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Added support in Mavlink Ethernet channel parameters

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Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.
This commit is contained in:
garfieldG 2021-01-31 05:36:27 -08:00 committed by David Sidrane
parent b66a9629e0
commit 3cd9b3c2cf
36 changed files with 242 additions and 85 deletions
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3
ROMFS/CMakeLists.txt
View File

@ -81,6 +81,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
if(PX4_ETHERNET)
set(added_arguments ${added_arguments} --ethernet)
endif()
# create list of relative romfs file names
set(romfs_copy_files_relative)
foreach(romfs_file IN LISTS romfs_copy_files)

2
ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post
View File

@ -1,2 +1,2 @@
# shellcheck disable=SC2154
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

1
ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
View File

@ -38,7 +38,6 @@ then
param set NAV_LOITER_RAD 100
param set RWTO_TKOFF 1
param set MAV_BROADCAST 1
param set FW_ARSP_SCALE_EN 0

2
ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post
View File

@ -1,7 +1,7 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

2
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post
View File

@ -1,7 +1,7 @@
mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
# shellcheck disable=SC2154
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

6
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -244,7 +244,7 @@ then
sh etc/init.d-posix/rc.mavlink_override
else
# GCS link
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@ -256,10 +256,10 @@ else
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
# API/Offboard link
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
# Onboard link to camera
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
# Onboard link to gimbal
mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

97
Tools/serial/generate_config.py
View File

@ -36,6 +36,7 @@ except ImportError as e:
# with QGC (parameter metadata)
serial_ports = {
# index 0 means disabled
# index 1000 means ethernet condiguration
# Generic
# "URT1": {
@ -155,6 +156,8 @@ parser.add_argument('--rc-dir', type=str, action='store',
help='ROMFS output directory', default=None)
parser.add_argument('--params-file', type=str, action='store',
help='Parameter output file', default=None)
parser.add_argument('--ethernet', action='store_true',
help='Ethernet support')
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
help='Verbose Output')
@ -169,6 +172,7 @@ serial_params_output_file = args.params_file
serial_params_template = 'serial_params.c.jinja'
generate_for_all_ports = args.all_ports
constrained_flash = args.constrained_flash
ethernet_supported = args.ethernet
if generate_for_all_ports:
board_ports = [(key, "") for key in serial_ports]
@ -184,7 +188,16 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
# parse the YAML files
serial_commands = []
ethernet_configuration = []
additional_params = ""
additional_ethernet_params = ""
if ethernet_supported:
ethernet_configuration.append({
'tag': "ETH",
'label': "Ethernet",
'index': 1000
})
def parse_yaml_serial_config(yaml_config):
""" parse the serial_config section from the yaml config file """
@ -211,6 +224,80 @@ def parse_yaml_parameters_config(yaml_config):
param_group = parameters_section.get('group', None)
for param_name in definitions:
param = definitions[param_name]
if 'ethernet' in param:
continue
num_instances = param.get('num_instances', 1)
instance_start = param.get('instance_start', 0) # offset
# get the type and extract all tags
tags = '@group {:}'.format(param_group)
if param['type'] == 'enum':
param_type = 'INT32'
for key in param['values']:
tags += '\n * @value {:} {:}'.format(key, param['values'][key])
elif param['type'] == 'boolean':
param_type = 'INT32'
tags += '\n * @boolean'
elif param['type'] == 'int32':
param_type = 'INT32'
elif param['type'] == 'float':
param_type = 'FLOAT'
else:
raise Exception("unknown param type {:}".format(param['type']))
for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
'min', 'max', 'unit', 'reboot_required']:
if tag in param:
tags += '\n * @{:} {:}'.format(tag, param[tag])
for i in range(num_instances):
# default value
default_value = 0
if 'default' in param:
# default can be a list of num_instances or a single value
if type(param['default']) == list:
assert len(param['default']) == num_instances
default_value = param['default'][i]
else:
default_value = param['default']
if type(default_value) == bool:
default_value = int(default_value)
# output the existing C-style format
ret += '''
/**
* {short_descr}
*
* {long_descr}
*
* {tags}
*/
PARAM_DEFINE_{param_type}({name}, {default_value});
'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
long_descr=param['description']['long'].replace("\n", "\n * "),
tags=tags,
param_type=param_type,
name=param_name,
default_value=default_value,
).replace('${i}', str(i+instance_start))
return ret
def parse_yaml_ethernet_parameters_config(yaml_config):
""" parse the parameters section from the yaml config file """
if 'parameters' not in yaml_config:
return ''
parameters_section_list = yaml_config['parameters']
for parameters_section in parameters_section_list:
if 'definitions' not in parameters_section:
return ''
definitions = parameters_section['definitions']
ret = ''
param_group = parameters_section.get('group', None)
for param_name in definitions:
param = definitions[param_name]
if 'ethernet' not in param:
continue
num_instances = param.get('num_instances', 1)
instance_start = param.get('instance_start', 0) # offset
@ -276,6 +363,8 @@ for yaml_file in args.config_files:
# TODO: additional params should be parsed in a separate script
additional_params += parse_yaml_parameters_config(yaml_config)
if ethernet_supported:
additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)
except yaml.YAMLError as exc:
print(exc)
@ -339,7 +428,8 @@ for serial_command in serial_commands:
'port_param_name': port_param_name,
'default_port': default_port,
'param_group': port_config['group'],
'description_extended': port_config.get('description_extended', '')
'description_extended': port_config.get('description_extended', ''),
'ethernet_config': serial_command.get('ethernet', 'none')
})
if verbose:
@ -372,6 +462,7 @@ if rc_serial_output_dir is not None:
template = jinja_env.get_template(rc_serial_port_template)
with open(rc_serial_port_output_file, 'w') as fid:
fid.write(template.render(serial_devices=serial_devices,
ethernet_configuration=ethernet_configuration,
constrained_flash=constrained_flash))
# parameter definitions
@ -380,6 +471,8 @@ if serial_params_output_file is not None:
template = jinja_env.get_template(serial_params_template)
with open(serial_params_output_file, 'w') as fid:
fid.write(template.render(serial_devices=serial_devices,
ethernet_configuration=ethernet_configuration,
commands=commands, serial_ports=serial_ports,
additional_definitions=additional_params))
additional_definitions=additional_params,
additional_ethernet_definitions=additional_ethernet_params))

