mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 11:43:35 +08:00
Merge branch 'master' into new_state_machine
compiling again Conflicts: src/modules/fixedwing_att_control/fixedwing_att_control_att.c src/modules/fixedwing_att_control/fixedwing_att_control_rate.c src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c src/modules/mavlink/orb_listener.c src/modules/multirotor_att_control/multirotor_attitude_control.c src/modules/multirotor_att_control/multirotor_rate_control.c src/modules/systemlib/pid/pid.c src/modules/systemlib/pid/pid.h src/modules/uORB/objects_common.cpp
This commit is contained in:
Julian Oes
@@ -144,14 +144,6 @@ set_hil_on_off(bool hil_enabled)
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/* Enable HIL */
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if (hil_enabled && !mavlink_hil_enabled) {
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/* Advertise topics */
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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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@@ -708,6 +700,8 @@ int mavlink_thread_main(int argc, char *argv[])
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lowspeed_counter++;
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mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
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/* sleep quarter the time */
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usleep(25000);
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@@ -719,10 +713,13 @@ int mavlink_thread_main(int argc, char *argv[])
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/* send parameters at 20 Hz (if queued for sending) */
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mavlink_pm_queued_send();
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mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
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/* sleep quarter the time */
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usleep(25000);
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mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);
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if (baudrate > 57600) {
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mavlink_pm_queued_send();
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}
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@@ -781,7 +778,7 @@ int mavlink_main(int argc, char *argv[])
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errx(0, "mavlink already running\n");
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thread_should_exit = false;
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mavlink_task = task_spawn("mavlink",
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mavlink_task = task_spawn_cmd("mavlink",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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2048,
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@@ -41,15 +41,6 @@
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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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*
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+142
-69
@@ -49,7 +49,6 @@
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#include <fcntl.h>
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#include <mqueue.h>
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#include <string.h>
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#include "mavlink_bridge_header.h"
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#include <v1.0/common/mavlink.h>
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#include <drivers/drv_hrt.h>
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#include <time.h>
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@@ -62,10 +61,17 @@
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#include <stdlib.h>
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#include <poll.h>
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#include <mathlib/mathlib.h>
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#include <systemlib/param/param.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/err.h>
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#include <systemlib/airspeed.h>
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#include <mavlink/mavlink_log.h>
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__BEGIN_DECLS
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#include "mavlink_bridge_header.h"
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#include "waypoints.h"
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#include "orb_topics.h"
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#include "missionlib.h"
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@@ -73,8 +79,12 @@
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#include "mavlink_parameters.h"
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#include "util.h"
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extern bool gcs_link;
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__END_DECLS
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/* XXX should be in a header somewhere */
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pthread_t receive_start(int uart);
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extern "C" pthread_t receive_start(int uart);
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static void handle_message(mavlink_message_t *msg);
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static void *receive_thread(void *arg);
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@@ -88,18 +98,18 @@ 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 pub_hil_global_pos = -1;
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static orb_advert_t pub_hil_attitude = -1;
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static orb_advert_t pub_hil_gps = -1;
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static orb_advert_t pub_hil_sensors = -1;
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static orb_advert_t pub_hil_airspeed = -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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static orb_advert_t offboard_control_sp_pub = -1;
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static orb_advert_t vicon_position_pub = -1;
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extern bool gcs_link;
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static orb_advert_t telemetry_status_pub = -1;
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static void
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handle_message(mavlink_message_t *msg)
