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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 16:13:33 +08:00
Rebase of changes to sensor_hil_fixedwing branch.
This commit is contained in:
James Goppert
@@ -148,6 +148,10 @@ set_hil_on_off(bool hil_enabled)
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pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
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pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
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/* sensore level hil */
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pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
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pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
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mavlink_hil_enabled = true;
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/* ramp up some HIL-related subscriptions */
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@@ -43,8 +43,12 @@ extern bool mavlink_hil_enabled;
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extern struct vehicle_global_position_s hil_global_pos;
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extern struct vehicle_attitude_s hil_attitude;
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extern struct sensor_combined_s hil_sensors;
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extern struct vehicle_gps_position_s hil_gps;
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extern orb_advert_t pub_hil_global_pos;
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extern orb_advert_t pub_hil_attitude;
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extern orb_advert_t pub_hil_sensors;
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extern orb_advert_t pub_hil_gps;
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/**
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* Enable / disable Hardware in the Loop simulation mode.
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@@ -54,4 +58,4 @@ extern orb_advert_t pub_hil_attitude;
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* requested change could not be made or was
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* redundant.
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*/
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extern int set_hil_on_off(bool hil_enabled);
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extern int set_hil_on_off(bool hil_enabled);
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@@ -86,8 +86,12 @@ static struct offboard_control_setpoint_s offboard_control_sp;
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struct vehicle_global_position_s hil_global_pos;
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struct vehicle_attitude_s hil_attitude;
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struct vehicle_gps_position_s hil_gps;
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struct sensor_combined_s hil_sensors;
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orb_advert_t pub_hil_global_pos = -1;
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orb_advert_t pub_hil_attitude = -1;
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orb_advert_t pub_hil_gps = -1;
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orb_advert_t pub_hil_sensors = -1;
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static orb_advert_t cmd_pub = -1;
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static orb_advert_t flow_pub = -1;
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@@ -302,6 +306,166 @@ handle_message(mavlink_message_t *msg)
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if (mavlink_hil_enabled) {
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uint64_t timestamp = hrt_absolute_time();
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if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
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mavlink_raw_imu_t imu;
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mavlink_msg_raw_imu_decode(msg, &imu);
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/* packet counter */
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static uint16_t hil_counter = 0;
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static uint16_t hil_frames = 0;
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static uint64_t old_timestamp = 0;
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/* hil gyro */
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static const float mrad2rad = 1.0e-3f;
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hil_sensors.timestamp = timestamp;
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hil_sensors.gyro_counter = hil_counter;
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hil_sensors.gyro_raw[0] = imu.xgyro;
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hil_sensors.gyro_raw[1] = imu.ygyro;
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hil_sensors.gyro_raw[2] = imu.zgyro;
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hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad;
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hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad;
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hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad;
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/* accelerometer */
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hil_sensors.accelerometer_counter = hil_counter;
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static const float mg2ms2 = 9.8f / 1000.0f;
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hil_sensors.accelerometer_raw[0] = imu.xacc;
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hil_sensors.accelerometer_raw[1] = imu.yacc;
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hil_sensors.accelerometer_raw[2] = imu.zacc;
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hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc;
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hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc;
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hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc;
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hil_sensors.accelerometer_mode = 0; // TODO what is this?