6
Tools/serial/rc.serial_port.jinja
View File

@ -17,3 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
fi
{% endfor %}
{% for config in ethernet_configuration -%}
if param compare "$PRT" {{ config.index }}; then
set SERIAL_DEV ethernet
fi
{% endfor %}

6
Tools/serial/serial_params.c.jinja
View File

@ -58,6 +58,10 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
{%- for serial_device in serial_devices %}
* @value {{ serial_device.index }} {{ serial_device.label }}
{%- endfor %}
{%- if command.ethernet_config != "none" %}
{%- for config in ethernet_configuration %}
* @value {{ config.index }} {{ config.label }}
{%- endfor %}{% endif %}
* @group {{ command.param_group }}
* @reboot_required true
*/
@ -68,3 +72,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
{{ additional_definitions }}
{{ additional_ethernet_definitions }}

1
boards/av/x-v1/default.cmake
View File

@ -9,6 +9,7 @@ px4_add_board(
ROMFSROOT px4fmu_common
TESTING
UAVCAN_INTERFACES 2
ETHERNET
SERIAL_PORTS
GPS1:/dev/ttyS6
TEL1:/dev/ttyS0

2
boards/av/x-v1/init/rc.board_mavlink
View File

@ -11,4 +11,4 @@ mavlink stream -d /dev/ttyS5 -s LOCAL_POSITION_NED -r 50
# AV-X: start MAVLink UDP port 14570
mavlink start -x -u 14570
mavlink start -x -u 14570 -p

1
boards/px4/fmu-v5x/default.cmake
View File

@ -10,6 +10,7 @@ px4_add_board(
IO px4_io-v2_default
TESTING
UAVCAN_INTERFACES 2
ETHERNET
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS6

