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Not building yet, things are coming together slowly on mavlink app

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Lorenz Meier
2014-01-28 19:30:23 +01:00
parent e28910127d
commit 1e3d2acbf6
6 changed files with 421 additions and 316 deletions
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src/modules/mavlink/mavlink_main.h
+34 -16
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@@ -54,9 +54,7 @@
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
@@ -72,7 +70,8 @@
#include <uORB/topics/battery_status.h>
#include <drivers/drv_rc_input.h>
#include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/mission.h>
#include <systemlib/param/param.h>
#include <nuttx/fs/fs.h>
@@ -139,6 +138,7 @@ struct mavlink_wpm_storage {
class Mavlink
{
public:
/**
* Constructor
@@ -170,6 +170,31 @@ public:
static int get_uart_fd(unsigned index);
int get_uart_fd() { return _mavlink_fd; }
enum MAVLINK_MODE {
MODE_TX_HEARTBEAT_ONLY=0,
MODE_OFFBOARD,
MODE_ONBOARD,
MODE_HIL
};
void set_mode(enum MAVLINK_MODE);
enum MAVLINK_MODE get_mode();
bool hil_enabled() { return _mavlink_hil_enabled; };
/**
* Handle waypoint related messages.
*/
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
/**
* Handle parameter related messages.
*/
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
struct mavlink_subscriptions {
int sensor_sub;
int att_sub;
@@ -196,10 +221,15 @@ public:
int airspeed_sub;
int navigation_capabilities_sub;
int control_mode_sub;
int rc_sub;
int status_sub;
};
struct mavlink_subscriptions subs;
struct mavlink_subscriptions* get_subs() { return &subs; }
mavlink_channel_t get_chan() { return chan; }
/** Global position */
struct vehicle_global_position_s global_pos;
/** Local position */
@@ -243,6 +273,7 @@ private:
uint8_t missionlib_msg_buf[300]; //XXX MAGIC NUMBER
bool thread_running;
bool thread_should_exit;
MAVLINK_MODE _mode;
uint8_t mavlink_wpm_comp_id;
mavlink_channel_t chan;
@@ -269,12 +300,6 @@ private:
*/
unsigned int mavlink_param_queue_index;
/* interface mode */
enum {
MAVLINK_INTERFACE_MODE_OFFBOARD,
MAVLINK_INTERFACE_MODE_ONBOARD
} mavlink_link_mode;
struct mavlink_logbuffer lb;
bool mavlink_link_termination_allowed;
@@ -293,12 +318,6 @@ private:
*/
int set_hil_on_off(bool hil_enabled);
/**
* Handle parameter related messages.
*/
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
/**
* Send all parameters at once.
*
@@ -352,7 +371,6 @@ private:
void mavlink_update_system();
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_send_waypoint_reached(uint16_t seq);
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);