); // float rad/s
+
+
+			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.vx = hil_state.vx / 100.0f;
+			hil_global_pos.vy = hil_state.vy / 100.0f;
+			hil_global_pos.vz = hil_state.vz / 100.0f;
+
+			/* set timestamp and notify processes (broadcast) */
+			hil_global_pos.timestamp = hrt_absolute_time();
+			orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
+
+			hil_attitude.roll = hil_state.roll;
+			hil_attitude.pitch = hil_state.pitch;
+			hil_attitude.yaw = hil_state.yaw;
+			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.counter++;
+			hil_attitude.timestamp = hrt_absolute_time();
+			orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
+		}
+
+		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].raw = 1500 + man.x / 2;
+			rc_hil.chan[1].raw = 1500 + man.y / 2;
+			rc_hil.chan[2].raw = 1500 + man.r / 2;
+			rc_hil.chan[3].raw = 1500 + man.z / 2;
+
+			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;
+
+			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 ch;
+
+	mavlink_message_t msg;
+
+	prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
+
+	while (!thread_should_exit) {
+
+		struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
+
+		if (poll(fds, 1, timeout) > 0) {
+			/* non-blocking read until buffer is empty */
+			int nread = 0;
+
+			do {
+				nread = read(uart_fd, &ch, 1);
+
+				if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
+					/* handle generic messages and commands */
+					handle_message(&msg);
+
+					/* Handle packet with waypoint component */
+					mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
+
+					/* Handle packet with parameter component */
+					mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
+				}
+			} while (nread > 0);
+		}
+	}
+
+	return NULL;
+}
+
+pthread_t
+receive_start(int uart)
+{
+	pthread_attr_t receiveloop_attr;
+	pthread_attr_init(&receiveloop_attr);
+	pthread_attr_setstacksize(&receiveloop_attr, 2048);
+
+	pthread_t thread;
+	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
+	return thread;
+}

apps/mavlink/missionlib.c

@@ -0,0 +1,190 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 missionlib.h
+ * MAVLink missionlib components
+ */
+
+// XXX trim includes
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <mqueue.h>
+#include <string.h>
+#include "mavlink_bridge_header.h"
+#include <v1.0/common/mavlink.h>
+#include <arch/board/up_hrt.h>
+#include <time.h>
+#include <float.h>
+#include <unistd.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+
+#include "waypoints.h"
+#include "mavlink_log.h"
+#include "orb_topics.h"
+#include "missionlib.h"
+#include "mavlink_hil.h"
+#include "util.h"
+#include "waypoints.h"
+#include "mavlink_parameters.h"
+
+static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
+
+int
+mavlink_missionlib_send_message(mavlink_message_t *msg)
+{
+	uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
+
+	mavlink_send_uart_bytes(chan, missionlib_msg_buf, len);
+	return 0;
+}
+
+int
+mavlink_missionlib_send_gcs_string(const char *string)
+{
+	const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
+	mavlink_statustext_t statustext;
+	int i = 0;
+
+	while (i < len - 1) {
+		statustext.text[i] = string[i];
+
+		if (string[i] == '\0')
+			break;
+
+		i++;
+	}
+
+	if (i > 1) {
+		/* Enforce null termination */
+		statustext.text[i] = '\0';
+		mavlink_message_t msg;
+
+		mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
+		return mavlink_missionlib_send_message(&msg);
+	} else {
+		return 1;
+	}
+}
+
+/**
+ * Get system time since boot in microseconds
+ *
+ * @return the system time since boot in microseconds
+ */
+uint64_t mavlink_missionlib_get_system_timestamp()
+{
+	return hrt_absolute_time();
+}
+
+/**
+ * This callback is executed each time a waypoint changes.
+ *
+ * It publishes the vehicle_global_position_setpoint_s or the
+ * vehicle_local_position_setpoint_s topic, depending on the type of waypoint
+ */
+void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
+		float param2, float param3, float param4, float param5_lat_x,
+		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command)
+{
+	static orb_advert_t global_position_setpoint_pub = -1;
+	static orb_advert_t local_position_setpoint_pub = -1;
+	char buf[50] = {0};
+
+	/* Update controller setpoints */
+	if (frame == (int)MAV_FRAME_GLOBAL) {
+		/* global, absolute waypoint */
+		struct vehicle_global_position_setpoint_s sp;
+		sp.lat = param5_lat_x * 1e7f;
+		sp.lon = param6_lon_y * 1e7f;
+		sp.altitude = param7_alt_z;
+		sp.altitude_is_relative = false;
+		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		/* Initialize publication if necessary */
+		if (global_position_setpoint_pub < 0) {
+			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
+		} else {
+			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
+		}
+		sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
+
+	} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
+		/* global, relative alt (in relation to HOME) waypoint */
+		struct vehicle_global_position_setpoint_s sp;
+		sp.lat = param5_lat_x * 1e7f;
+		sp.lon = param6_lon_y * 1e7f;
+		sp.altitude = param7_alt_z;
+		sp.altitude_is_relative = true;
+		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		/* Initialize publication if necessary */
+		if (global_position_setpoint_pub < 0) {
+			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
+		} else {
+			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
+		}
+		sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
+
+	} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
+		/* local, absolute waypoint */
+		struct vehicle_local_position_setpoint_s sp;
+		sp.x = param5_lat_x;
+		sp.y = param6_lon_y;
+		sp.z = param7_alt_z;
+		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
+		/* Initialize publication if necessary */
+		if (local_position_setpoint_pub < 0) {
+			local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
+		} else {
+			orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
+		}
+		sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
+	}
+	
+	mavlink_missionlib_send_gcs_string(buf);
+	printf("%s\n", buf);
+	//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
+}

