Refactor and start tidying up the MAVLink app.

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)
-{
-	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);
-		}
-	}
-}
+extern void mavlink_send_uart_bytes(mavlink_channel_t chan, uint8_t *ch, int 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_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/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.