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@@ -141,10 +151,10 @@ handle_message(mavlink_message_t *msg)
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/* check if topic is advertised */
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if (cmd_pub <= 0) {
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cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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} else {
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/* publish */
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orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
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}
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/* publish */
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orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
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}
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}
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}
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@@ -281,7 +291,7 @@ handle_message(mavlink_message_t *msg)
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}
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offboard_control_sp.armed = ml_armed;
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offboard_control_sp.mode = ml_mode;
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offboard_control_sp.mode = static_cast<enum OFFBOARD_CONTROL_MODE>(ml_mode);
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offboard_control_sp.timestamp = hrt_absolute_time();
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@@ -296,6 +306,33 @@ handle_message(mavlink_message_t *msg)
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}
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}
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/* handle status updates of the radio */
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if (msg->msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
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struct telemetry_status_s tstatus;
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mavlink_radio_status_t rstatus;
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mavlink_msg_radio_status_decode(msg, &rstatus);
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/* publish telemetry status topic */
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tstatus.timestamp = hrt_absolute_time();
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tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
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tstatus.rssi = rstatus.rssi;
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tstatus.remote_rssi = rstatus.remrssi;
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tstatus.txbuf = rstatus.txbuf;
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tstatus.noise = rstatus.noise;
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tstatus.remote_noise = rstatus.remnoise;
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tstatus.rxerrors = rstatus.rxerrors;
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tstatus.fixed = rstatus.fixed;
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if (telemetry_status_pub == 0) {
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telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
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} else {
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orb_publish(ORB_ID(telemetry_status), telemetry_status_pub, &tstatus);
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}
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}
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/*
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* Only decode hil messages in HIL mode.
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*
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@@ -308,10 +345,10 @@ handle_message(mavlink_message_t *msg)
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uint64_t timestamp = hrt_absolute_time();
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if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) {
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if (msg->msgid == MAVLINK_MSG_ID_HIL_SENSOR) {
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mavlink_highres_imu_t imu;
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mavlink_msg_highres_imu_decode(msg, &imu);
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mavlink_hil_sensor_t imu;
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mavlink_msg_hil_sensor_decode(msg, &imu);
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/* packet counter */
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static uint16_t hil_counter = 0;
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@@ -370,8 +407,34 @@ handle_message(mavlink_message_t *msg)
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hil_sensors.magnetometer_counter = hil_counter;
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hil_sensors.accelerometer_counter = hil_counter;
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/* differential pressure */
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hil_sensors.differential_pressure_pa = imu.diff_pressure;
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hil_sensors.differential_pressure_counter = hil_counter;
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/* airspeed from differential pressure, ambient pressure and temp */
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struct airspeed_s airspeed;
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airspeed.timestamp = hrt_absolute_time();
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float ias = calc_indicated_airspeed(imu.diff_pressure);
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// XXX need to fix this
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float tas = ias;
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airspeed.indicated_airspeed_m_s = ias;
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airspeed.true_airspeed_m_s = tas;
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if (pub_hil_airspeed < 0) {
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pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
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} else {
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orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
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}
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//warnx("SENSOR: IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
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/* publish */