apps/mavlink/missionlib.h

@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 missionlib.h
+ * MAVLink mission helper library
+ */
+
+#pragma once
+
+#include <v1.0/common/mavlink.h>
+
+//extern void	mavlink_wpm_send_message(mavlink_message_t *msg);
+//extern void	mavlink_wpm_send_gcs_string(const char *string);
+//extern uint64_t	mavlink_wpm_get_system_timestamp(void);
+extern int	mavlink_missionlib_send_message(mavlink_message_t *msg);
+extern int	mavlink_missionlib_send_gcs_string(const char *string);
+extern uint64_t	mavlink_missionlib_get_system_timestamp(void);
+extern void	mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
+			float param2, float param3, float param4, float param5_lat_x,
+			float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);

apps/mavlink/orb_listener.c

@@ -0,0 +1,640 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 orb_listener.c
+ * Monitors ORB topics and sends update messages as appropriate.
+ */
+
+// XXX trim includes
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <string.h>
+#include "mavlink_bridge_header.h"
+#include <v1.0/common/mavlink.h>
+#include <arch/board/up_hrt.h>
+#include <time.h>
+#include <float.h>
+#include <unistd.h>
+#include <sys/prctl.h>
+#include <stdlib.h>
+#include <poll.h>
+
+#include "waypoints.h"
+#include "mavlink_log.h"
+#include "orb_topics.h"
+#include "missionlib.h"
+#include "mavlink_hil.h"
+#include "util.h"
+
+struct vehicle_global_position_s global_pos;
+struct vehicle_local_position_s local_pos;
+struct vehicle_status_s v_status;
+struct rc_channels_s rc;
+struct actuator_armed_s armed;
+
+struct mavlink_subscriptions mavlink_subs;
+
+static int status_sub;
+static int rc_sub;
+
+static unsigned int sensors_raw_counter;
+static unsigned int attitude_counter;
+static unsigned int gps_counter;
+
+/*
+ * Last sensor loop time
+ * some outputs are better timestamped
+ * with this "global" reference.
+ */
+static uint64_t last_sensor_timestamp;
+
+static void	*uorb_receive_thread(void *arg);
+
+struct listener
+{
+	void		(*callback)(struct listener *l);
+	int		*subp;
+	uintptr_t	arg;
+};
+
+static void	l_sensor_combined(struct listener *l);
+static void	l_vehicle_attitude(struct listener *l);
+static void	l_vehicle_gps_position(struct listener *l);
+static void	l_vehicle_status(struct listener *l);
+static void	l_rc_channels(struct listener *l);
+static void	l_global_position(struct listener *l);
+static void	l_local_position(struct listener *l);
+static void	l_global_position_setpoint(struct listener *l);
+static void	l_local_position_setpoint(struct listener *l);
+static void	l_attitude_setpoint(struct listener *l);
+static void	l_actuator_outputs(struct listener *l);
+static void	l_actuator_armed(struct listener *l);
+static void	l_manual_control_setpoint(struct listener *l);
+static void	l_vehicle_attitude_controls(struct listener *l);
+static void	l_debug_key_value(struct listener *l);
+
+struct listener listeners[] = {
+	{l_sensor_combined,		&mavlink_subs.sensor_sub,	0},
+	{l_vehicle_attitude,		&mavlink_subs.att_sub,		0},
+	{l_vehicle_gps_position,	&mavlink_subs.gps_sub,		0},
+	{l_vehicle_status,		&status_sub,			0},
+	{l_rc_channels,			&rc_sub,			0},
+	{l_global_position,		&mavlink_subs.global_pos_sub,	0},
+	{l_local_position,		&mavlink_subs.local_pos_sub,	0},
+	{l_global_position_setpoint,	&mavlink_subs.spg_sub,		0},
+	{l_local_position_setpoint,	&mavlink_subs.spl_sub,		0},
+	{l_attitude_setpoint,		&mavlink_subs.spa_sub,		0},
+	{l_actuator_outputs,		&mavlink_subs.act_0_sub,	0},
+	{l_actuator_outputs,		&mavlink_subs.act_1_sub,	1},
+	{l_actuator_outputs,		&mavlink_subs.act_2_sub,	2},
+	{l_actuator_outputs,		&mavlink_subs.act_3_sub,	3},