7
cmake/px4_add_board.cmake
View File

@ -61,6 +61,7 @@
# [ TESTING ]
# [ LINKER_PREFIX <string> ]
# [ EMBEDDED_METADATA <string> ]
# [ ETHERNET ]
# )
#
# Input:
@ -86,6 +87,7 @@
# CONSTRAINED_MEMORY : flag to enable constrained memory options (eg limit maximum number of uORB publications)
# TESTING : flag to enable automatic inclusion of PX4 testing modules
# LINKER_PREFIX : optional to prefix on the Linker script.
# ETHERNET : flag to indicate that ethernet is enabled
#
#
# Example:
@ -163,6 +165,7 @@ function(px4_add_board)
CONSTRAINED_FLASH
CONSTRAINED_MEMORY
TESTING
ETHERNET
REQUIRED
PLATFORM
VENDOR
@ -269,6 +272,10 @@ function(px4_add_board)
set(PX4_TESTING "1" CACHE INTERNAL "testing enabled" FORCE)
endif()
if(ETHERNET)
set(PX4_ETHERNET "1" CACHE INTERNAL "ethernet enabled" FORCE)
endif()
if(LINKER_PREFIX)
set(PX4_BOARD_LINKER_PREFIX ${LINKER_PREFIX} CACHE STRING "PX4 board linker prefix" FORCE)
else()

2
posix-configs/SITL/init/test/cmd_template.in
View File

@ -16,7 +16,7 @@ pwm_out_sim start
ver all
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14556 -r 2000000 -p
mavlink boot_complete
@cmd_name@ start

2
posix-configs/SITL/init/test/test_mavlink
View File

@ -16,7 +16,7 @@ pwm_out_sim start
ver all
mavlink start -x -u 14556 -r 2000000
mavlink start -x -u 14556 -r 2000000 -p
mavlink boot_complete
tests mavlink

3
posix-configs/bbblue/px4.config
View File

@ -29,7 +29,6 @@ param set SYS_AUTOSTART 4011
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.
param set MAV_BROADCAST 1
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2
@ -73,7 +72,7 @@ mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -n SoftAp -x -u 14556 -r 1000000
mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
# -n name of wifi interface: SoftAp, wlan or your custom interface,
# e.g., -n SoftAp . The default is wlan

3
posix-configs/bbblue/px4_fw.config
View File

@ -29,7 +29,6 @@ param set SYS_AUTOSTART 4011
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.
param set MAV_BROADCAST 1
# MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
param set MAV_TYPE 2
@ -68,7 +67,7 @@ land_detector start fixedwing
fw_att_control start
fw_pos_control_l1 start
mavlink start -n SoftAp -x -u 14556 -r 1000000
mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
# -n name of wifi interface: SoftAp, wlan or your custom interface,
# e.g., -n wlan . The default on BBBlue is SoftAp

3
posix-configs/eagle/200qx/mainapp.config
View File

@ -9,10 +9,9 @@ logger start -t -b 200
# Wait 1s before setting parameters for muorb to initialize
sleep 1
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
dataman start
navigator start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

3
posix-configs/eagle/210qc/mainapp.config
View File

@ -9,10 +9,9 @@ logger start -t -b 200
# Wait 1s before setting parameters for muorb to initialize
sleep 1
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
dataman start
navigator start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

3
posix-configs/eagle/flight/mainapp.config
View File

@ -9,10 +9,9 @@ logger start -t -b 200
# Wait 1s before setting parameters for muorb to initialize
sleep 1
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
dataman start
navigator start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

3
posix-configs/eagle/hil/mainapphil.config
View File

@ -2,8 +2,7 @@ muorb start
# Wait 1s before setting parameters for muorb to initialize
sleep 1
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
mavlink start -x -u 14556
mavlink start -x -u 14556 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

3
posix-configs/eagle/init/rcS
View File

@ -94,10 +94,9 @@ qshell mc_rate_control start
logger start -b 200 -t
param set MAV_BROADCAST 1
dataman start
navigator start
mavlink start -u 14556 -r 1000000
mavlink start -u 14556 -r 1000000 -p
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50
mavlink stream -u 14556 -s RC_CHANNELS -r 20

3
posix-configs/excelsior/mainapp.config
View File

@ -6,11 +6,10 @@
muorb start
logger start -e -t
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
dataman start
navigator start
sleep 2
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
sleep 1
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
mavlink stream -u 14556 -s ATTITUDE -r 50

1
posix-configs/ocpoc/px4.config
View File

@ -10,7 +10,6 @@ then
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set MAV_SYS_ID 1

3
posix-configs/rpi/pilotpi_fw.config
View File

@ -11,7 +11,6 @@ fi
# system_power not implemented
param set CBRK_SUPPLY_CHK 894281
# broadcast to LAN
param set MAV_BROADCAST 1
# always keep current config
param set SYS_AUTOCONFIG 0
# useless but required for parameter completeness
@ -71,7 +70,7 @@ flight_mode_manager start
fw_att_control start
fw_pos_control_l1 start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
# Telem
mavlink start -x -Z -d /dev/ttySC1