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orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
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if (pub_hil_sensors > 0) {
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orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
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} else {
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pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
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}
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// increment counters
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hil_counter++;
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@@ -379,21 +442,16 @@ handle_message(mavlink_message_t *msg)
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// output
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if ((timestamp - old_timestamp) > 10000000) {
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printf("receiving hil imu at %d hz\n", hil_frames/10);
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printf("receiving hil sensor at %d hz\n", hil_frames/10);
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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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if (msg->msgid == MAVLINK_MSG_ID_HIL_GPS) {
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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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mavlink_hil_gps_t gps;
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mavlink_msg_hil_gps_decode(msg, &gps);
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/* gps */
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hil_gps.timestamp_position = gps.time_usec;
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@@ -412,54 +470,40 @@ handle_message(mavlink_message_t *msg)
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/* go back to -PI..PI */
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if (heading_rad > M_PI_F)
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heading_rad -= 2.0f * M_PI_F;
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hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
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hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
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hil_gps.vel_d_m_s = 0.0f;
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hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
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hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
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hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
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hil_gps.vel_ned_valid = true;
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/* COG (course over ground) is speced as -PI..+PI */
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/* COG (course over ground) is spec'ed as -PI..+PI */
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hil_gps.cog_rad = heading_rad;
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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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/* publish GPS measurement data */
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if (pub_hil_gps > 0) {
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orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
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} else {
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pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
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}
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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) > 10000000) {
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// printf("receiving hil gps at %d hz\n", hil_frames/10);
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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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if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE_QUATERNION) {
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mavlink_hil_state_t hil_state;
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mavlink_msg_hil_state_decode(msg, &hil_state);
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mavlink_hil_state_quaternion_t hil_state;
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mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);
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/* Calculate Rotation Matrix */
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//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
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struct airspeed_s airspeed;
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airspeed.timestamp = hrt_absolute_time();
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airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
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airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
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if (mavlink_system.type == MAV_TYPE_FIXED_WING) {
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//TODO: assuming low pitch and roll values for now
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hil_attitude.R[0][0] = cosf(hil_state.yaw);
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hil_attitude.R[0][1] = sinf(hil_state.yaw);
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hil_attitude.R[0][2] = 0.0f;
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hil_attitude.R[1][0] = -sinf(hil_state.yaw);
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hil_attitude.R[1][1] = cosf(hil_state.yaw);
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hil_attitude.R[1][2] = 0.0f;
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hil_attitude.R[2][0] = 0.0f;
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hil_attitude.R[2][1] = 0.0f;
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hil_attitude.R[2][2] = 1.0f;
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hil_attitude.R_valid = true;
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if (pub_hil_airspeed < 0) {
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pub_hil_airspeed = orb_advertise(ORB_ID(airspeed), &airspeed);
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} else {
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orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
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}
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warnx("IAS: %6.2f TAS: %6.2f", airspeed.indicated_airspeed_m_s, airspeed.true_airspeed_m_s);