+	{l_actuator_armed,		&mavlink_subs.armed_sub,	0},
+	{l_manual_control_setpoint,	&mavlink_subs.man_control_sp_sub, 0},
+	{l_vehicle_attitude_controls,	&mavlink_subs.actuators_sub,	0},
+	{l_debug_key_value,		&mavlink_subs.debug_key_value,	0},
+};
+
+static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
+
+void
+l_sensor_combined(struct listener *l)
+{
+	struct sensor_combined_s raw;
+
+	/* copy sensors raw data into local buffer */
+	orb_copy(ORB_ID(sensor_combined), mavlink_subs.sensor_sub, &raw);
+
+	last_sensor_timestamp = raw.timestamp;
+
+	/* send raw imu data */
+	// mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, raw.accelerometer_raw[0],
+	// 	raw.accelerometer_raw[1], raw.accelerometer_raw[2], raw.gyro_raw[0],
+	// 	raw.gyro_raw[1], raw.gyro_raw[2], raw.magnetometer_raw[0],
+	// 	raw.magnetometer_raw[1], raw.magnetometer_raw[2]);
+
+	/* mark individual fields as changed */
+	uint16_t fields_updated = 0;
+	static unsigned accel_counter = 0;
+	static unsigned gyro_counter = 0;
+	static unsigned mag_counter = 0;
+	static unsigned baro_counter = 0;
+
+	if (accel_counter != raw.accelerometer_counter) {
+		/* mark first three dimensions as changed */
+		fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
+		accel_counter = raw.accelerometer_counter;
+	}
+
+	if (gyro_counter != raw.gyro_counter) {
+		/* mark first three dimensions as changed */
+		fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
+		gyro_counter = raw.gyro_counter;
+	}
+
+	if (mag_counter != raw.magnetometer_counter) {
+		/* mark first three dimensions as changed */
+		fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
+		mag_counter = raw.magnetometer_counter;
+	}
+
+	if (baro_counter != raw.baro_counter) {
+		/* mark first three dimensions as changed */
+		fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
+		baro_counter = raw.baro_counter;
+	}
+
+	mavlink_msg_highres_imu_send(MAVLINK_COMM_0, 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, 0 /* no diff pressure yet */,
+		raw.baro_alt_meter, raw.baro_temp_celcius,
+		fields_updated);
+	/* send pressure */
+	//mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, raw.timestamp / 1000, raw.baro_pres_mbar, raw.baro_alt_meter, raw.baro_temp_celcius * 100);
+
+	sensors_raw_counter++;
+}
+
+void
+l_vehicle_attitude(struct listener *l)
+{
+	struct vehicle_attitude_s att;
+
+
+	/* copy attitude data into local buffer */
+	orb_copy(ORB_ID(vehicle_attitude), mavlink_subs.att_sub, &att);
+
+	/* send sensor values */
+	mavlink_msg_attitude_send(MAVLINK_COMM_0,
+				  last_sensor_timestamp / 1000,
+				  att.roll,
+				  att.pitch,
+				  att.yaw,
+				  att.rollspeed,
+				  att.pitchspeed,
+				  att.yawspeed);
+
+	attitude_counter++;
+}
+
+void
+l_vehicle_gps_position(struct listener *l)
+{
+	struct vehicle_gps_position_s gps;
+
+	/* copy gps data into local buffer */
+	orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
+
+	/* GPS position */
+	mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
+				     gps.timestamp,
+				     gps.fix_type,
+				     gps.lat,
+				     gps.lon,
+				     gps.alt,
+				     gps.eph,
+				     gps.epv,
+				     gps.vel,
+				     gps.cog,
+				     gps.satellites_visible);
+
+	if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
+		mavlink_msg_gps_status_send(MAVLINK_COMM_0,
+					    gps.satellites_visible,
+					    gps.satellite_prn,
+					    gps.satellite_used,
+					    gps.satellite_elevation,
+					    gps.satellite_azimuth,
+					    gps.satellite_snr);
+	}
+
+	gps_counter++;
+}
+
+void
+l_vehicle_status(struct listener *l)
+{
+	/* immediately communicate state changes back to user */