3
posix-configs/rpi/pilotpi_mc.config
View File

@ -11,7 +11,6 @@ fi
# system_power not implemented
param set CBRK_SUPPLY_CHK 894281
# broadcast to LAN
param set MAV_BROADCAST 1
# always keep current config
param set SYS_AUTOCONFIG 0
# useless but required for parameter completeness
@ -69,7 +68,7 @@ mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
# Telem
mavlink start -x -Z -d /dev/ttySC1

3
posix-configs/rpi/px4.config
View File

@ -11,7 +11,6 @@ then
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set IMU_GYRO_RATEMAX 400
@ -48,7 +47,7 @@ mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
if [ -c /dev/ttyUSB0 ]
then

3
posix-configs/rpi/px4_fw.config
View File

@ -10,7 +10,6 @@ then
param load
fi
param set CBRK_SUPPLY_CHK 894281
param set MAV_BROADCAST 1
param set SYS_AUTOSTART 2100
param set MAV_TYPE 1
param set IMU_GYRO_RATEMAX 400
@ -46,7 +45,7 @@ land_detector start fixedwing
fw_att_control start
fw_pos_control_l1 start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
if [ -c /dev/ttyUSB0 ]
then

3
posix-configs/rpi/px4_hil.config
View File

@ -13,7 +13,6 @@ then
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 1001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
# Multi-EKF
@ -38,7 +37,7 @@ mc_pos_control start
mc_att_control start
mc_rate_control start
mavlink start -x -u 14577 -r 1000000
mavlink start -x -u 14577 -r 1000000 -p
navio_sysfs_rc_in start
pwm_out_sim start
mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix

3
posix-configs/rpi/px4_test.config
View File

@ -11,7 +11,6 @@ then
fi
param set CBRK_SUPPLY_CHK 894281
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set IMU_GYRO_RATEMAX 400
@ -47,7 +46,7 @@ flight_mode_manager start
mc_pos_control start
mc_att_control start
mavlink start -x -u 14556 -r 1000000
mavlink start -x -u 14556 -r 1000000 -p
if [ -c /dev/ttyUSB0 ]
then

3
src/lib/parameters/CMakeLists.txt
View File

@ -75,6 +75,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
if(PX4_ETHERNET)
set(added_arguments ${added_arguments} --ethernet)
endif()
add_custom_command(OUTPUT ${generated_serial_params_file}
COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py