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hil_global_pos.lat = hil_state.lat;
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hil_global_pos.lon = hil_state.lon;
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@@ -468,21 +512,48 @@ handle_message(mavlink_message_t *msg)
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hil_global_pos.vy = hil_state.vy / 100.0f;
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hil_global_pos.vz = hil_state.vz / 100.0f;
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/* set timestamp and notify processes (broadcast) */
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hil_global_pos.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
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hil_attitude.roll = hil_state.roll;
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hil_attitude.pitch = hil_state.pitch;
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hil_attitude.yaw = hil_state.yaw;
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if (pub_hil_global_pos > 0) {
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orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
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} else {
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pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
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}
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/* Calculate Rotation Matrix */
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math::Quaternion q(hil_state.attitude_quaternion);
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math::Dcm C_nb(q);
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math::EulerAngles euler(C_nb);
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/* set rotation matrix */
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for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
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hil_attitude.R[i][j] = C_nb(i, j);
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hil_attitude.R_valid = true;
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/* set quaternion */
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hil_attitude.q[0] = q(0);
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hil_attitude.q[1] = q(1);
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hil_attitude.q[2] = q(2);
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hil_attitude.q[3] = q(3);
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hil_attitude.q_valid = true;
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hil_attitude.roll = euler.getPhi();
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hil_attitude.pitch = euler.getTheta();
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hil_attitude.yaw = euler.getPsi();
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hil_attitude.rollspeed = hil_state.rollspeed;
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hil_attitude.pitchspeed = hil_state.pitchspeed;
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hil_attitude.yawspeed = hil_state.yawspeed;
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/* set timestamp and notify processes (broadcast) */
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hil_attitude.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
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if (pub_hil_attitude > 0) {
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orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
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} else {
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pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
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}
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
|
||||
@@ -553,7 +624,9 @@ receive_thread(void *arg)
|
||||
|
||||
while (!thread_should_exit) {
|
||||
|
||||
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
|
||||
struct pollfd fds[1];
|
||||
fds[0].fd = uart_fd;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
if (poll(fds, 1, timeout) > 0) {
|
||||
/* non-blocking read. read may return negative values */
|
||||
@@ -592,7 +665,7 @@ receive_start(int uart)
|
||||
param.sched_priority = SCHED_PRIORITY_MAX - 40;
|
||||
(void)pthread_attr_setschedparam(&receiveloop_attr, ¶m);
|
||||
|
||||
pthread_attr_setstacksize(&receiveloop_attr, 2048);
|
||||
pthread_attr_setstacksize(&receiveloop_attr, 3000);
|
||||
|
||||
pthread_t thread;
|
||||
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
|
||||
@@ -60,6 +60,7 @@
|
||||
#include <stdlib.h>
|
||||
#include <poll.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <mavlink/mavlink_log.h>
|
||||
@@ -73,6 +74,10 @@
|
||||
#include "mavlink_parameters.h"
|
||||
|
||||
static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
|
||||
static uint64_t loiter_start_time;
|
||||
|
||||
static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
|
||||
struct vehicle_global_position_setpoint_s *sp);
|
||||
|
||||
int
|
||||
mavlink_missionlib_send_message(mavlink_message_t *msg)
|
||||
@@ -122,6 +127,52 @@ uint64_t mavlink_missionlib_get_system_timestamp()
|
||||
return hrt_absolute_time();
|
||||
}
|
||||
|
||||
/**
|
||||
* Set special vehicle setpoint fields based on current mission item.
|
||||
*
|
||||
* @return true if the mission item could be interpreted
|
||||
* successfully, it return false on failure.
|
||||
*/
|
||||
bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
|
||||
struct vehicle_global_position_setpoint_s *sp)
|
||||
{
|
||||
switch (command) {
|
||||
case MAV_CMD_NAV_LOITER_UNLIM:
|
||||
sp->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
|
||||
break;
|
||||
case MAV_CMD_NAV_LOITER_TIME:
|
||||
sp->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
|
||||
loiter_start_time = hrt_absolute_time();
|
||||
break;
|
||||
// case MAV_CMD_NAV_LOITER_TURNS:
|
||||
// sp->nav_cmd = NAV_CMD_LOITER_TURN_COUNT;
|
||||
// break;
|
||||
case MAV_CMD_NAV_WAYPOINT:
|
||||
sp->nav_cmd = NAV_CMD_WAYPOINT;
|
||||
break;
|
||||
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
|
||||
sp->nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
|
||||
break;
|
||||
case MAV_CMD_NAV_LAND:
|
||||
sp->nav_cmd = NAV_CMD_LAND;
|
||||
break;
|
||||
case MAV_CMD_NAV_TAKEOFF:
|
||||
sp->nav_cmd = NAV_CMD_TAKEOFF;
|
||||
break;
|
||||
default:
|
||||
/* abort */
|
||||
return false;
|
||||
}
|
||||
|
||||
sp->loiter_radius = param3;
|
||||
sp->loiter_direction = (param3 >= 0) ? 1 : -1;
|
||||
|
||||
sp->param1 = param1;
|
||||
sp->param1 = param2;
|
||||
sp->param1 = param3;
|
||||
sp->param1 = param4;
|
||||
}
|
||||
|
||||
/**
|
||||
* This callback is executed each time a waypoint changes.