+	orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
+	orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
+
+	/* enable or disable HIL */
+	set_hil_on_off(v_status.flag_hil_enabled);
+
+	/* translate the current syste state to mavlink state and mode */
+	uint8_t mavlink_state = 0;
+	uint8_t mavlink_mode = 0;
+	get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
+
+	/* send heartbeat */
+	mavlink_msg_heartbeat_send(chan,
+				   mavlink_system.type,
+				   MAV_AUTOPILOT_PX4,
+				   mavlink_mode,
+				   v_status.state_machine,
+				   mavlink_state);
+}
+
+void
+l_rc_channels(struct listener *l)
+{
+	/* copy rc channels into local buffer */
+	orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
+	
+	/* Channels are sent in MAVLink main loop at a fixed interval */
+	mavlink_msg_rc_channels_raw_send(chan,
+					 rc.timestamp / 1000,
+					 0,
+					 rc.chan[0].raw,
+					 rc.chan[1].raw,
+					 rc.chan[2].raw,
+					 rc.chan[3].raw,
+					 rc.chan[4].raw,
+					 rc.chan[5].raw,
+					 rc.chan[6].raw,
+					 rc.chan[7].raw,
+					 rc.rssi);
+}
+
+void
+l_global_position(struct listener *l)
+{
+	/* copy global position data into local buffer */
+	orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
+
+	uint64_t timestamp = global_pos.timestamp;
+	int32_t lat = global_pos.lat;
+	int32_t lon = global_pos.lon;
+	int32_t alt = (int32_t)(global_pos.alt*1000);
+	int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
+	int16_t vx = (int16_t)(global_pos.vx * 100.0f);
+	int16_t vy = (int16_t)(global_pos.vy * 100.0f);
+	int16_t vz = (int16_t)(global_pos.vz * 100.0f);
+
+	/* heading in degrees * 10, from 0 to 36.000) */
+	uint16_t hdg = (global_pos.hdg / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f);
+
+	mavlink_msg_global_position_int_send(MAVLINK_COMM_0,
+					     timestamp / 1000,
+					     lat,
+					     lon,
+					     alt,
+					     relative_alt,
+					     vx,
+					     vy,
+					     vz,
+					     hdg);
+}
+
+void
+l_local_position(struct listener *l)
+{
+	/* copy local position data into local buffer */
+	orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
+	
+	mavlink_msg_local_position_ned_send(MAVLINK_COMM_0,
+					    local_pos.timestamp / 1000,
+					    local_pos.x,
+					    local_pos.y,
+					    local_pos.z,
+					    local_pos.vx,
+					    local_pos.vy,
+					    local_pos.vz);
+}
+
+void
+l_global_position_setpoint(struct listener *l)
+{
+	struct vehicle_global_position_setpoint_s global_sp;
+
+	/* copy local position data into local buffer */
+	orb_copy(ORB_ID(vehicle_global_position_setpoint), mavlink_subs.spg_sub, &global_sp);
+
+	uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
+	if (global_sp.altitude_is_relative)
+		coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
+
+	mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
+						      coordinate_frame,
+						      global_sp.lat,
+						      global_sp.lon,
+						      global_sp.altitude,
+						      global_sp.yaw);
+}
+
+void
+l_local_position_setpoint(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), mavlink_subs.spl_sub, &local_sp);
+
+	mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0,
+						 MAV_FRAME_LOCAL_NED,
+						 local_sp.x,
+						 local_sp.y,
+						 local_sp.z,
+						 local_sp.yaw);
+}
+
+void
+l_attitude_setpoint(struct listener *l)
+{
+	struct vehicle_attitude_setpoint_s att_sp;
+
+	/* copy local position data into local buffer */
+	orb_copy(ORB_ID(vehicle_attitude_setpoint), mavlink_subs.spa_sub, &att_sp);
+
+	mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0,
+							att_sp.timestamp/1000,
+							att_sp.roll_body,
+							att_sp.pitch_body,
+							att_sp.yaw_body,