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hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
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/* adc */
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hil_sensors.adc_voltage_v[0] = 0;
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hil_sensors.adc_voltage_v[1] = 0;
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hil_sensors.adc_voltage_v[2] = 0;
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/* battery */
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hil_sensors.battery_voltage_counter = hil_counter;
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hil_sensors.battery_voltage_v = 11.1f;
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hil_sensors.battery_voltage_valid = true;
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/* magnetometer */
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float mga2ga = 1.0e-3f;
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hil_sensors.magnetometer_counter = hil_counter;
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hil_sensors.magnetometer_raw[0] = imu.xmag;
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hil_sensors.magnetometer_raw[1] = imu.ymag;
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hil_sensors.magnetometer_raw[2] = imu.zmag;
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hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga;
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hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga;
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hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga;
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hil_sensors.magnetometer_range_ga = 32.7f; // int16
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hil_sensors.magnetometer_mode = 0; // TODO what is this
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hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
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/* publish */
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orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
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// increment counters
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hil_counter += 1 ;
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hil_frames += 1 ;
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// output
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if ((timestamp - old_timestamp) > 1000000) {
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printf("receiving hil imu at %d hz\n", hil_frames);
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old_timestamp = timestamp;
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hil_frames = 0;
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}
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}
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if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
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mavlink_gps_raw_int_t gps;
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mavlink_msg_gps_raw_int_decode(msg, &gps);
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/* packet counter */
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static uint16_t hil_counter = 0;
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static uint16_t hil_frames = 0;
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static uint64_t old_timestamp = 0;
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/* gps */
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hil_gps.timestamp = gps.time_usec;
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hil_gps.counter = hil_counter++;
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hil_gps.time_gps_usec = gps.time_usec;
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hil_gps.lat = gps.lat;
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hil_gps.lon = gps.lon;
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hil_gps.alt = gps.alt;
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hil_gps.counter_pos_valid = hil_counter++;
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hil_gps.eph = gps.eph;
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hil_gps.epv = gps.epv;
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hil_gps.s_variance = 100;
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hil_gps.p_variance = 100;
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hil_gps.vel = gps.vel;
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hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
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hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
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hil_gps.vel_d = 0.0f;
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hil_gps.cog = gps.cog;
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hil_gps.fix_type = gps.fix_type;
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hil_gps.satellites_visible = gps.satellites_visible;
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/* publish */
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orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
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// increment counters
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hil_counter += 1 ;
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hil_frames += 1 ;
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// output
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if ((timestamp - old_timestamp) > 1000000) {
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printf("receiving hil gps at %d hz\n", hil_frames);
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old_timestamp = timestamp;
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hil_frames = 0;
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}
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}
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if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) {
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mavlink_raw_pressure_t press;
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mavlink_msg_raw_pressure_decode(msg, &press);
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/* packet counter */
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static uint16_t hil_counter = 0;
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static uint16_t hil_frames = 0;
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static uint64_t old_timestamp = 0;
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/* baro */
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/* TODO, set ground_press/ temp during calib */
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static const float ground_press = 1013.25f; // mbar
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static const float ground_tempC = 21.0f;
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static const float ground_alt = 0.0f;
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static const float T0 = 273.15;
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static const float R = 287.05f;
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static const float g = 9.806f;
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float tempC = press.temperature / 100.0f;
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float tempAvgK = T0 + (tempC + ground_tempC)/2.0f;
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float h = ground_alt + (R/g)*tempAvgK*logf(ground_press / press.press_abs);
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hil_sensors.baro_counter = hil_counter;
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hil_sensors.baro_pres_mbar = press.press_abs;
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hil_sensors.baro_alt_meter = h;
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hil_sensors.baro_temp_celcius = tempC;
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/* publish */
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orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
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// increment counters
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hil_counter += 1 ;
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hil_frames += 1 ;
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// output
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if ((timestamp - old_timestamp) > 1000000) {
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printf("receiving hil pressure at %d hz\n", hil_frames);
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old_timestamp = timestamp;
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hil_frames = 0;
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}
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}
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if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
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mavlink_hil_state_t hil_state;
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@@ -412,7 +576,7 @@ receive_thread(void *arg)
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int uart_fd = *((int *)arg);
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const int timeout = 1000;
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uint8_t ch;
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uint8_t buf[512];
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mavlink_message_t msg;
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@@ -423,13 +587,11 @@ receive_thread(void *arg)
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struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
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if (poll(fds, 1, timeout) > 0) {
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/* non-blocking read until buffer is empty */
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int nread = 0;
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/* non-blocking read */
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size_t nread = read(uart_fd, buf, sizeof(buf));
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do {
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nread = read(uart_fd, &ch, 1);
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if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
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for (size_t i = 0; i < nread; i++) {
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if (mavlink_parse_char(chan, buf[i], &msg, &status)) { //parse the char
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/* handle generic messages and commands */
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handle_message(&msg);
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@@ -439,7 +601,7 @@ receive_thread(void *arg)
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/* Handle packet with parameter component */
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mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
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}
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} while (nread > 0);
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}
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}
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}
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@@ -452,11 +614,15 @@ receive_start(int uart)
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pthread_attr_t receiveloop_attr;
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pthread_attr_init(&receiveloop_attr);
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// set to non-blocking read
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int flags = fcntl(uart, F_GETFL, 0);
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fcntl(uart, F_SETFL, flags | O_NONBLOCK);
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struct sched_param param;
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param.sched_priority = SCHED_PRIORITY_MAX - 40;
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(void)pthread_attr_setschedparam(&receiveloop_attr, ¶m);
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pthread_attr_setstacksize(&receiveloop_attr, 2048);
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pthread_attr_setstacksize(&receiveloop_attr, 4096);
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pthread_t thread;
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pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
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