|
||||
*
|
||||
@@ -133,9 +184,13 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
|
||||
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 global_position_set_triplet_pub = -1;
|
||||
static orb_advert_t local_position_setpoint_pub = -1;
|
||||
static unsigned last_waypoint_index = -1;
|
||||
char buf[50] = {0};
|
||||
|
||||
// XXX include check if WP is supported, jump to next if not
|
||||
|
||||
/* Update controller setpoints */
|
||||
if (frame == (int)MAV_FRAME_GLOBAL) {
|
||||
/* global, absolute waypoint */
|
||||
@@ -145,8 +200,9 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
|
||||
sp.altitude = param7_alt_z;
|
||||
sp.altitude_is_relative = false;
|
||||
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
|
||||
set_special_fields(param1, param2, param3, param4, command, &sp);
|
||||
|
||||
/* Initialize publication if necessary */
|
||||
/* Initialize setpoint publication if necessary */
|
||||
if (global_position_setpoint_pub < 0) {
|
||||
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
|
||||
|
||||
@@ -154,6 +210,113 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
|
||||
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
|
||||
}
|
||||
|
||||
|
||||
/* fill triplet: previous, current, next waypoint */
|
||||
struct vehicle_global_position_set_triplet_s triplet;
|
||||
|
||||
/* current waypoint is same as sp */
|
||||
memcpy(&(triplet.current), &sp, sizeof(sp));
|
||||
|
||||
/*
|
||||
* Check if previous WP (in mission, not in execution order)
|
||||
* is available and identify correct index
|
||||
*/
|
||||
int last_setpoint_index = -1;
|
||||
bool last_setpoint_valid = false;
|
||||
|
||||
/* at first waypoint, but cycled once through mission */
|
||||
if (index == 0 && last_waypoint_index > 0) {
|
||||
last_setpoint_index = last_waypoint_index;
|
||||
} else {
|
||||
last_setpoint_index = index - 1;
|
||||
}
|
||||
|
||||
while (last_setpoint_index >= 0) {
|
||||
|
||||
if (wpm->waypoints[last_setpoint_index].frame == (int)MAV_FRAME_GLOBAL &&
|
||||
(wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
|
||||
wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
|
||||
wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
|
||||
wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
|
||||
last_setpoint_valid = true;
|
||||
break;
|
||||
}
|
||||
|
||||
last_setpoint_index--;
|
||||
}
|
||||
|
||||
/*
|
||||
* Check if next WP (in mission, not in execution order)
|
||||
* is available and identify correct index
|
||||
*/
|
||||
int next_setpoint_index = -1;
|
||||
bool next_setpoint_valid = false;
|
||||
|
||||
/* at last waypoint, try to re-loop through mission as default */
|
||||
if (index == (wpm->size - 1) && wpm->size > 1) {
|
||||
next_setpoint_index = 0;
|
||||
} else if (wpm->size > 1) {
|
||||
next_setpoint_index = index + 1;
|
||||
}
|
||||
|
||||
while (next_setpoint_index < wpm->size - 1) {
|
||||
|
||||
if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
|
||||
wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
|
||||
wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
|
||||
wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
|
||||
next_setpoint_valid = true;
|
||||
break;
|
||||
}
|
||||
|
||||
next_setpoint_index++;
|
||||
}
|
||||
|
||||
/* populate last and next */
|
||||
|
||||
triplet.previous_valid = false;
|
||||
triplet.next_valid = false;
|
||||
|
||||
if (last_setpoint_valid) {
|
||||
triplet.previous_valid = true;
|
||||
struct vehicle_global_position_setpoint_s sp;
|
||||
sp.lat = wpm->waypoints[last_setpoint_index].x * 1e7f;
|
||||
sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
|
||||
sp.altitude = wpm->waypoints[last_setpoint_index].z;
|
||||
sp.altitude_is_relative = false;
|
||||
sp.yaw = (wpm->waypoints[last_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
|
||||