+							att_sp.thrust);
+}
+
+void
+l_actuator_outputs(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);
+
+	mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
+					  l->arg /* port number */,
+					  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]);
+}
+
+void
+l_actuator_armed(struct listener *l)
+{
+	orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
+}
+
+void
+l_manual_control_setpoint(struct listener *l)
+{
+	struct manual_control_setpoint_s man_control;
+
+	/* copy manual control data into local buffer */
+	orb_copy(ORB_ID(manual_control_setpoint), mavlink_subs.man_control_sp_sub, &man_control);
+
+	mavlink_msg_manual_control_send(MAVLINK_COMM_0,
+					mavlink_system.sysid,
+					man_control.roll * 1000,
+					man_control.pitch * 1000,
+					man_control.yaw * 1000,
+					man_control.throttle * 1000,
+					0);
+}
+
+void
+l_vehicle_attitude_controls(struct listener *l)
+{
+	struct actuator_controls_s actuators;
+
+	orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, mavlink_subs.actuators_sub, &actuators);
+
+	/* send, add spaces so that string buffer is at least 10 chars long */
+	mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+					   last_sensor_timestamp / 1000,
+					   "ctrl0       ",
+					   actuators.control[0]);
+	mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+					   last_sensor_timestamp / 1000,
+					   "ctrl1       ",
+					   actuators.control[1]);
+	mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+					   last_sensor_timestamp / 1000,
+					   "ctrl2       ",
+					   actuators.control[2]);
+	mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+					   last_sensor_timestamp / 1000,
+					   "ctrl3       ",
+					   actuators.control[3]);
+
+	/* Only send in HIL mode */
+	if (mavlink_hil_enabled) {
+
+		/* translate the current syste state to mavlink state and mode */
+		uint8_t mavlink_state = 0;
+		uint8_t mavlink_mode = 0;
+		get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
+
+		/* HIL message as per MAVLink spec */
+		mavlink_msg_hil_controls_send(chan,
+			hrt_absolute_time(),
+			actuators.control[0],
+			actuators.control[1],
+			actuators.control[2],
+			actuators.control[3],
+			0,
+			0,
+			0,
+			0,
+			mavlink_mode,
+			0);
+	}
+}
+
+void
+l_debug_key_value(struct listener *l)
+{
+	struct debug_key_value_s debug;
+
+	orb_copy(ORB_ID(debug_key_value), mavlink_subs.debug_key_value, &debug);
+
+	/* Enforce null termination */
+	debug.key[sizeof(debug.key) - 1] = '\0';
+
+	mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
+					   last_sensor_timestamp / 1000,
+					   debug.key,
+					   debug.value);
+}
+
+static void *
+uorb_receive_thread(void *arg)
+{
+	/* Set thread name */
+	prctl(PR_SET_NAME, "mavlink orb rcv", getpid());
+
+	/*
+	 * set up poll to block for new data,
+	 * wait for a maximum of 1000 ms (1 second)
+	 */
+	const int timeout = 1000;
+
+	/*
+	 * Initialise listener array.
+	 *
+	 * Might want to invoke each listener once to set initial state.
+	 */
+	struct pollfd fds[n_listeners];
+	for (unsigned i = 0; i < n_listeners; i++) {
+		fds[i].fd = *listeners[i].subp;
+
+		/* Invoke callback to set initial state */
+		//listeners[i].callback(&listener[i]);
+	}
+
+	while (!thread_should_exit) {
+
+		int poll_ret = poll(fds, n_listeners, timeout);
+
+		/* handle the poll result */
+		if (poll_ret == 0) {
+			mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
+		} else if (poll_ret < 0) {
+			mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
+		} else {
+
+			for (unsigned i = 0; i < n_listeners; i++) {
+				if (fds[i].revents & POLLIN)
+					listeners[i].callback(&listeners[i]);
+			}
+		}
+	}
+
+	return NULL;