56
src/modules/mavlink/mavlink_main.cpp
View File

@ -1809,11 +1809,10 @@ Mavlink::task_main(int argc, char *argv[])
int myoptind = 1;
const char *myoptarg = nullptr;
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
char *eptr;
int temp_int_arg;
#endif
while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxzZ", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxzZp", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
if (px4_get_parameter_value(myoptarg, _baudrate) != 0) {
@ -1859,29 +1858,25 @@ Mavlink::task_main(int argc, char *argv[])
#if defined(MAVLINK_UDP)
case 'u':
temp_int_arg = strtoul(myoptarg, &eptr, 10);
if (*eptr == '\0') {
_network_port = temp_int_arg;
set_protocol(Protocol::UDP);
if (px4_get_parameter_value(myoptarg, temp_int_arg) != 0) {
PX4_ERR("invalid data udp_port");
err_flag = true;
} else {
PX4_ERR("invalid data udp_port '%s'", myoptarg);
err_flag = true;
_network_port = temp_int_arg;
set_protocol(Protocol::UDP);
}
break;
case 'o':
temp_int_arg = strtoul(myoptarg, &eptr, 10);
if (*eptr == '\0') {
_remote_port = temp_int_arg;
set_protocol(Protocol::UDP);
if (px4_get_parameter_value(myoptarg, temp_int_arg) != 0) {
PX4_ERR("invalid remote udp_port");
err_flag = true;
} else {
PX4_ERR("invalid remote udp_port '%s'", myoptarg);
err_flag = true;
_remote_port = temp_int_arg;
set_protocol(Protocol::UDP);
}
break;
@ -1899,6 +1894,10 @@ Mavlink::task_main(int argc, char *argv[])
break;
case 'p':
_mav_broadcast = BROADCAST_MODE_ON;
break;
#if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)
// multicast
@ -1907,6 +1906,7 @@ Mavlink::task_main(int argc, char *argv[])
if (inet_aton(myoptarg, &_src_addr.sin_addr)) {
_src_addr_initialized = true;
_mav_broadcast = BROADCAST_MODE_MULTICAST;
} else {
PX4_ERR("invalid partner ip '%s'", myoptarg);
@ -1923,6 +1923,7 @@ Mavlink::task_main(int argc, char *argv[])
#endif
#else
case 'p':
case 'u':
case 'o':
case 't':
@ -2206,7 +2207,7 @@ Mavlink::task_main(int argc, char *argv[])
#if defined(CONFIG_NET)
if (_param_mav_broadcast.get() != BROADCAST_MODE_MULTICAST) {
if (!multicast_enabled()) {
_src_addr_initialized = false;
}
@ -2767,6 +2768,12 @@ Mavlink::display_status()
case Protocol::UDP:
printf("UDP (%i, remote port: %i)\n", _network_port, _remote_port);
printf("\tBroadcast enabled: %s\n",
broadcast_enabled() ? "YES" : "NO");
#if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)
printf("\tMulticast enabled: %s\n",
multicast_enabled() ? "YES" : "NO");
#endif
#ifdef __PX4_POSIX
if (get_client_source_initialized()) {
@ -2833,7 +2840,6 @@ Mavlink::stream_command(int argc, char *argv[])
float rate = -1.0f;
const char *stream_name = nullptr;
#ifdef MAVLINK_UDP
char *eptr;
int temp_int_arg;
unsigned short network_port = 0;
#endif // MAVLINK_UDP
@ -2879,13 +2885,12 @@ Mavlink::stream_command(int argc, char *argv[])
} else if (0 == strcmp(argv[i], "-u") && i < argc - 1) {
provided_network_port = true;
temp_int_arg = strtoul(argv[i + 1], &eptr, 10);
if (*eptr == '\0') {
network_port = temp_int_arg;
if (px4_get_parameter_value(argv[i + 1], temp_int_arg) != 0) {
err_flag = true;
} else {
err_flag = true;
network_port = temp_int_arg;
}
i++;
@ -2963,7 +2968,7 @@ Mavlink::set_boot_complete()
if (inst && (inst->get_mode() != MAVLINK_MODE_ONBOARD) &&
!inst->broadcast_enabled() && inst->get_protocol() == Protocol::UDP) {
PX4_INFO("MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)");
PX4_INFO("MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)");
}
}
@ -3010,16 +3015,17 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
PRINT_MODULE_USAGE_PARAM_INT('b', 57600, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
PRINT_MODULE_USAGE_PARAM_INT('r', 0, 10, 10000000, "Maximum sending data rate in B/s (if 0, use baudrate / 20)", true);
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
PRINT_MODULE_USAGE_PARAM_FLAG('p', "Enable Broadcast", true);
PRINT_MODULE_USAGE_PARAM_INT('u', 14556, 0, 65536, "Select UDP Network Port (local)", true);
PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true);
PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr,
"Partner IP (broadcasting can be enabled via MAV_BROADCAST param)", true);
"Partner IP (broadcasting can be enabled via MAV_{i}_BROADCAST param)", true);
#endif
PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal",
"Mode: sets default streams and rates", true);
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "<interface_name>", "wifi/ethernet interface name", true);
#if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)
PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, "Multicast address in the range [239.0.0.0,239.255.255.255]", "Multicast address (multicasting can be enabled via MAV_BROADCAST param)", true);
PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, "Multicast address in the range [239.0.0.0,239.255.255.255]", "Multicast address (multicasting can be enabled via MAV_{i}_BROADCAST param)", true);
#endif
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Enable message forwarding to other Mavlink instances", true);
PRINT_MODULE_USAGE_PARAM_FLAG('w', "Wait to send, until first message received", true);