set_special_fields(wpm->waypoints[last_setpoint_index].param1,
|
||||
wpm->waypoints[last_setpoint_index].param2,
|
||||
wpm->waypoints[last_setpoint_index].param3,
|
||||
wpm->waypoints[last_setpoint_index].param4,
|
||||
wpm->waypoints[last_setpoint_index].command, &sp);
|
||||
memcpy(&(triplet.previous), &sp, sizeof(sp));
|
||||
}
|
||||
|
||||
if (next_setpoint_valid) {
|
||||
triplet.next_valid = true;
|
||||
struct vehicle_global_position_setpoint_s sp;
|
||||
sp.lat = wpm->waypoints[next_setpoint_index].x * 1e7f;
|
||||
sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
|
||||
sp.altitude = wpm->waypoints[next_setpoint_index].z;
|
||||
sp.altitude_is_relative = false;
|
||||
sp.yaw = (wpm->waypoints[next_setpoint_index].param4 / 180.0f) * M_PI_F - M_PI_F;
|
||||
set_special_fields(wpm->waypoints[next_setpoint_index].param1,
|
||||
wpm->waypoints[next_setpoint_index].param2,
|
||||
wpm->waypoints[next_setpoint_index].param3,
|
||||
wpm->waypoints[next_setpoint_index].param4,
|
||||
wpm->waypoints[next_setpoint_index].command, &sp);
|
||||
memcpy(&(triplet.next), &sp, sizeof(sp));
|
||||
}
|
||||
|
||||
/* Initialize triplet publication if necessary */
|
||||
if (global_position_set_triplet_pub < 0) {
|
||||
global_position_set_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &triplet);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet);
|
||||
}
|
||||
|
||||
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) {
|
||||
@@ -164,6 +327,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
|
||||
sp.altitude = param7_alt_z;
|
||||
sp.altitude_is_relative = true;
|
||||
sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
|
||||
set_special_fields(param1, param2, param3, param4, command, &sp);
|
||||
|
||||
/* Initialize publication if necessary */
|
||||
if (global_position_setpoint_pub < 0) {
|
||||
@@ -173,6 +337,8 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
|
||||
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) {
|
||||
@@ -192,8 +358,15 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
|
||||
}
|
||||
|
||||
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);
|
||||
} else {
|
||||
warnx("non-navigation WP, ignoring");
|
||||
mavlink_missionlib_send_gcs_string("[mp] Unknown waypoint type, ignoring.");
|
||||
return;
|
||||
}
|
||||
|
||||
/* only set this for known waypoint types (non-navigation types would have returned earlier) */
|
||||
last_waypoint_index = index;
|
||||
|
||||
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);
|
||||
|
||||
@@ -40,7 +40,7 @@ SRCS += mavlink.c \
|
||||
missionlib.c \
|
||||
mavlink_parameters.c \
|
||||
mavlink_log.c \
|
||||
mavlink_receiver.c \
|
||||
mavlink_receiver.cpp \
|
||||
orb_listener.c \
|
||||
waypoints.c
|
||||
|
||||
|
||||
@@ -72,6 +72,8 @@ struct vehicle_status_s v_status;
|
||||
struct rc_channels_s rc;
|
||||
struct rc_input_values rc_raw;
|
||||
struct actuator_safety_s safety;
|
||||
struct actuator_controls_effective_s actuators_0;
|
||||
struct vehicle_attitude_s att;
|
||||
|
||||
struct mavlink_subscriptions mavlink_subs;
|
||||
|
||||
@@ -116,6 +118,7 @@ static void l_debug_key_value(const struct listener *l);
|
||||
static void l_optical_flow(const struct listener *l);
|
||||
static void l_vehicle_rates_setpoint(const struct listener *l);
|
||||
static void l_home(const struct listener *l);
|
||||
static void l_airspeed(const struct listener *l);
|
||||
|
||||
static const struct listener listeners[] = {
|
||||
{l_sensor_combined, &mavlink_subs.sensor_sub, 0},
|
||||
@@ -140,6 +143,7 @@ static const struct listener listeners[] = {
|
||||
{l_optical_flow, &mavlink_subs.optical_flow, 0},
|
||||
{l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0},
|
||||
{l_home, &mavlink_subs.home_sub, 0},
|
||||
{l_airspeed, &mavlink_subs.airspeed_sub, 0},
|
||||
};
|
||||