+}
+
+pthread_t
+uorb_receive_start(void)
+{
+	/* --- SENSORS RAW VALUE --- */
+	mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	/* rate limit set externally based on interface speed, set a basic default here */
+	orb_set_interval(mavlink_subs.sensor_sub, 100);	/* 10Hz updates */
+
+	/* --- ATTITUDE VALUE --- */
+	mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	/* rate limit set externally based on interface speed, set a basic default here */
+	orb_set_interval(mavlink_subs.att_sub, 100);	/* 10Hz updates */
+
+	/* --- GPS VALUE --- */
+	mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	orb_set_interval(mavlink_subs.gps_sub, 1000);	/* 1Hz updates */
+
+	/* --- SYSTEM STATE --- */
+	status_sub = orb_subscribe(ORB_ID(vehicle_status));
+	orb_set_interval(status_sub, 300);		/* max 3.33 Hz updates */
+
+	/* --- RC CHANNELS VALUE --- */
+	rc_sub = orb_subscribe(ORB_ID(rc_channels));
+	orb_set_interval(rc_sub, 100);			/* 10Hz updates */
+
+	/* --- GLOBAL POS VALUE --- */
+	mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	orb_set_interval(mavlink_subs.global_pos_sub, 1000);	/* 1Hz active updates */
+
+	/* --- LOCAL POS VALUE --- */
+	mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+	orb_set_interval(mavlink_subs.local_pos_sub, 1000);	/* 1Hz active updates */
+
+	/* --- GLOBAL SETPOINT VALUE --- */
+	mavlink_subs.spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
+	orb_set_interval(mavlink_subs.spg_sub, 2000);	/* 0.5 Hz updates */
+
+	/* --- LOCAL SETPOINT VALUE --- */
+	mavlink_subs.spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
+	orb_set_interval(mavlink_subs.spl_sub, 2000);	/* 0.5 Hz updates */
+
+	/* --- ATTITUDE SETPOINT VALUE --- */
+	mavlink_subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	orb_set_interval(mavlink_subs.spa_sub, 2000);	/* 0.5 Hz updates */
+
+	/* --- ACTUATOR OUTPUTS --- */
+	mavlink_subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
+	mavlink_subs.act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1));
+	mavlink_subs.act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2));
+	mavlink_subs.act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3));
+	/* rate limits set externally based on interface speed, set a basic default here */
+	orb_set_interval(mavlink_subs.act_0_sub, 100);	/* 10Hz updates */
+	orb_set_interval(mavlink_subs.act_1_sub, 100);	/* 10Hz updates */
+	orb_set_interval(mavlink_subs.act_2_sub, 100);	/* 10Hz updates */
+	orb_set_interval(mavlink_subs.act_3_sub, 100);	/* 10Hz updates */
+
+	/* --- ACTUATOR ARMED VALUE --- */
+	mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(mavlink_subs.armed_sub, 100);	/* 10Hz updates */
+
+	/* --- MAPPED MANUAL CONTROL INPUTS --- */
+	mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	/* rate limits set externally based on interface speed, set a basic default here */
+	orb_set_interval(mavlink_subs.man_control_sp_sub, 100);	/* 10Hz updates */
+
+	/* --- ACTUATOR CONTROL VALUE --- */
+	mavlink_subs.actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	orb_set_interval(mavlink_subs.actuators_sub, 100);	/* 10Hz updates */
+
+	/* --- DEBUG VALUE OUTPUT --- */
+	mavlink_subs.debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
+	orb_set_interval(mavlink_subs.debug_key_value, 100);	/* 10Hz updates */
+
+	/* start the listener loop */
+	pthread_attr_t uorb_attr;
+	pthread_attr_init(&uorb_attr);
+
+	/* Set stack size, needs more than 8000 bytes */
+	/* XXX verify, should not need anything like this much unless MAVLink really sucks */
+	pthread_attr_setstacksize(&uorb_attr, 8192);
+
+	pthread_t thread;
+	pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);
+	return thread;
+}