9
src/modules/mavlink/mavlink_main.h
View File

@ -265,7 +265,9 @@ public:
#if defined(MAVLINK_UDP)
static Mavlink *get_instance_for_network_port(unsigned long port);
bool broadcast_enabled() { return _param_mav_broadcast.get() == BROADCAST_MODE_ON; }
bool broadcast_enabled() { return _mav_broadcast == BROADCAST_MODE_ON; }
bool multicast_enabled() { return _mav_broadcast == BROADCAST_MODE_MULTICAST; }
#endif // MAVLINK_UDP
/**
@ -610,6 +612,8 @@ private:
hrt_abstime _bytes_timestamp{0};
#if defined(MAVLINK_UDP)
BROADCAST_MODE _mav_broadcast {BROADCAST_MODE_OFF};
sockaddr_in _myaddr {};
sockaddr_in _src_addr {};
sockaddr_in _bcast_addr {};
@ -659,9 +663,6 @@ private:
(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
(ParamBool<px4::params::MAV_USEHILGPS>) _param_mav_usehilgps,
(ParamBool<px4::params::MAV_FWDEXTSP>) _param_mav_fwdextsp,
#if defined(MAVLINK_UDP)
(ParamInt<px4::params::MAV_BROADCAST>) _param_mav_broadcast,
#endif // MAVLINK_UDP
(ParamBool<px4::params::MAV_HASH_CHK_EN>) _param_mav_hash_chk_en,
(ParamBool<px4::params::MAV_HB_FORW_EN>) _param_mav_hb_forw_en,
(ParamBool<px4::params::MAV_ODOM_LP>) _param_mav_odom_lp,

13
src/modules/mavlink/mavlink_params.c
View File

@ -130,19 +130,6 @@ PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
*/
PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
/**
* Broadcast heartbeats on local network
*
* This allows a ground control station to automatically find the drone
* on the local network.
*
* @value 0 Never broadcast
* @value 1 Always broadcast
* @value 2 Only multicast
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_BROADCAST, 0);
/**
* Parameter hash check.
*

55
src/modules/mavlink/module.yaml
View File

@ -3,7 +3,15 @@ __max_num_config_instances: &max_num_config_instances 3
module_name: MAVLink
serial_config:
- command: |
set MAV_ARGS "-b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
if [ $SERIAL_DEV != ethernet ]; then
set MAV_ARGS "-d ${SERIAL_DEV} -b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
else
set MAV_ARGS "-u p:MAV_${i}_UDP_PRT -o p:MAV_${i}_REMOTE_PRT -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
if param compare MAV_${i}_BROADCAST 1
then
set MAV_ARGS "${MAV_ARGS} -p"
fi
fi
if param compare MAV_${i}_FORWARD 1
then
set MAV_ARGS "${MAV_ARGS} -f"
@ -12,7 +20,7 @@ serial_config:
then
set MAV_ARGS "${MAV_ARGS} -s"
fi
mavlink start -d ${SERIAL_DEV} ${MAV_ARGS} -x
mavlink start ${MAV_ARGS} -x
port_config_param:
name: MAV_${i}_CONFIG
group: MAVLink
@ -22,6 +30,7 @@ serial_config:
# 2: Board-specific / no fixed function or port
default: [TEL1, "", ""]
num_instances: *max_num_config_instances
ethernet:
parameters:
- group: MAVLink
@ -97,3 +106,45 @@ parameters:
reboot_required: true
num_instances: *max_num_config_instances
default: [true, true, true]
MAV_${i}_UDP_PRT:
description:
short: MAVLink Network Port for instance ${i}
long: |
If ethernet enabled and selected as configuration for MAVLink instance ${i},
selected udp port will be set and used in MAVLink instance ${i}.
type: int32
reboot_required: true
num_instances: *max_num_config_instances
default: [14556, 0, 0]
ethernet:
MAV_${i}_REMOTE_PRT:
description:
short: MAVLink Remote Port for instance ${i}
long: |
If ethernet enabled and selected as configuration for MAVLink instance ${i},
selected remote port will be set and used in MAVLink instance ${i}.
type: int32
reboot_required: true
num_instances: *max_num_config_instances
default: [14550, 0, 0]
ethernet:
MAV_${i}_BROADCAST:
description:
short: Broadcast heartbeats on local network for MAVLink instance ${i}
long: |
This allows a ground control station to automatically find the drone
on the local network.
type: enum
values:
0: Never broadcast
1: Always broadcast
2: Only multicast
num_instances: *max_num_config_instances
default: [1, 0, 0]
ethernet:

8
validation/module_schema.yaml
View File

@ -75,6 +75,10 @@ serial_config:
# Default: 1
type: integer
min: 1
ethernet:
# Optional command ethernet.
# If omitted, ethernet condiguration value will be omitted.
nullable: True
parameters:
@ -206,5 +210,9 @@ parameters:
# [0, N-1]
# Default: 0
type: integer
ethernet:
# Optional command ethernet.
# If specified, parameter will be generated only if board supports Ethernet.
nullable: True