|
||||
static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
|
||||
@@ -192,7 +196,7 @@ l_sensor_combined(const struct listener *l)
|
||||
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_pres_mbar, raw.differential_pressure_pa,
|
||||
raw.baro_alt_meter, raw.baro_temp_celcius,
|
||||
fields_updated);
|
||||
|
||||
@@ -202,9 +206,6 @@ l_sensor_combined(const struct listener *l)
|
||||
void
|
||||
l_vehicle_attitude(const 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);
|
||||
|
||||
@@ -564,28 +565,26 @@ l_manual_control_setpoint(const struct listener *l)
|
||||
void
|
||||
l_vehicle_attitude_controls(const struct listener *l)
|
||||
{
|
||||
struct actuator_controls_effective_s actuators;
|
||||
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators);
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, mavlink_subs.actuators_sub, &actuators_0);
|
||||
|
||||
if (gcs_link) {
|
||||
/* 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,
|
||||
"eff ctrl0 ",
|
||||
actuators.control_effective[0]);
|
||||
actuators_0.control_effective[0]);
|
||||
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
|
||||
last_sensor_timestamp / 1000,
|
||||
"eff ctrl1 ",
|
||||
actuators.control_effective[1]);
|
||||
actuators_0.control_effective[1]);
|
||||
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
|
||||
last_sensor_timestamp / 1000,
|
||||
"eff ctrl2 ",
|
||||
actuators.control_effective[2]);
|
||||
actuators_0.control_effective[2]);
|
||||
mavlink_msg_named_value_float_send(MAVLINK_COMM_0,
|
||||
last_sensor_timestamp / 1000,
|
||||
"eff ctrl3 ",
|
||||
actuators.control_effective[3]);
|
||||
actuators_0.control_effective[3]);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -626,6 +625,22 @@ l_home(const struct listener *l)
|
||||
mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt);
|
||||
}
|
||||
|
||||
void
|
||||
l_airspeed(const struct listener *l)
|
||||
{
|
||||
struct airspeed_s airspeed;
|
||||
|
||||
orb_copy(ORB_ID(airspeed), mavlink_subs.airspeed_sub, &airspeed);
|
||||
|
||||
float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
|
||||
float throttle = actuators_0.control_effective[3] * (UINT16_MAX - 1);
|
||||
float alt = global_pos.alt;
|
||||
float climb = global_pos.vz;
|
||||
|
||||
mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed,
|
||||
((att.yaw + M_PI_F) / M_PI_F) * 180.0f, throttle, alt, climb);
|
||||
}
|
||||
|
||||
static void *
|
||||
uorb_receive_thread(void *arg)
|
||||
{
|
||||
@@ -765,6 +780,10 @@ uorb_receive_start(void)
|
||||
mavlink_subs.optical_flow = orb_subscribe(ORB_ID(optical_flow));
|
||||
orb_set_interval(mavlink_subs.optical_flow, 200); /* 5Hz updates */
|
||||
|
||||
/* --- AIRSPEED / VFR / HUD --- */
|
||||
mavlink_subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
|
||||
orb_set_interval(mavlink_subs.airspeed_sub, 200); /* 5Hz updates */
|
||||
|
||||
/* start the listener loop */
|
||||
pthread_attr_t uorb_attr;
|
||||
pthread_attr_init(&uorb_attr);
|
||||
|
||||
@@ -52,6 +52,7 @@
|
||||
#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_global_position_set_triplet.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/vehicle_control_mode.h>
|
||||
@@ -61,7 +62,9 @@
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/actuator_safety.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/telemetry_status.h>
|
||||
#include <uORB/topics/debug_key_value.h>
|
||||
#include <uORB/topics/airspeed.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
|
||||
struct mavlink_subscriptions {
|
||||
@@ -85,6 +88,7 @@ struct mavlink_subscriptions {
|
||||
int optical_flow;
|
||||
int rates_setpoint_sub;
|
||||
int home_sub;
|
||||
int airspeed_sub;
|
||||
};
|
||||
|
||||
extern struct mavlink_subscriptions mavlink_subs;
|
||||
|
||||
@@ -347,15 +347,24 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