apps/mavlink/orb_topics.h

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 orb_topics.h
+ * Common sets of topics subscribed to or published by the MAVLink driver,
+ * and structures maintained by those subscriptions.
+ */
+#pragma once
+
+#include <uORB/uORB.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/rc_channels.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/offboard_control_setpoint.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <uORB/topics/vehicle_vicon_position.h>
+#include <uORB/topics/vehicle_global_position_setpoint.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/optical_flow.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/debug_key_value.h>
+
+struct mavlink_subscriptions {
+	int sensor_sub;
+	int att_sub;
+	int global_pos_sub;
+	int act_0_sub;
+	int act_1_sub;
+	int act_2_sub;
+	int act_3_sub;
+	int gps_sub;
+	int man_control_sp_sub;
+	int armed_sub;
+	int actuators_sub;
+	int local_pos_sub;
+	int spa_sub;
+	int spl_sub;
+	int spg_sub;
+	int debug_key_value;
+};
+
+extern struct mavlink_subscriptions mavlink_subs;
+
+/** Global position */
+extern struct vehicle_global_position_s global_pos;
+
+/** Local position */
+extern struct vehicle_local_position_s local_pos;
+
+/** Vehicle status */
+extern struct vehicle_status_s v_status;
+
+/** RC channels */
+extern struct rc_channels_s rc;
+
+/** Actuator armed state */
+extern struct actuator_armed_s armed;
+
+/** Worker thread starter */
+extern pthread_t uorb_receive_start(void);

apps/mavlink/util.h

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 util.h
+ * Utility and helper functions and data.
+ */
+
+#pragma once
+
+/** MAVLink communications channel */
+extern uint8_t chan;
+
+/** Shutdown marker */
+extern volatile bool thread_should_exit;
+
+/** Waypoint storage */
+extern mavlink_wpm_storage *wpm;
+
+/**
+ * Translate the custom state into standard mavlink modes and state.
+ */
+extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode);

apps/mavlink/waypoints.c

@@ -40,12 +40,15 @@
  * MAVLink waypoint protocol implementation (BSD-relicensed).
  */
 
-#include "waypoints.h"
 #include <math.h>
 #include <sys/prctl.h>
 #include <unistd.h>
 #include <stdio.h>
 
+#include "missionlib.h"
+#include "waypoints.h"
+#include "util.h"
+
 #ifndef FM_PI
 #define FM_PI 3.1415926535897932384626433832795f
 #endif
@@ -53,15 +56,6 @@
 bool debug = false;
 bool verbose = false;
 
-extern mavlink_wpm_storage *wpm;
-
-extern void mavlink_missionlib_send_message(mavlink_message_t *msg);
-extern void mavlink_missionlib_send_gcs_string(const char *string);
-extern uint64_t mavlink_missionlib_get_system_timestamp(void);
-extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
-		float param2, float param3, float param4, float param5_lat_x,
-		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
-
 
 #define MAVLINK_WPM_NO_PRINTF
 

apps/mavlink/waypoints.h

@@ -46,7 +46,6 @@
  or in the same folder as this source file */
 
 #include <v1.0/mavlink_types.h>
-extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *buffer, uint16_t len);
 
 #ifndef MAVLINK_SEND_UART_BYTES
 #define MAVLINK_SEND_UART_BYTES(chan, buffer, len) mavlink_send_uart_bytes(chan, buffer, len)

apps/sdlog/sdlog.c

@@ -144,7 +144,6 @@ int sdlog_main(int argc, char *argv[])
 					 4096,
 					 sdlog_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
 		exit(0);
 	}
 
@@ -215,7 +214,7 @@ int sdlog_thread_main(int argc, char *argv[]) {
 
 	char folder_path[64];
 	if (create_logfolder(folder_path))
-		errx(1, "unable to create logging folder, exiting");
+		errx(1, "unable to create logging folder, exiting.");
 
 	/* create sensorfile */
 	int sensorfile = -1;

apps/systemlib/getopt_long.h

@@ -124,9 +124,9 @@ extern "C"
 #if 0
   int getopt (int argc, char **argv, char *optstring);
 #endif
-  int getopt_long (int argc, char **argv, const char *shortopts,
+  __EXPORT int getopt_long (int argc, char **argv, const char *shortopts,
                    const GETOPT_LONG_OPTION_T * longopts, int *longind);
-  int getopt_long_only (int argc, char **argv, const char *shortopts,
+  __EXPORT int getopt_long_only (int argc, char **argv, const char *shortopts,
                         const GETOPT_LONG_OPTION_T * longopts, int *longind);
 
 #ifdef __cplusplus

apps/uORB/uORB.h

@@ -54,6 +54,8 @@ struct orb_metadata {
 	const size_t o_size;		/**< object size */
 };
 
+typedef const struct orb_metadata *orb_id_t;
+
 /**
  * Generates a pointer to the uORB metadata structure for
  * a given topic.