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Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

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This commit is contained in:
Anton Babushkin
2014-06-21 14:26:40 +02:00
parent da2f68a6a0 e0c78e51e3
commit 164f19176e
14 changed files with 341 additions and 153 deletions
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src/modules/mavlink/mavlink_messages.cpp
+9 -3
View File
@@ -120,7 +120,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
union px4_custom_mode custom_mode;
custom_mode.data = 0;
switch (status->set_nav_state) {
switch (status->nav_state) {
case NAVIGATION_STATE_MANUAL:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
@@ -163,8 +163,6 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
break;
case NAVIGATION_STATE_AUTO_RTL:
case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS:
case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -180,6 +178,14 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case NAVIGATION_STATE_AUTO_RTGS:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
break;
case NAVIGATION_STATE_TERMINATION:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
src/modules/mavlink/mavlink_receiver.cpp
+40
View File
@@ -105,6 +105,8 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
_telemetry_heartbeat_time(0),
_radio_status_available(false),
_hil_frames(0),
_old_timestamp(0),
_hil_local_proj_inited(0),
@@ -149,6 +151,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_manual_control(msg);
break;
case MAVLINK_MSG_ID_HEARTBEAT:
handle_message_heartbeat(msg);
break;
default:
break;
}
@@ -410,6 +416,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
memset(&tstatus, 0, sizeof(tstatus));
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
tstatus.rssi = rstatus.rssi;
tstatus.remote_rssi = rstatus.remrssi;
@@ -425,6 +432,9 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
} else {
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
}
/* this means that heartbeats alone won't be published to the radio status no more */
_radio_status_available = true;
}
void
@@ -450,6 +460,36 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
}
}
void
MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
{
mavlink_heartbeat_t hb;
mavlink_msg_heartbeat_decode(msg, &hb);
/* ignore own heartbeats, accept only heartbeats from GCS */
if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
_telemetry_heartbeat_time = hrt_absolute_time();
/* if no radio status messages arrive, lets at least publish that heartbeats were received */
if (!_radio_status_available) {
struct telemetry_status_s tstatus;
memset(&tstatus, 0, sizeof(tstatus));
tstatus.timestamp = _telemetry_heartbeat_time;
tstatus.heartbeat_time = _telemetry_heartbeat_time;
tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
if (_telemetry_status_pub < 0) {
_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
} else {
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
}
}
}
}
void
MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{
src/modules/mavlink/mavlink_receiver.h
+3
View File
@@ -110,6 +110,7 @@ private:
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_radio_status(mavlink_message_t *msg);
void handle_message_manual_control(mavlink_message_t *msg);
void handle_message_heartbeat(mavlink_message_t *msg);
void handle_message_hil_sensor(mavlink_message_t *msg);
void handle_message_hil_gps(mavlink_message_t *msg);
void handle_message_hil_state_quaternion(mavlink_message_t *msg);
@@ -136,6 +137,8 @@ private:
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
hrt_abstime _telemetry_heartbeat_time;
bool _radio_status_available;
int _hil_frames;
uint64_t _old_timestamp;
bool _hil_local_proj_inited;