|
||||
{
|
||||
static uint16_t counter;
|
||||
|
||||
// Do not flood the precious wireless link with debug data
|
||||
// if (wpm->size > 0 && counter % 10 == 0) {
|
||||
// printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id);
|
||||
// }
|
||||
|
||||
|
||||
if (wpm->current_active_wp_id < wpm->size) {
|
||||
|
||||
float orbit = wpm->waypoints[wpm->current_active_wp_id].param2;
|
||||
float orbit;
|
||||
if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT) {
|
||||
|
||||
orbit = wpm->waypoints[wpm->current_active_wp_id].param2;
|
||||
|
||||
} else if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
|
||||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
|
||||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) {
|
||||
|
||||
orbit = wpm->waypoints[wpm->current_active_wp_id].param3;
|
||||
} else {
|
||||
|
||||
// XXX set default orbit via param
|
||||
orbit = 15.0f;
|
||||
}
|
||||
|
||||
int coordinate_frame = wpm->waypoints[wpm->current_active_wp_id].frame;
|
||||
float dist = -1.0f;
|
||||
|
||||
@@ -374,10 +383,9 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
|
||||
}
|
||||
|
||||
if (dist >= 0.f && dist <= orbit /*&& wpm->yaw_reached*/) { //TODO implement yaw
|
||||
|
||||
wpm->pos_reached = true;
|
||||
|
||||
if (counter % 100 == 0)
|
||||
printf("Setpoint reached: %0.4f, orbit: %.4f\n", dist, orbit);
|
||||
}
|
||||
|
||||
// else
|
||||
@@ -394,29 +402,47 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
|
||||
|
||||
if (wpm->timestamp_firstinside_orbit == 0) {
|
||||
// Announce that last waypoint was reached
|
||||
printf("Reached waypoint %u for the first time \n", cur_wp->seq);
|
||||
mavlink_wpm_send_waypoint_reached(cur_wp->seq);
|
||||
wpm->timestamp_firstinside_orbit = now;
|
||||
}
|
||||
|
||||
// check if the MAV was long enough inside the waypoint orbit
|
||||
//if (now-timestamp_lastoutside_orbit > (cur_wp->hold_time*1000))
|
||||
if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param2 * 1000) {
|
||||
printf("Reached waypoint %u long enough \n", cur_wp->seq);
|
||||
|
||||
bool time_elapsed = false;
|
||||
|
||||
if (cur_wp->command == (int)MAV_CMD_NAV_LOITER_TIME) {
|
||||
if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) {
|
||||
time_elapsed = true;
|
||||
}
|
||||
} else if (now - wpm->timestamp_firstinside_orbit >= cur_wp->param1 * 1000 * 1000) {
|
||||
time_elapsed = true;
|
||||
} else if (cur_wp->command == (int)MAV_CMD_NAV_TAKEOFF) {
|
||||
time_elapsed = true;
|
||||
}
|
||||
|
||||
if (time_elapsed) {
|
||||
if (cur_wp->autocontinue) {
|
||||
cur_wp->current = 0;
|
||||
|
||||
if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
|
||||
/* the last waypoint was reached, if auto continue is
|
||||
* activated restart the waypoint list from the beginning
|
||||
*/
|
||||
wpm->current_active_wp_id = 0;
|
||||
/* only accept supported navigation waypoints, skip unknown ones */
|
||||
do {
|
||||
|
||||
} else {
|
||||
if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
|
||||
wpm->current_active_wp_id++;
|
||||
}
|
||||
if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
|
||||
/* the last waypoint was reached, if auto continue is
|
||||
* activated restart the waypoint list from the beginning
|
||||
*/
|
||||
wpm->current_active_wp_id = 0;
|
||||
|
||||
} else {
|
||||
if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
|
||||
wpm->current_active_wp_id++;
|
||||
}
|
||||
|
||||
} while (!(wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT ||
|
||||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
|
||||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
|
||||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM));
|
||||
|
||||
// Fly to next waypoint
|
||||
wpm->timestamp_firstinside_orbit = 0;
|
||||
|
||||
Reference in New Issue
Block a user